APPARATUS AND METHODS FOR DISTANCE ESTIMATION USING STEREO IMAGERY

摘要

Frame sequences from multiple image sensors may be combined in order to form, for example, an interleaved frame sequence. Individual frames of the combined sequence may be configured a by combination (e.g., concatenation) of frames from one or more source sequences. The interleaved/concatenated frame sequence may be encoded using a motion estimation encoder. Output of the video encoder may be processed (e.g., parsed) in order to extract motion information present in the encoded video. The motion information may be utilized in order to determine a depth of visual scene, such as by using binocular disparity between two or more images by an adaptive controller in order to detect one or more objects salient to a given task. In one variant, depth information is utilized during control and operation of mobile robotic devices.

主权项

1. A method of determining motion information within a visual scene, the method comprising:
producing a first composite frame and a second composite frame by combining images from a first plurality of images and a second plurality of images of the visual scene; producing an interleaved sequence of composite frames comprising the first and the second composite frames; and evaluating the interleaved sequence to determine the motion information; wherein individual images of the first and second pluralities of images are provided by first and second sensing apparatus, respectively, the second sensing apparatus being separated spatially from the first sensing apparatus.