Methods and systems for detecting and recognizing an object based on 3D image data
First Claim
1. A method of identifying an object which is within or passes through a designated area, the method comprising:
- acquiring first 3D image data representing the object while the object is within or passes through the designated area;
determining second 3D image data representing the object'"'"'s surface based on the first 3D image data;
checking the quality of the second 3D image data;
comparing the second 3D image data to data representing known objects; and
identifying the object based on the second 3D image data.
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Accused Products
Abstract
Methods and systems are described herein for high-speed observation and recognition of an object which is within or passes through a designated area using 3D image data and tomography, stereo-photogrammetry, range finding and/or structured illumination. Such a security system may comprise multiple pairs of 3D sensors surrounding the designated area such as a portal or doorway. Alternatively, it may comprise a 3D sensor which is capable of acquiring 3D image data of an object that is situated in front of it. Using at least one 3D sensor and a 3D data collection technique such as structured illumination and/or stereo-photogrammetry, 3D image data of the object is acquired. 3D image data representing the object'"'"'s surface may be determined based on the acquired data and may be compared to data representing known objects to identify the object. Methods for fast processing of 3D data and recognition of objects are also described.
106 Citations
18 Claims
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1. A method of identifying an object which is within or passes through a designated area, the method comprising:
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acquiring first 3D image data representing the object while the object is within or passes through the designated area;
determining second 3D image data representing the object'"'"'s surface based on the first 3D image data;
checking the quality of the second 3D image data;
comparing the second 3D image data to data representing known objects; and
identifying the object based on the second 3D image data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for identifying an object while the object is within or passes through a designated area, the system comprising:
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at least two illumination units capable of illuminating the object;
at least two 3D data collecting units capable of collecting 3D image data representing the object; and
a processing unit capable of;
acquiring first 3D image data representing the object while the object is within or passes through the designated area;
determining second 3D image data representing the object'"'"'s surface based on the first 3D image data;
checking the quality of the second 3D image data;
comparing the second 3D image data to data representing known objects; and
identifying the object based on the second 3D image data. - View Dependent Claims (12, 13, 14)
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15. A computer readable medium containing instructions for controlling a computer system to perform a method of identifying an object which is within or passes through a designated area, the method comprising:
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acquiring first 3D image data representing the object while the object is within or passes through the designated area;
determining second 3D image data representing the object'"'"'s surface based on the first 3D image data;
checking the quality of the second 3D image data;
comparing the second 3D image data to data representing known objects; and
identifying the object based on the second 3D image data. - View Dependent Claims (16)
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17. An apparatus for identifying an object comprising:
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a processing unit capable of acquiring first 3D image data representing the object while the object is within or passes through a designated area;
determining second 3D image data representing the object'"'"'s surface based on the first 3D image data;
checking the quality of the second 3D image data;
comparing the second 3D image data to data representing known objects; and
identifying the object based on the second 3D image data; and
a memory unit capable of storing 3D image data.
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18. An apparatus for identifying an object comprising:
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a processing unit capable of acquiring first 3D image data representing the object while the object is within or passes through a designated area;
determining second 3D image data representing the object'"'"'s surface based on the first 3D image data;
checking the quality of the second 3D image data;
comparing the second 3D image data to data representing known objects;
generating a feature vector based on the second 3D image data, the feature vector representing features of the object; and
constructing a filter vector based on the feature vector;
determining a subset of data representing known objects based on the filter vector;
comparing the second 3D image data to the subset of data representing features of known objects; and
identifying the object based on the second 3D image data; and
a memory unit capable of storing 3D image data.
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Specification