In some embodiments, the present application relates to methods and systems for real-time detection and tracking of potential passages in an environment, including a) detecting one or more passages in one or more frames of image data; b) extracting one or more corners for each of the one or more detected passages; c) tracking one or more points between frames of image data for each of the one or more detected passages in one or more frames of image data; and d) assigning one or more passages detected in a frame of image data to one or more previously-detected passages in a different frame of image data.