Patent Document ID: 9443130
Application ID: 14333857
Patent Status: 1

Claim One:
1. A method comprising: facilitating receipt of a first image and a second image of a scene comprising one or more objects; detecting the one or more objects in the first image, wherein detecting the one or more objects comprises detecting object points of the one or more objects in the first image; detecting object points of the one or more objects in the second image based on the detection of the object points of the one or more objects in the first image, wherein detecting an object point in the second image that corresponds to an object point in the first image comprises searching for the object point in the second image on an epipolar line in the second image corresponding to the object point in the first image; determining disparity values between the object points of the one or more objects in the first image and the object points of the one or more objects in the second image, wherein a disparity value between the object point in the first image and the object point in the second image is determined based at least on a detected position of the object point in the first image and a detected position of the object point in the second image; and segmenting an object of the one or more objects in at least one of the first image and the second image comprises: determining a first disparity value and a second disparity value corresponding to the object points of the object; calculating object cost functions between the first image and the second image for a plurality of disparity values lying between the first disparity value and the second disparity value; assigning an object label for the object points of the object in an image based on the object cost functions; calculating non-object cost functions between the first image and the second image for one or more disparity values other than the plurality of disparity values lying between the first disparity value and the second disparity value; assigning a non-object label for points other than the object points of the object in the image based on the non-object cost functions between the first image and the second image; and segmenting the object in the image based on the object label and the non-object label.