Patent Document ID: 9772679
Application ID: 13966967
Patent Status: 1

Claim One:
1. A computing device, comprising: at least one processor; an infrared (IR) emitter; a pair of cameras configured to capture stereoscopic images including detected infrared intensity data; and memory including instructions that, when executed by the at least one processor, cause the computing device to: acquire first stereoscopic image data using the pair of cameras, the first stereoscopic image data being acquired while IR is being emitted from the IR emitter; apply a segmentation threshold to the first stereoscopic image data, the segmentation threshold being adjusted from an initial value to isolate regions of the first stereoscopic image data having at least a minimum intensity value; identify a first object and a second object in the first stereoscopic image data, each object of the first object and the second object corresponding to a respective region of the isolated regions; store a first indicator of a shape corresponding to the first object and a second indicator of a shape corresponding to the second object; determine first position information for each object of the first object and the second object in the first stereoscopic image data, the first position information including distance information from the first stereoscopic image data; acquire second stereoscopic image data using the pair of cameras, the second stereoscopic image data being acquired while IR is being emitted from the IR emitter; apply the segmentation threshold to the second stereoscopic image data to isolate regions of the second stereoscopic image data having at least the minimum intensity value; identify a third object and a fourth object in the second stereoscopic image data, each object of the third object and the fourth object corresponding to a respective region of the isolated regions; determine a third indicator of a shape corresponding to the third object and a fourth indicator of a shape corresponding to the fourth object; correlate the third object with the first object, and the fourth object with the second object, based at least in part upon the distance information and a determination that the third indicator of a shape matches the stored first indicator of a shape within a threshold amount of tolerance, the correlation of the third object with the first object including a highest confidence correlation and the correlation of the fourth object with the second object including a lowest confidence correlation; and provide updated position information for each of the first object and the second object based at least in part upon, respectively, a position of the third object and the fourth object.