Patent Document ID: 9224060
Application ID: 14029528
Patent Status: 1

Claim One:
1. A computing device, comprising: one or more processors; one or more cameras; and memory including instructions that, when executed by the one or more processors, cause the computing device to perform: capture a first pair of images at a first time using the one or more cameras; detect a first representation of an object in each of the first pair of images using an object detection process; compute, from the first pair of images, first stereo disparity data corresponding to the first representation of the object using where the first representation of the object is detected in each of the first pair of images; generate a first template of a representation of the object using at least one image of the first pair of images and the first stereo disparity data; capture a second pair of images at a second time using the one or more cameras; compute second stereo disparity data for the second pair of images; track a second representation of the object in at least one of the second pair of images using the first template, the second stereo disparity data, and the at least one of the second pair of images; determine that a first confidence level corresponding to where the second representation of the object is tracked in the at least one of the second pair of images is below a threshold confidence level; obtain a second template of the representation of the object; track the second representation of the object using the second template; determine that a second confidence level corresponding to where the second representation of the object is tracked exceeds the threshold confidence level; and provide a position of the object based at least in part upon where the second representation of the object is tracked in the at least one of the second pair of images.