Position data extraction from arbitrary camera configurations

An apparatus, comprising:

• a memory storing processor-readable code;
• and
• at least one processor coupled to the memory, the at least one processor configured to execute the processor-readable code to cause the at least one processor to perform operations including:
• receiving a first image frame from a first camera and a second image frame from a second camera, wherein the first camera and the second camera are located on a vehicle;
• determining a first set of optical flows between the first image frame and the second image frame;
• determining a second set of optical flows based on the first set of optical flows and positions of the first camera and the second camera on the vehicle;
• and
• determining position data for objects in an area surrounding the vehicle based on the second set of optical flows.

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

• receiving a first image frame from a first camera and a second image frame from a second camera, wherein the first camera and the second camera are located on a vehicle;
• determining a first set of optical flows between the first image frame and the second image frame;
• determining a second set of optical flows based on the first set of optical flows and positions of the first camera and the second camera on the vehicle;
• and
• determining position data for objects in an area surrounding the vehicle based on the second set of optical flows.

A vehicle, comprising:

• a first camera;
• a second camera;
• a memory storing processor-readable code;
• and
• at least one processor coupled to the memory, the first camera, and the second camera, the at least one processor configured to execute the processor-readable code to cause the at least one processor to perform operations including:
• receiving a first image frame from the first camera and a second image frame from the second camera, wherein the first camera and the second camera are located on a vehicle;
• determining a first set of optical flows between the first image frame and the second image frame;
• determining a second set of optical flows based on the first set of optical flows and positions of the first camera and the second camera on the vehicle;
• and
• determining position data for objects in an area surrounding the vehicle based on the second set of optical flows.