System and method for detecting a dissimilar object in undercarriage of a vehicle

• US 10,445,874 B2
• Filed: 06/09/2016
• Issued: 10/15/2019
• Est. Priority Date: 06/09/2015
• Status: Active Grant

• Current Assignee: Vehant Technologies Private Limited
• Original Assignee: Vehant Technologies Private Limited
• Inventors: Prabhu, Anoop G, Bardeja, Kapil
• Primary Examiner(s): Yang, Jianxun
• Application Number:
  US15/822,721
• Publication Number:
  US 20180137614A1
• Time in Patent Office: 1,223 Days
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/20076 Probabilistic image processing
• CPC Class Codes: G06T 2207/30232 Surveillance
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/0002 Inspection of images, e.g. flaw detection
• CPC Class Codes: G06T 7/001 using an image reference approach
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: H04N 23/635 Region indicators; Field of view indicators

Abstract

An under vehicle scanning system that detects a dissimilar object in a vehicle is provided. The under vehicle scanning system includes a scanner and acquisition module that captures 3D images of an undercarriage of the vehicle at multiple instants, an analysis and processing module that processes the 3D images to obtain 3D profiles of the vehicle, and a display module that highlights the dissimilar object. The analysis and processing module is configured to: (a) normalize variations in orientation of the 3D profiles of the vehicle'"'"'s undercarriage, (b) generate a 3D signature of the vehicle based on the normalized 3D profiles of the vehicle'"'"'s undercarriage, (c) identify a model of the vehicle based on the 3D signature of the vehicle, and (d) compare the 3D profiles of the vehicle with a standard profile of the undercarriage of a same model vehicle using the 3D signature to detect the dissimilar object.

Claims

1. An under vehicle scanning system that detects a dissimilar object in a vehicle, comprising:

a scanner and acquisition module configured to capture a plurality of three dimensional (3D) images of an undercarriage of the vehicle at multiple instants when the vehicle crosses a structural unit with a slit;

an analysis and processing module configured to process the plurality of 3D images to obtain a plurality of 3D profiles of the undercarriage of the vehicle, wherein the analysis and processing module further configured to;

normalize variations in orientation of the plurality of 3D profiles of the vehicle'"'"'s undercarriage;

generate a 3D signature of the vehicle based on the plurality of normalized 3D profiles of the vehicle'"'"'s undercarriage;

identify a model of the vehicle based on the 3D signature of the vehicle; and

compare the plurality of 3D profiles of the undercarriage of the vehicle with a standard profile of the undercarriage of a same model vehicle using the 3D signature to detect the dissimilar object; and

a display module that highlights the dissimilar object when the dissimilar object is detected in the undercarriage of the vehicle;

wherein the analysis and processing module is configured to generate the 3D signature of the vehicle by;

(a) initializing a point set for a line of the plurality of 3D profiles with a first point;

(b) comparing a depth of each point along the line with a depth of a previous point a depth of a next point to add a current point at a change or discontinuity in the monotonic nature of the depth of the vehicle;

(c) continuing the step (b), till and end of the line is reached, and adding a last point;

(d) calculating a value of z based on the line between the first point and the next point for each consecutive pair of points;

(e) subtracting the calculated value of z from an actual value of z for all the points in the 3D profile line to obtain a difference value; and

(f) adding difference value to curvature for generating the 3D signature of the vehicle.

2. The system as claimed in claim 1, wherein the scanner and acquisition module comprises an image capturing unit that is installed at a depth below a ground surface level to cover the entire width of the vehicle.

3. The system as claimed in claim 2, wherein the image capturing unit comprises a three dimensional depth sensor to capture the plurality of three dimensional (3D) images of the undercarriage of the vehicle.

4. The system as claimed in claim 1, wherein the display module provides an interactive visualization of the plurality of 3D profiles of the vehicle, alongside with the standard profile of the vehicle, by zooming in to an area of interest in the plurality of 3D profiles of the vehicle.

5. The system as claimed in claim 1, wherein when a specific region on the plurality of 3D profiles of the undercarriage of the vehicle is selected, the display module provides a zoom option to enable a relative mode visualization to analyze the specific region on the plurality of 3D profiles of the vehicle'"'"'s undercarriage.

6. A system for scanning an underside of a vehicle to detect a dissimilar object, comprising:

a scanner and acquisition module configured to capture a plurality of three dimensional (3D) images of an undercarriage of the vehicle at multiple instants when the vehicle crosses a structural unit with a slit;

an analysis and processing module configured to process the plurality of 3D images to obtain a plurality of 3D profiles of the undercarriage of the vehicle, wherein the analysis and processing module further configured to;

normalize variations in orientation of the plurality of 3D profiles of the vehicle'"'"'s undercarriage;

generate a 3D signature of the vehicle based on the plurality of normalized 3D profiles of the vehicle'"'"'s undercarriage;

identify a model of the vehicle based on the 3D signature of the vehicle; and

compare the plurality of 3D profiles of the vehicle with a standard profile of the undercarriage of a same model vehicle using the 3D signature to detect the dissimilar object; and

a display module that highlights the dissimilar object when the dissimilar object is detected in the undercarriage of the vehicle,

wherein the display module provides an interactive visualization of the plurality of 3D profiles of the vehicle, alongside with the standard profile of the vehicle, by zooming in to an area of interest in the plurality of 3D profiles of the vehicle, and wherein when a specific region on the plurality of 3D profiles of the undercarriage of the vehicle is selected, the display module provides a zoom option to enable a relative mode visualization to analyze the specific region on the plurality of 3D profiles of the vehicle'"'"'s undercarriages;

wherein the analysis and processing module is configured to generate the 3D signature of the vehicle by;

(a) initializing a point set for a line of the plurality of 3D profiles with a first point;

(b) comparing a depth of each point along the line with a depth of a previous point and a depth of a next point to add a current point at a change or discontinuity in the monotonic nature of the depth of the vehicle;

(c) continuing the step (b), till an end of the line is reached, and adding a last point;

(d) calculating a value of z based on the line between the first point and the next point for each consecutive pair of points;

(e) subtracting the calculated value of z from an actual value of z for all the points in the 3D profile line to obtain a difference value; and

(f)adding difference value to curvature for generating the 3D signature of the vehicle.

7. The system as claimed in claim 6, wherein the interactive visualization of the plurality of 3D profiles of the vehicle is computed based on depth histogram.

8. A method of detecting a dissimilar object in a vehicle using a three dimensional (3D) under vehicle scanning system, the method comprising:

capturing a plurality of 3D images of an undercarriage of the vehicle when the vehicle crosses a structural unit with a slit of the 3D under vehicle scanning system;

processing the plurality of 3D images to obtain a plurality of 3D profiles of the undercarriage of the vehicle;

normalizing variations in orientation of the plurality of 3D profiles of the vehicle'"'"'s undercarriage;

generating a 3D signature of the vehicle based on the plurality of normalized 3D profiles of the vehicle'"'"'s undercarriage;

identifying a model of the vehicle based on the 3D signature of the vehicle;

comparing the plurality of 3D profiles of the vehicle with a standard profile of the undercarriage of a same model vehicle using the 3D signature to detect a dissimilar object;

providing an interactive visualization of the plurality of 3D profiles of the vehicle, alongside with the standard profile of the vehicle; and

highlighting the dissimilar object when the dissimilar object is detected in the undercarriage of the vehicle, wherein generating the 3D signature comprising;

(a) initializing a point set for a line of the plurality of 3D profiles with a first point;

(b) comparing a depth of each point along the line with a depth of a previous point and a depth of a next point to add a current point at a change or discontinuity in the monotonic nature of the depth of the vehicle;

(c) continuing the step (b), till an end of the line is reached, and adding a last point;

(d) calculating a value of z based on the line between the first point and the next point for each consecutive pair of points;

(e) subtracting the calculated value of z from an actual value of z for all the points in the 3D profile line to obtain a difference value; and

(f) adding difference value to curvature for generating the 3D signature of the vehicle.

9. The method as claimed in claim 8, wherein the steps (a) to (f) are performed for each of the lines of the plurality of 3D profiles for generating the 3D signature of the vehicle.