Patent Document ID: 9672634
Application ID: 14664862
Patent Status: 1

Claim One:
1. A method for video object tracking, the method comprising the steps of: receiving a sequence of stereoscopic images; receiving a depth map for each stereoscopic image of the sequence; calculating a first axis histogram for each depth map based on a 2D histogram equation: 2 ⁢ D ⁢ ⁢ histogram = DH = [ L ⁡ ( 0 , 1 ) ⋯ L ⁡ ( 0 , J ) ⋮ ⋱ ⋮ L ⁡ ( 255 , 1 ) ⋯ L ⁡ ( 255 , J ) ] ⁢ 255 K ( 1 ) wherein: L(i; j) is a number of pixels in a j-th column of the depth map that have a disparity value of i; K is a number of pixels in a single column of the depth map; 255 is a normalization range; applying a first object detection method to track objects by analyzing the contents of at least one of: the images and the depth maps; applying, in parallel to the first object detection method a second object detection method to track objects by detecting the objects in the first axis histogram by comparing the first axis histogram for the depth map of a current image with the first axis histogram for the depth map of a reference image; and determining locations of the tracked objects based on comparison of results of the first object detection method and the second object detection method.