Patent ID: 8086071

Claim:
A method for transforming an image dataset, the image dataset captured by a camera on a vehicle driving along a road, and the image dataset comprising data representing a first object and a second object, the first object at least partially occluding the second object from at least one point of view, the method comprising: reading the image dataset from a first computer-readable medium; determining relative positions of the first and second objects; based, at least in part, on the relative positions of the first and second objects, transforming the image dataset to reveal a portion of the second object occluded by a portion of the first object from the at least one point of view, wherein the portion of the first object occluding the portion of the second object is deemphasized by being semi-transparent to reveal the portion of the second object previously occluded by the portion of the first object from the at least one point of view; and storing the transformed image dataset on a second computer-readable medium.