| CPC G06T 7/85 (2017.01) [G06T 7/38 (2017.01); G06T 7/73 (2017.01)] | 16 Claims |
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1. A computer implemented method of matching features depicted in a plurality of images, comprising:
detecting a first object depicted in a first image, wherein said first image depicting a plurality of objects having matching visual features with said first object;
projecting a first epipolar line, from the first object of the first image, to a second image, wherein said second image depicting at least some of said plurality of objects having matching visual features with said first object;
selecting a plurality of second objects along the first epipolar line of the second image;
projecting a plurality of second epipolar lines, from the plurality of second objects of the second image, to a third image, wherein said third image depicting at least some of said plurality of objects having matching visual features with said first object;
projecting a third epipolar line from the first object of the first image to the third image;
identifying on the third image, a third object along an intersection of the third epipolar line and a certain second epipolar line of the plurality of second epipolar lines; and
generating an indication of the first object depicted in the first image and the third object depicted in the third image as being a same physical object out of the plurality of objects having matching visual features with said first object.
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