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Moving Target Detection in the Presence of Parallax

  • US 20080089556A1
  • Filed: 06/15/2007
  • Published: 04/17/2008
  • Est. Priority Date: 06/20/2006
  • Status: Active Grant
First Claim
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1. A method for detecting a moving target, comprising the steps of:

  • receiving a plurality of images from at least one camera;

    receiving a measurement of scale from one of a measurement device and a second camera;

    calculating the pose of the at least one camera over time based on the plurality of images and the measurement of scale;

    selecting a reference image and an inspection image from the plurality of images of the at least one camera;

    detecting a moving target from the reference image and the inspection image based on the orientation of corresponding portions in the reference image and the inspection image relative to a location of an epipolar direction common to the reference image and the inspection image; and

    displaying any detected moving target on a display.

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