Patent ID: 8805059

Claim:
A method performed by at least one device for segmenting an image, the method comprising: generating a first depth map in response to a first stereoscopic image from a camera, wherein the first depth map includes first pixels having valid depths and second pixels having invalid depths; generating a second depth map in response to a second stereoscopic image from the camera, wherein the second depth map includes third pixels having valid depths and fourth pixels having invalid depths, wherein the second and fourth pixels have a first type of invalid depths, wherein the first depth map includes fifth pixels having a second type of invalid depths, and wherein the second depth map includes sixth pixels having the second type of invalid depths; generating a first segmentation mask in response to the first pixels and the third pixels; generating a second segmentation mask in response to the second pixels and the fourth pixels; generating a third segmentation mask in response to at least the sixth pixels; and in response to the first, second and third segmentation masks, determining whether the second stereoscopic image includes a change in comparison to the first stereoscopic image.