CPC G06T 7/74 (2017.01) [G06T 3/4038 (2013.01); G06T 7/174 (2017.01); G06T 7/246 (2017.01); G06T 7/33 (2017.01); G06T 7/70 (2017.01); G06T 7/80 (2017.01); G06V 10/25 (2022.01); G06V 10/255 (2022.01); G06V 10/462 (2022.01); G06V 10/751 (2022.01); G06V 20/52 (2022.01); G06V 20/60 (2022.01); H04N 23/695 (2023.01); H04N 23/80 (2023.01); H04N 23/90 (2023.01); G06T 2207/10016 (2013.01); G06T 2207/20021 (2013.01); G06T 2207/20068 (2013.01); G06T 2207/30212 (2013.01); G06T 2207/30232 (2013.01); G06T 2207/30244 (2013.01); G06V 2201/07 (2022.01)] | 23 Claims |
1. A method comprising:
determining, based on a plurality of search point spatial positions distributed throughout a three-dimensional search space, and from images from a plurality of cameras positioned to image different portions of the search space, a set of subimages corresponding to at least a portion of the search point spatial positions;
determining, from the set of subimages, a first plurality of subimages to ignore based on a determination that a search point image position, associated with each of the first plurality of subimages, is within a predetermined distance of an edge of an image;
determining, from a portion of the set of subimages that remains after ignoring the first plurality of subimages, a second plurality of subimages comprising a target object image;
determining whether two subimages, of the second plurality of subimages comprising a target object image, comprise target object images corresponding to a same target object;
determining, based on the second plurality of subimages comprising a target object image and based on a determination of whether the two subimages comprise target object images corresponding to a same target object, positions of target objects in the search space; and
outputting information indicating the positions of the target objects.
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