3D dense range calculations using data fusion techniques

A method of establishing 3D coordinates from 2D image domain data acquired from a single video camera, the method comprising the steps of:

• acquiring an image frame from the video camera;
• selecting at least one polygon defining a region of interest within the image frame;
• measuring the distance from an origin of the video camera to a first and second reference point on the polygon;
• determining the distance between said first and second reference points;
• determining 3D reference coordinates for one or more points on the polygon using a data fusion technique wherein 2D image data from the video camera is geometrically converted to 3D coordinates based at least in part on the measured distances from the origin to the first and second reference points and the distance between said first and second reference points;
• and
• interpolating the 3D coordinates for all of the pixels within the polygon based at least in part on the 3D reference coordinates of the polygon.