Patent ID: 8340349
Filing Date: 2012-12-25
Classification: G06K,G06T

Abstract:
1. A method for detecting a moving target, comprising the steps of: receiving a plurality of images from at least one camera; receiving a measurement of scale from one of a measurement device and a second camera; calculating a pose of the at least one camera over time based on the plurality of images and the measurement of scale; selecting a reference image and an inspection image from the plurality of images of the at least one camera; determining an epipole direction from the inspection image, the reference image, and the calculated pose; comparing a flow vector of a pixel in the inspection image with the direction of the epipole; and labeling the pixel as belonging to an independently moving object when the difference in direction between the flow vector and the direction of the epipole is above a predetermined threshold; detecting a moving target from the reference image and the inspection image based on an orientation of corresponding portions in the reference image and the inspection image relative to a location of an epipolar direction common to the reference image and the inspection image; and displaying any detected moving target on a display.