Patent Document ID: 7751589
Application ID: 10581333
Patent Status: 1

Claim One:
1. A method of analyzing video frames capturing a 3D scene over time to automatically generate a road map of the 3D scene comprising: detecting positions of objects in the video frames; estimating 3D transformation parameters for the objects; predicting heights of the objects based at least in part on the 3D transformation parameters; removing outliers from the predicted heights of objects to produce a filtered set of objects; using the filtered set of objects to repeat estimating the 3D transformation parameters and to repeat predicting the heights of the objects; estimating road boundaries of the 3D scene using a background image and the positions of the objects by filling a uniform color region starting from a foot of a position of an object of the objects and stopping when an edge pixel of the background image is reached; generating the road map; removing outlier pixels from the road map; and estimating a height map for objects moving on a road of the road map.