Homography error correction using a disparity mapping

A homography error correction method, comprising:

• receiving a first frame from a first sensor, wherein the first sensor is configured to capture frames of a global plane for at least a first portion of a space, wherein:
• the global plane represents (x,y) coordinates for the at least a portion of the space;
• and
• each frame comprises a plurality of pixels;
• identifying a first pixel location for a marker within the first frame;
• determining an (x,y) coordinate for the marker in the global plane by applying a first homography to the first pixel location, wherein:
• the first homography is associated with the first sensor;
• and
• the first homography comprises coefficients that translate between pixel locations in a frame from the first sensor and (x,y) coordinates in the global plane;
• identifying a second pixel location for the marker by applying a second homography to the (x,y) coordinate, wherein:
• a second sensor is configured to capture frames of the global plane for at least a second portion of the space;
• the second homography is associated with the second sensor;
• and
• the second homography comprises coefficients that translate between pixel locations in a frame from the second sensor and (x,y) coordinates in the global plane;
• identifying a third pixel location by applying a disparity mapping to the first pixel location, wherein the disparity mapping maps pixel locations from the first sensor to pixel locations from the second sensor;
• determining a distance difference between the second pixel location and the third pixel location;
• comparing the distance difference to a difference threshold level;
• and
• recomputing at least one of the first homography and the second homography in response to determining that the distance difference exceeds the difference threshold level.

A non-transitory computer readable medium storing instructions that when executed by a processor cause the processor to:

• receive a first frame from a first sensor, wherein the first sensor is configured to capture frames of a global plane for at least a first portion of a space, wherein:
• the global plane represents (x,y) coordinates for the at least a portion of the space;
• and
• each frame comprises a plurality of pixels;
• identify a first pixel location for a marker within the first frame;
• determine an (x,y) coordinate for the marker in the global plane by applying a first homography to the first pixel location, wherein:
• the first homography is associated with the first sensor;
• and
• the first homography comprises coefficients that translate between pixel locations in a frame from the first sensor and (x,y) coordinates in the global plane;
• identify a second pixel location for the marker by applying a second homography to the (x,y) coordinate, wherein:
• the second sensor is configured to capture frames of the global plane for at least a second portion of the space;
• the second homography is associated with the second sensor;
• and
• the second homography comprises coefficients that translate between pixel locations in a frame from the second sensor and (x,y) coordinates in the global plane;
• identify a third pixel location by applying a disparity mapping to the first pixel location, wherein the disparity mapping maps pixel locations from the first sensor to pixel locations from the second sensor;
• determine a distance difference between the second pixel location and the third pixel location;
• compare the distance difference to a difference threshold level;
• and
• recompute at least one of the first homography and the second homography in response to determining that the distance difference exceeds the difference threshold level.