Estimation of 3d point candidates from a location in a single image

A method for estimation of 3D point candidates from a single image, comprising:

• capturing color information and depth information in the single image;
• calculating a plurality of planes for selected points in the single image;
• enabling ray casting of the single image at the selected points to obtain three dimensional point candidates at each intersection between a plane and a virtual ray;
• and
• merging the three dimensional point candidates for each respective selected point to obtain a location estimate for each selected point.

A system, comprising:

• a display;
• an image capture mechanism to generate a single image;
• a memory that is to store instructions and that is communicatively coupled to the image capture mechanism and the display;
• and
• a processor communicatively coupled to the image capture mechanism, the display, and the memory, wherein when the processor is to execute the instructions, the processor is to:
• calculate a plurality of planes for selected points in the single image;
• enable ray casting of the single image at the selected points to obtain three dimensional point candidates at each intersection between a plane of the plurality of planes and a virtual ray;
• merge the three dimensional point candidates for each respective selected point to obtain a location estimate for each selected point.

A tangible, non-transitory, computer-readable medium comprising instructions that, when executed by a processor, direct the processor to:

• capture color information and depth information in the single image;
• calculate a plurality of planes for selected points in the single image;
• enable ray casting of the single image at the selected points to obtain three dimensional point candidates at each intersection between a plane of the plurality of planes and a virtual ray;
• merge the three dimensional point candidates for each respective selected point to obtain a location estimate for each selected point.