System for detecting objects in streaming 3D images formed from data acquired with a medium penetrating sensor
First Claim
1. A method performed by a computing system for identifying objects within a medium, the method comprising:
- accessing a sequence of image frames of the medium, each image frame corresponding to an along-medium location, each image frame corresponding to an along-medium location having, for each of a plurality of depths and for each of a plurality of cross-medium locations, a voxel at that depth and at that cross-medium location, each voxel having an intensity;
generating a depth-compensated intensity for each voxel that is a normalization of the intensities to account for variations resulting from differences in depth such that, for each depth, the depth-compensated intensity for a voxel at that depth is based on the intensity of the voxel and statistically derived characteristics of the intensities of voxels at that depth; and
analyzing the depth-compensated intensities to identify cross-medium locations of image frames with object voxels that represent part of an object.
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Abstract
A detection system that detects subsurface objects within a medium and estimates various features of the objects is provided. The detection system receives a streaming sequence of image frames of the medium at various along-medium locations. An image frame contains voxel values (intensities) representing characteristics of the medium across the medium and in the depth (range) direction. The detection system depth-compensates the intensities for determining which voxels are part of an object using an unsupervised binary classifier. The detection system then connects object voxels into distinct objects and recursively estimates the features of those objects as the image frames stream based on the locations and intensities of the object voxels.
46 Citations
20 Claims
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1. A method performed by a computing system for identifying objects within a medium, the method comprising:
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accessing a sequence of image frames of the medium, each image frame corresponding to an along-medium location, each image frame corresponding to an along-medium location having, for each of a plurality of depths and for each of a plurality of cross-medium locations, a voxel at that depth and at that cross-medium location, each voxel having an intensity; generating a depth-compensated intensity for each voxel that is a normalization of the intensities to account for variations resulting from differences in depth such that, for each depth, the depth-compensated intensity for a voxel at that depth is based on the intensity of the voxel and statistically derived characteristics of the intensities of voxels at that depth; and analyzing the depth-compensated intensities to identify cross-medium locations of image frames with object voxels that represent part of an object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computing system for identifying occurrences of a physical characteristic of a medium, the computing system comprising:
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a storage medium for storing images of a sequence of image frames of the medium, each image frame corresponding to an along-medium location, each image frame corresponding to an along-medium location having, for each of a plurality of depths and for each of a plurality of cross-medium locations, a voxel at that depth and at that cross-medium location, each voxel having an intensity; a component that generates a depth-compensated intensity for each voxel that is a normalization of the intensities to account for variations resulting from differences in depth such that, for each depth, the depth-compensated intensity for a voxel at that depth is based on the intensity of the voxel and statistically derived characteristics of the intensities of voxels at that depth; a component that analyzes the depth-compensated intensities to identify object voxels that are part of a physical characteristic of the medium; and a component that determines which of the object voxels are part of the same occurrence of the physical characteristic. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A computer-readable storage medium storing computer-executable instructions for detecting an object in a medium, the computer-executable instruction comprising instructions that:
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access a sequence of image frames of the medium, each image frame corresponding to an along-medium location, each image frame corresponding to an along-medium location having, for each of a plurality of depths and for each of a plurality of cross-medium locations, a voxel at that depth and at that cross-medium location having voxels representing various depths and cross-medium locations at that along-medium location, each voxel having an intensity; generate a depth-compensated intensity for each voxel that is a normalization of the intensities to account for variations resulting from differences in depth such that, for each depth, the depth-compensated intensity for a voxel at that depth is based on the intensity of the voxel and statistically derived characteristics of the intensities of voxels at that depth; analyze the depth-compensated intensities to identify object voxels that are part of an object within the medium; and determine which of the identified voxels are part of the same object based on proximity of the voxels within the medium. - View Dependent Claims (18, 19, 20)
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Specification