Systems and methods for reducing a search area for identifying correspondences between images

A method for reducing a search area for identifying correspondences between a reference frame captured by a reference camera and a match frame captured by a match camera, the method comprising:

• identifying an overlap region within a first match frame captured by a match camera at a first match camera timepoint and with a first match camera pose, wherein the overlap region comprises one or more points of the first match frame that correspond to one or more corresponding points of a first reference frame captured by a reference camera at a first reference camera timepoint and with a first reference camera pose, wherein the one or more points and the one or more corresponding points are associated with one or more same portions of an environment represented in the first reference frame and the first match frame;
• obtaining a second reference frame captured by the reference camera at a second reference camera timepoint and with a second reference camera pose, wherein the second reference camera timepoint is subsequent to the first reference camera timepoint;
• obtaining a second match frame captured by the match camera at a second match camera timepoint and with a second match camera pose, wherein the second match camera timepoint is subsequent to the first match camera timepoint;
• identifying at least one of:
• a reference camera transformation matrix between the first reference camera pose and the second reference camera pose;
• or
• a match camera transformation matrix between the first match camera pose and the second match camera pose;
• and
• defining a search area within the second match frame based on the overlap region and the reference camera transformation matrix or the match camera transformation matrix, wherein the search area consists of a subset of pixels within the second match frame.

One or more hardware storage devices storing computer-executable instructions that are executable by one or more processors of a computing system to configure the computing system to identify correspondences between a reference frame captured by a reference camera and a match frame captured by a match camera and by at least configuring the system to perform the following:

• identify an overlap region within a first match frame captured by a match camera at a first match camera timepoint and with a first match camera pose, wherein the overlap region comprises one or more points of the first match frame that correspond to one or more corresponding points of a first reference frame captured by a reference camera at a first reference camera timepoint and with a first reference camera pose, wherein the one or more points and the one or more corresponding points are associated with one or more same portions of an environment represented in the first reference frame and the first match frame;
• obtain a second reference frame captured by the reference camera at a second reference camera timepoint and with a second reference camera pose, wherein the second reference camera timepoint is subsequent to the first reference camera timepoint;
• obtain a second match frame captured by the match camera at a second match camera timepoint and with a second match camera pose, wherein the second match camera timepoint is subsequent to the first match camera timepoint;
• identify at least one of:
• a reference camera transformation matrix between the first reference camera pose and the second reference camera pose;
• or
• a match camera transformation matrix between the first match camera pose and the second match camera pose;
• and
• define a search area within the second match frame based on the overlap region and the reference camera transformation matrix or the match camera transformation matrix, wherein the search area consists of a subset of pixels within the second match frame.