US Patent 9811756 Method for labeling images of street scenes

A method labels an image of a street view by first extracting, for each pixel, an appearance feature for inferring a semantic label, a depth feature for inferring a depth label. Then, a column-wise labeling procedure is applied to the features to jointly determine the semantic label and the depth label for each pixel using the appearance feature and the depth feature, wherein the column-wise labeling procedure is according to a model of the street view, and wherein each column of pixels in the images includes at most four layers.