Abstract: For detecting an obstacle with a camera, a first image is viewed by the camera at a first location during a first time. Points on a surface would project onto first pixels of the first image. A second image is viewed by the camera at a second location during a second time. The points on the surface would project onto second pixels of the second image. Coordinates of the second pixels are identified in response to coordinates of the first pixels, in response to a displacement between the first and second locations, and in response to a distance between the camera and the surface. The obstacle is detected in response to whether the first pixels substantially match the second pixels.

Abstract: A method of clutter elimination in digital images is provided that includes identifying a foreground blob in an image, determining a depth of the foreground blob, and indicating that the foreground blob is clutter when the depth indicates that the foreground blob is too close to be an object of interest. Methods for obstruction detection in depth images such as those captured by stereoscopic cameras and structured light cameras are also provided.