Patent Document ID: 9025862
Application ID: 13879563
Patent Status: 1

Claim One:
1. A method for matching source pixels of a first range image of a scene as seen from a first point of sight with target pixels of a second range image of said scene as seen from a second point of sight; said method comprising: providing said first range image as a grid of source pixels, on which said scene is mapped in accordance with a first projection associated with said first point of sight, wherein each source pixel has a point in said scene projected thereon in accordance with said first projection and has an associated range value that has been determined for that point in the scene; providing a grid of target pixels for said second range image and a second projection associated with said second point of sight; and for each one of said target pixels, a) determining which source pixel would have a same point in said scene projected thereon in accordance with said first projection as said target pixel in accordance with said second projection if the imaged scene were a planar surface at a surface distance from said first point of sight; b) determining a depth coordinate of a point in said scene that said source pixel determined in step a) actually has projected thereon in accordance with said first projection; c) if said depth coordinate is greater than a threshold, which is itself greater than said surface distance, repeating steps a), b) and c) with an increased surface distance at step a) and an increased threshold at step c), and else associating said target pixel with the source pixel determined in step a).