Methods and apparatus for efficient data processing of initial correspondence assignments for three-dimensional reconstruction of an object

A method for determining stereo correspondence between a first pixel fingerprint of a first set of images and a second pixel fingerprint of a second set of images, comprising:

• using a processor to perform the acts of:
• receiving, from one or more image sensors, a first set of images of a scene and a second set of images of the scene, wherein the second set of images is captured from a different perspective than the first set of images;
• determining a first pixel fingerprint based on the first set of images, wherein the first pixel fingerprint comprises a first set of pixel values at a first pixel position in each image in the first set of images over time;
• determining a second pixel fingerprint based on the second set of images, wherein the second pixel fingerprint comprises a second set of pixel values at a second pixel position in each image in the second set of images over time;
• generating, based on the first pixel fingerprint, a first binary pixel fingerprint, wherein the first binary pixel fingerprint comprises a first set of binary values generated by comparing each of the first set of pixel values to a threshold;
• generating, based on the second pixel fingerprint, a second binary pixel fingerprint, wherein the second binary pixel fingerprint comprises a second set of binary values generated by comparing each of the second set of pixel values to the threshold;
• and
• determining whether there exists a stereo correspondence between the first pixel fingerprint of the first set of images and the second pixel fingerprint of the second set of images at least in part based on comparing the first binary pixel fingerprint and the second binary pixel fingerprint and performing a successive temporal correlation based on the first pixel fingerprint and the second pixel fingerprint to determine that a potential correspondence exists between the first pixel fingerprint and the second pixel fingerprint.

At least one non-transitory computer-readable storage medium storing processor-executable instructions that, when executed by the at least one computer hardware processor, cause the at least one computer hardware processor to perform the acts of:

• receiving, from one or more image sensors, a first set of images of a scene and a second set of images of the scene, wherein the second set of images is captured from a different perspective than the first set of images;
• determining a first pixel fingerprint based on the first set of images, wherein the first pixel fingerprint comprises a first set of pixel values at a first pixel position in each image in the first set of images over time;
• determining a second pixel fingerprint based on the second set of images, wherein the second pixel fingerprint comprises a second set of pixel values at a second pixel position in each image in the second set of images over time;
• generating, based on the first pixel fingerprint, a first binary pixel fingerprint, wherein the first binary pixel fingerprint comprises a first set of binary values generated by comparing each of the first set of pixel values to a threshold;
• generating, based on the second pixel fingerprint, a second binary pixel fingerprint, wherein the second binary pixel fingerprint comprises a second set of binary values generated by comparing each of the second set of pixel values to the threshold;
• and
• determining whether there exists a stereo correspondence between the first pixel fingerprint of the first set of images and the second pixel fingerprint of the second set of images at least in part based on comparing the first binary pixel fingerprint and the second binary pixel fingerprint and performing a successive temporal correlation based on the first pixel fingerprint and the second pixel fingerprint to determine that a potential correspondence exists between the first pixel fingerprint and the second pixel fingerprint.

A system for determining stereo correspondence between a first pixel fingerprint of a first set of images and a second pixel fingerprint of a second set of images, the system comprising:

• a processor configured to perform the acts of:
• receiving, from one or more image sensors, a first set of images of a scene and a second set of images of the scene, wherein the second set of images is captured from a different perspective than the first set of images;
• determining a first pixel fingerprint based on the first set of images, wherein the first pixel fingerprint comprises a first set of pixel values at different positions in space and/or time relative to a first pixel position in each image in the first set of images;
• determining a second pixel fingerprint based on the second set of images, wherein the second pixel fingerprint comprises a second set of pixel values at different positions in space and/or time relative to at a second pixel position in each image in the second set of images;
• generating, based on the first pixel fingerprint, a first binary pixel fingerprint, wherein the first binary pixel fingerprint comprises a first set of binary values generated by comparing each of the first set of pixel values to a threshold;
• generating, based on the second pixel fingerprint, a second binary pixel fingerprint, wherein the second binary pixel fingerprint comprises a second set of binary values generated by comparing each of the second set of pixel values to the threshold;
• and
• determining whether there exists a stereo correspondence between the first pixel fingerprint of the first set of images and the second pixel fingerprint of the second set of images at least in part based on comparing the first binary pixel fingerprint and the second binary pixel fingerprint and performing a successive temporal correlation based on the first pixel fingerprint and the second pixel fingerprint to determine that a potential correspondence exists between the first pixel fingerprint and the second pixel fingerprint.