Patent Document ID: 9165208
Application ID: 14203470
Patent Status: 1

Claim One:
1. A system for homography estimation, the system comprising one or more processors and a non-transitory computer-readable medium having executable instructions encoded thereon such that when the instructions are executed, the one or more processors perform operations of: determining feature correspondences that correspond with at least one moving object in each image in a set of images; determining feature correspondences that correspond with at least one above-ground object in each image in the set of images; excluding feature correspondences that correspond with each moving object in each image in the set of images; excluding feature correspondences that correspond with each above-ground object in each image in the set of images; dividing each image in the set of images into a plurality of sub-regions comprising feature correspondences; limiting the number of feature correspondences in each sub-region to a predetermined threshold to ensure that feature correspondences are evenly distributed over each image in the set of images; and generating a ground-plane homography estimation between the set of images by excluding the feature correspondences that correspond with moving and above-ground objects in the set of images and limiting the number of feature correspondences in each sub-region to ensure that feature correspondences are evenly distributed over each image in the set of images.