Patent Document ID: 9098774
Application ID: 13640023
Patent Flag: 1

Claim One:
1. A method for detection of a target amongst a plurality of possible targets, the target being present on at least two images of the same scene captured by separate cameras, the method comprising: under setup conditions, a prior step of learning about possible targets, the axis of the cameras showing a first angle of inclination in a vertical plane with respect to the ground, and; under conditions of use, a classification step for objects present on the images, the target being detected as soon as an object is classified as being one of the targets learnt during the learning step; the classification step including a step of rectification of one of the images, in such a manner that the plane of the rectified image is parallel to the plane of the images used for the learning step, and a step of rectification of a map of disparity between the two images, in such a manner that the rectified map takes the rectification of the image into account, the rectification steps depending on a second angle α of inclination of the axis of the cameras with respect to the ground in a vertical plane, the second angle α being estimated from a vertical offset y−y0 between a position (x, y) of a region of interest detected on one of the images from the map of disparity, the target being likely to be located in said region, and a position (x0, y0) on said image where the target is effectively detected.