Patent ID: 7680323
Filing Date: 2010-03-16
Classification: G06T

Abstract:
1. A method for segmenting stereoscopic information into 3-D objects comprising the steps of: acquiring a set of multiple images of a scene substantially simultaneously and having a predetermined geometric relationship with each other; using a vision system to carry out the steps of: filtering each of said acquired multiple images to obtain multiple sets of features observed in each of said corresponding multiple images; processing at least two pairs of sets of features to generate at least two result sets according to matching features between members of each pair of sets of features; wherein the step of processing further includes the steps of: matching features from a right image and a left image to form a set of horizontal disparities; and matching features from a right image and a top image to form a set of vertical disparities, wherein said right and left images were obtained from image acquisition devices arranged along a horizontal line, and said right and top images were obtained from image acquisition devices arranged along a vertical line substantially perpendicular to said horizontal line; selecting features from said at least two result sets according to a predetermined orientation threshold; extracting 3-D features from said selected features; filtering said 3-D features according to location; and clustering any remaining 3-D features into discrete 3-D objects.