OPTIMAL SENSOR READING FOR LOW LATENCY OBJECT DETECTION

Methods and apparatus for matching portions of images are described as well as using depth information generated from the matching results. In various embodiments, lower portions of images of a scene area, which are more likely to include objects closer to a vehicle on which cameras are mounted, than are portions of images corresponding to an upper portion of the scene area, are processed and used for depth determination. In this way, depths to objects, which are likely to be closer to the vehicle than objects in the upper portion of the scene area, are determined first and used to control a vehicle reducing the risk of collision as compared to systems where the depth determination of an entire scene is completed before depth information is used for control purposes with the order of processing being such that nearer objects are likely to be detected prior to more distant objects.