Methods and systems for opening detection and tracking

A method for real-time detection and tracking of potential passages in an environment, the method comprising:

• computing semantic segmentation of one or more passages in one or more frames of image data;
• computing one or more bounding boxes for the one or more passages, wherein the boundary of each of the of the bounding boxes is computed based on edge detection and corner detection of the one or more passages;
• and
• tracking the one or more bounding boxes between two or more frames of image data.

A system for real-time detection and tracking of potential passages in an environment, the system comprising:

• a. circuitry for detecting one or more passages in one or more frames of image data;
• b. circuitry for extracting one or more corners for each of the one or more detected passages;
• c. circuitry for tracking one or more points between frames of image data for each of the one or more detected passages in one or more frames of image data;
• and
• d. circuitry for assigning one or more passages detected in a frame of image data to one or more previously-detected passages in a different frame of image data based on a) one or more edges of the one or more detected passages;
• b) the one or more corners;
• and c) the circuitry for tracking one or more points between frames of image data for each of the one or more detected passages in the one or more frames of image data.