Sensor and imaging system

• US 20050074140A1
• Filed: 08/31/2001
• Published: 04/07/2005
• Est. Priority Date: 08/31/2000
• Status: Active Grant

• Current Assignee: Donald P. Grasso, John Sonn, Steve Johnson
• Original Assignee: Donald P. Grasso, John Sonn, Steve Johnson
• Inventors: Sonn, John, Grasso, Donald P., Johnson, Steve
• Granted Patent: US 7,522,745 B2
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: G06T 2200/24 involving graphical user interfaces [GUIs]
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/20092 Interactive image processing based on input by user
• CPC Class Codes: G06T 2207/20224 Image subtraction
• CPC Class Codes: G06T 2207/30108 Industrial image inspection
• CPC Class Codes: G06T 2207/30232 Surveillance
• CPC Class Codes: G06T 5/00 Image enhancement or restoration
• CPC Class Codes: G06T 7/00 Image analysis
• CPC Class Codes: G06T 7/12 Edge-based segmentation
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G08B 13/19604 involving reference image or background adaptation with time to compensate for changing conditions, e.g. reference image update on detection of light level change
• CPC Class Codes: G08B 13/19619 Details of casing
• CPC Class Codes: G08B 13/19632 Camera support structures, e.g. attachment means, poles
• CPC Class Codes: G08B 13/19645 Multiple cameras, each having view on one of a plurality of scenes, e.g. multiple cameras for multi-room surveillance or for tracking an object by view hand-over
• CPC Class Codes: G08B 13/1968 Interfaces for setting up or customising the system

Abstract

A system is disclosed having a camera, a processor, and a user interface. The camera transmits image data responsive to a scene within a field of view. In response to the image data, the processor indicates whether a condition has been satisfied. The user interface is operably connected to the processor and allows a user to select criteria for detection of objects, for indicating criteria selected, and for providing visual confirmation that an object has been detected.

Claims

1. A detector comprising:

a sensor for collecting electromagnetic energy from a field of view for the sensor, the sensor generating a signal indicative of objects in the field of view;

an image analyzer electronically coupled to the sensor for receiving the sensor signal and forming an image of pixels therefrom;

an edge detector adapted to detect an edge of an object depicted within the pixel image, and determining the position of the edge within the pixel image;

a data storage device for storing edge location data of a first image; and

a comparator for comparing edge detection data from a second image to edge detection data from the first image in order to determine if the object associated with the edge has moved since the acquisition of the first image.

196. The system of claims 1-194 wherein the sensor is a camera.

2. A shadow and light beam detection process comprising the steps of:

capturing a grey scale image;

generating a binary image to define a binary map of the grey scale image; and

comparing the binary map to a copy of the grey scale image to determine grey scale values corresponding to selected portions of the binary map.

3. A process for determining whether a discrete area appearing in image information for a field of view represents a shadow or a light beam anomaly comprising:

predetermining a characteristic of the anomaly;

predetermining a calculation that will quantify the characteristic;

applying the calculation to the image information and generating a quantity of the characteristic; and

classifying the area based upon the quantity calculated.

4. A process for determining an edge comprising:

predetermining a threshold value to apply to a grey scale image value in a first and second channel;

comparing the image value to the threshold value in each of the first and second channel;

outputting a first binary value in each of the first and second channel;

defining a first dilation pixel having the first binary value;

defining a plurality of dilation pixels adjacent the first dilation pixel, each of the plurality of dilation pixels having a second binary value;

comparing the first binary value of the first dilation pixel and the second binary value of each of the plurality of dilation pixels;

outputting a dilated binary value in each of the first and second channel; and

oring the dilated binary value in the first channel and the dilated binary value in the second channel to generate an ored dilated binary value.

5. A process for determining an edge comprising:

storing a first grey scale image in a first buffer;

reading the first image;

transferring the first image to a second buffer;

repeating the steps of storing, reading and transferring for a second grey scale image;

subtracting the first image from the second image to generate a first positive image;

subtracting the second image from the first image to generate a second positive image;

comparing the first and second positive image to generate a positive difference image;

predetermining a threshold value to apply to the positive difference image in a first and second channel;

comparing the positive difference image to the threshold value in each of the first and second channel; and

outputting a first binary value in each of the first and second channel.

6. A motion detection process comprising the steps of:

capturing a first image;

determining edges of objects extant in the first image;

capturing a second image;

determining edges of objects extant in the second image;

subtracting the first image from the second image to generate a difference image; and

comparing at least one of the edge determinations to the difference image to determine movement of an object in the field of view represented by the at least one edge.

7. An image process for determining camera problems comprising the steps of:

capturing an image; and

creating a histogram to evaluate the image against pre-selected criteria.

8. An image process for determining camera problems comprising the steps of:

capturing a first image;

determining edges of the first image;

capturing a second image;

determining edges of the second image;

subtracting the second image from the first image to generate a difference image; and

thresholding the difference image.

9. An image process comprising the steps of:

capturing an image;

analyzing the image to define objects in the image;

labeling objects in the image; and

translating the objects to real world coordinates.

10. A process for determining an edge of an object in a field of view of a camera recording pixel data comprising:

capturing a reference frame of pixel data;

capturing an image frame of pixel data;

subtracting the reference frame from the image frame to generate a first gray scale contrast frame;

subtracting the image frame from the reference frame to generate a second gray scale contrast frame;

thresholding the first and second gray scale contrast frame to generate first and second contrast threshold frames;

dilating the first and second contrast threshold frames to generate first and second dilated frames;

oring the first and second dilated frames; and

adjusting the first and second dilated frames to generate a first and second binary images.

11. A process for smoothing pixel data defined as an edge of an object determined to exist in an image comprised of the pixel data, the process comprising the steps of:

defining a grey scale image from the pixel data in a first and second channel;

filtering the grey scale image utilizing a horizontal Sobel kernel to generate a horizontal filtered output in the first and second channel;

filtering the grey scale image utilizing a vertical Sobel kernel to generate a vertical filtered output in the first and second channel;

determining the absolute values of the horizontal and vertical filtered output in the first and second channel;

summing the absolute values to generate a Sobel value in the first and second channel; and

subtracting the Sobel value in the first channel from the Sobel value in the second channel to generate an output value.

12. A system for analyzing an image comprising:

a sensor configured and adapted to sense one of either active or passive energy or both from a field of view;

an imager configured to form an image from the energy sensed by the sensor;

a processor responsive to the imager, the processor being configured and adapted to label image content information from the image; and

a decision maker responsive to the processor, the decision maker being configured and adapted to make determinations about the presence of a/an (stationary) object in the field of view from the image content information.

13. The system of claim 12 wherein the decision maker having a decision metric, the decision metric being based upon the relationship of selected image information content to a first predetermined area or zone within the image.

14. The system of claim 13 wherein the decision maker having a decision metric, the decision metric being based upon the relationship of selected image information content to a second predetermined area or zone within the image.

15. The system of claim 13 or 14 wherein the selected image information content is determined by the decision maker to be indicative of the object.

16. The system of claim 15 wherein the relationship to the area or zone is limited to whether at least a portion of the object is within the first or second predetermined zones.

17. The system of claim 13 or 14 wherein the selected image information content is determined by the decision maker to be indicative of an edge of the object.

18. The system of claim 13 or 14 wherein the selected image information content is determined by the decision maker to be indicative of a shadow of the object.

19. The system of claim 13 or 14 wherein the selected image information content is determined by the decision maker to be indicative of a lightbeam.

20. The system of claim 13 or 14 wherein the selected image information content is determined by the decision maker to be indicative of motion of the object.

21. The system of claim 12 wherein the processor is configured and adapted to determine features of the object selected from the group consisting of area, perimeter, centroid, bounding rectangle, magnitude, variance and shape.

22. The system of claim 21 wherein the shape is selected from the group consisting of elongation, spread, ellipse shape factor and orientation.

23. A method of image analysis by a computing device comprising the steps of:

providing to the device, a pixel image of at least a portion of a field of view of a sensor;

the device determining pixels in the image which likely correspond to at least one edge of at least one object within the field of view; and

,

the device labeling at least one group of the pixels identified to define an individual entity representative of the at least one edge of the at least one object in the field of view.

24. The method of claim 23 including the step of the device mathematically operating on the at least one object or the at least one group of pixels to generate at least one feature of the at least one object or the at least one group of pixels.

25. The method of claim 24 including the step of the device mathematically operating on the at least one object or the at least one group of pixels to generate a mathematical or geometric feature of the at least one object or the at least one group of pixels.

26. The method of claim 24 wherein the generating at least one feature step includes determining one or more features of the at least one object selected from the group consisting of area, perimeter, moments of inertia, grey level mean, grey level variance, grey level histogram and location.

27. A method of image analysis by a computing device comprising the steps of:

providing to the device, a pixel image of at least a portion of a field of view of a sensor;

the device quantifying multiple properties of all pixels in an area of interest;

the device labeling a first group of the pixels so as to satisfy a predetermined first criterion representative of an object in the field of view; and

,

the device independently and simultaneously labeling a second group of the pixels so as to satisfy a predetermined second criterion representative of the object in the field of view.

28. The method of claim 27 including the step of the device mathematically operating on the object or the first and second group of pixels to generate at least one feature of the object or the first and second groups of pixels, respectively.

29. The method of claim 28 including the step of the device mathematically operating on the object or the first and second group of pixels to generate a mathematical or geometric feature of the object or the first and second groups of pixels, respectively.

30. The method of claim 28 wherein the generating at least one feature step includes determining one or more features of the object or the first and second groups of pixels selected from the group consisting of area, perimeter, moments of inertia, grey level mean, grey level variance, grey level histogram and location.

31. The method of claim 27 wherein the device performs the steps of:

mathematically operating on the object or the first and second groups of pixels to generate at least two features of the object or the first and second groups of pixels, wherein at least one feature is based on edge data and at least one feature is based on region analysis;

comparing the features of the object to a predefined set of rules stored in or accessible to the device; and

,

the device generating a decision with respect to controlling a second device, based upon the comparison.

32. A method of image analysis comprising the steps of:

generating a time sequence of images in a field of view;

allocating one of the successive images, other than an immediately preceding image, in the field of view as a reference image; and

,

comparing selected successive images to the reference image of the same field of view.

33. The method of claim 32 including the step of refreshing the reference image from time to time based on a criteria.

34. The method of claim 33 including the step of refreshing the reference image based upon evaluation of image content derived from the image comparisons.

35. The method of claim 33 including the step of refreshing the reference frame based upon a predetermined passage of time.

36. The method of claim 32 including the step of updating a portion of the reference image using a current image.

37. The method of claim 36 including the step of performing an update using predetermined criteria and evaluation of image content.

38. A method of image analysis comprising the steps of:

generating a time sequence of images in a field of view;

allocating one of the successive images in the field of view as a reference image; and

,

comparing selected successive images to the reference image of the same field of view using a positive difference operator.

39. A method of image analysis comprising the steps of:

capturing an image;

deriving one or more images from the captured image using predetermined image operators;

labeling individual groups of pixels independently in one or more of the derived images corresponding to objects in the field of view; and

calculating features by evaluating the same groups of pixels for each of the one or more derived images independently.

40. The method of claim 39 including the step of considering the features simultaneously.

41. The method of claim 39 including the step of basing one of the features on edge data and another of the features on region data.

42. A camera system for controlling a device other than a camera comprising:

a camera having a lens, the lens having at least a first and second radial distortion coefficient, the first coefficient having a value of at least about 1.0 and the second coefficient having an absolute value of at least about 1.0;

a signal generator for generating a camera signal indicative of a field of view through the lens;

an analyzer which receives the camera signal and analyzes the camera signal for detection of an object or motion, the analyzer generating a detection signal indicating the object or motion; and

,

a device controller receiving the detection signal and controlling the device in response thereto.

43. The system of claim 42 wherein the analyzer having means for analyzing image content while compensating for the radial distortion.

44. The system of claim 43 wherein the analyzer determines the radial distortion.

45. The system of claim 42 wherein the analyzer having means for determining the size of objects in the field of view.

46. The system of claim 42 including code for representing radial distortion as a standard radial distortion polynomial system wherein the polynomial system having sixth-powered terms, the coefficients of which are non-zero.

47. A camera system for controlling a device other than a camera comprising:

a camera having a lens, the lens having a field of view of at least about 53 degrees;

a signal generator for generating a camera signal indicative of the field of view through the lens;

an analyzer which receives the camera signal and analyzes the camera signal for detection of an object or motion, the analyzer generating a detection signal indicating the object or motion; and

,

a device controller receiving the detection signal and controlling the device in response thereto.

48. The system of claim 47 wherein the lens having a field of view of at least 90 degrees.

49. The system of claim 47 wherein the analyzer having means for analyzing image content while compensating for the radial distortion.

50. The system of claim 49 wherein the analyzer determines the radial distortion.

51. The system of claim 47 wherein the analyzer having means for determining the size of objects in the field of view.

52. The system of claim 47 including code for representing radial distortion as a standard radial distortion polynomial system wherein the polynomial system having sixth-powered terms, the coefficients of which are non-zero.

53. A camera system for controlling a device other than a camera comprising:

a camera having a lens, the lens having an image diagonal and a focal length, wherein the image diagonal is greater than the focal length;

a signal generator for generating a camera signal indicative of the field of view through the lens;

an analyzer which receives the camera signal and analyzes the camera signal for detection of an object or motion, the analyzer generating a detection signal indicating the object or motion; and

,

a device controller receiving the detection signal and controlling the device in response thereto.

54. The system of claim 53 wherein the image diagonal is at least twice the focal length.

55. The system of claim 53 wherein the analyzer having means for analyzing image content while compensating for the radial distortion.

56. The system of claim 55 wherein the analyzer determines the radial distortion.

57. The system of claim 53 wherein the analyzer having means for determining the size of objects in the field of view.

58. The system of claim 53 including code for representing radial distortion as a standard radial distortion polynomial system wherein the polynomial system having sixth-powered terms, the coefficients of which are non-zero.

59. A camera comprising:

a) a lens;

b) a detector located so as to have light focused upon the detector from the lens, the detector generating an image signal;

c) a controller receiving the image signal; and

d) a gain control adjusting gain of the image signal from the detector based upon a histogram of grey-scale values of the image.

60. The camera of claim 59 wherein the detector is selected from the group consisting of a CCD-based detector and a CMOS-based detector.

61. A method of image processing comprising the steps of:

capturing a pixel image of a field of view from a single point of view;

electronically analyzing the image to determine pixel groups in the image corresponding to objects in the field of view; and

determining the spatial location of objects in the field of view corresponding to the pixel groups.

62. A method of image processing comprising the steps of:

providing an array of sensors, the array having a first field of view of a volumetric space;

defining a two-dimensional pixel image from signals sent from the array;

(the pixel image providing a two-dimensional representation of the volumetric space)

predetermining a desired coordinate system in the volumetric space; and

,

utilizing information regarding a pose of the array and the coordinate system to electronically determine the relation between pixel coordinates in the image to spatial coordinates in the three-dimensional space.

63. The method of claim 62 including the steps of:

providing a lens with a radial distortion to focus energy from a second field of view to the array; and

,

adjusting the relation of pixel values to spatial location.

64. The method of claim 62 including the step of electronically determining the effective resolution of the array of sensors within the field of view relative to the coordinate system unit of measure.

65. The method of claim 64 including the step of controlling a detection characteristic over the entire field of view by utilizing the determined resolution values.

66. The method of claim 64 including the step of adjusting detection threshold limits by utilizing the determined resolution values.

67. The methods of claims 64-66 including the step of predetermining a pixel area corresponding to a representative size of objects of interest for detection.

68. The method of claim 62 including the step of providing an array of sensors arranged in a substantially planar relationship.

69. The method of claim 62 including the step of utilizing information regarding location and orientation of the array and the coordinate system to electronically determine the relation between pixel coordinates in the image to spatial coordinates in the three-dimensional space.

70. The method of claim 62 including the step of utilizing information regarding intrinsic parameters of the imaging system and the coordinate system to electronically determine the relation between pixel coordinates in the image to spatial coordinates in the three-dimensional space.

71. The method of claim 62 including the step of predetermining a homogeneous coordinate system in the volumetric space.

72. The method of claim 71 including the step of utilizing information regarding a pose of the array and the homogeneous coordinate system to electronically determine the relation between pixel coordinates in the image to spatial coordinates in the three-dimensional space.

73. The method of claim 71 including the step of utilizing a projective perspective transformation to electronically determine the relation between pixel coordinates in the image to spatial coordinates in the three-dimensional space.

74. The method of claim 73 including the step of adding a radial distortion correction to the projective perspective transformation to electronically determine the relation between pixel coordinates in the image to spatial coordinates in the three-dimensional space.

75. The method of claim 62 including the step of providing a CCD, the CCD having a first field of view of a volumetric space.

76. A method of image analysis comprising the steps of:

providing a pixel image of at least a portion of a field of view of a sensor;

determining pixels in the image which likely correspond to objects in the field of view;

discriminating between pixels so determined to define spatially discrete groups of pixels; and

,

labeling each group of pixels.

77. A timer for monitoring a processor comprising:

a first circuit for resetting the processor when improper function is detected; and

a second circuit for maintaining a safe output condition when the processor is not controlling the output condition.

78. The timer of claim 77 including a temperature monitor.

79. The timer of claim 78 wherein the temperature monitor generates an output signal when the processor temperature exceeds predetermined operating limits.

80. The timer of claim 79 wherein the temperature monitor is connected to the first circuit for resetting the processor when the processor temperature exceeds the predetermined operating limits.

81. A monitoring device comprising:

a sensor for sensing energy from an environment and providing an output indicative of same;

an image formed from the output of the sensor;

a first analyzer for analyzing a first portion of the image; and

a second analyzer for analyzing a second portion of the image distinct from the first portion of the image and each generating a signal indicative of the respective portion of the image analyzed by the respective analyzer.

82. A monitoring device comprising:

a sensor for sensing energy from an environment and providing an output indicative of same;

an image formed from the output of the sensor;

an analyzers for analyzing n portions of the image, each portion being distinct; and

each analyzer generating a signal indicative of the respective portion of the image analyzed by the respective analyzer.

83. A camera having a lens and optionally a transparent lens cover and having a field of view through the lens and optionally through the lens cover comprising:

a storage device for storing logic and data and codifying criteria representative of conditions having an effect on the field of view;

an imager for obtaining and storing an image representative of the field of view;

a processor for processing data derived from the image for use in comparison to the criteria; and

a generator for generating control signals representative of the image.

84. The camera of claim 83 including frame analysis algorithms for evaluating image quality of the camera.

85. The camera of claim 83 including frame analysis algorithms for evaluating changes in position or orientation of the lens relative to camera environment.

86. The camera of claim 83 including frame analysis algorithms for evaluating image failure of the camera.

87. The camera of claim 83 wherein the conditions that impact the view through the lens and optionally a lens cover are selected from the group consisting of substances contacting the lens or lens cover, level of lighting in the view, unusually bright or dark spots in the view, overall flux of electromagnetic energy passing through the lens, and obstruction of the lens by other objects.

88. The camera of claim 83 wherein the processor has a generator for generating histograms from the image and the storage device has data relative to histogram criteria.

89. The camera of claim 88 wherein the data relative to histogram criteria is derived by a comparison between a predetermined histogram and a histogram determined from the image representative of the field of view.

90. The camera of claim 87 wherein the processor has a generator for generating histograms from the image and the storage device has data relative to histogram criteria.

91. The camera of claim 90 wherein the data relative to histogram criteria is derived by a comparison between a predetermined histogram and a histogram determined from the image representative of the field of view.

92. The camera of claims 87-91 wherein the substances contacting the lens or lens cover are selected from the group consisting of dirt, dust, oil, water, organic film, inorganic film, soot and metal fines.

93. The camera of claim 83 wherein the conditions are selected from the group consisting of normal and abnormal.

94. A system for defogging a window comprising:

an electrically conductive terminal; and

a PTC material adjoining the conductive terminal and operably coupled to the window.

95. The system of claim 94 further comprising another electrically conductive terminal adjoining the PTC material.

96. The system of claim 95 further comprising a voltage potential coupled to the electrically conductive terminals.

97. The system of claim 94 wherein the electrically conductive terminal has an aperture extending therethrough.

98. The system of claim 94 wherein the PTC material has an aperture extending therethrough.

99. The system of claim 94 wherein the electrically conductive terminal and the PTC material have apertures extending therethrough and in coaxial alignment with each other.

100. An apparatus comprising:

a housing having an opening;

a window mounted over the opening;

a PTC material operably coupled to the window.

101. The apparatus of claim 100 further comprising an electrically conductive terminal connected to the PTC material.

102. The apparatus of claim 101 further comprising another electrically conductive terminal adjoining the PTC material.

103. The apparatus of claim 101 further comprising a voltage potential coupled to the electrically conductive terminal.

104. The apparatus of claim 101 wherein the electrically conductive terminal has an aperture extending therethrough.

105. The apparatus of claim 100 wherein the PTC material has an aperture extending therethrough.

106. The apparatus of claim 101 wherein the electrically conductive terminal and the PTC material have apertures extending therethrough and in coaxial alignment with each other and the opening in the housing.

107. The apparatus of claim 100 further comprising a camera mounted within the housing.

108. The apparatus of claim 107 wherein the camera has a field-of-view extending through the window.

109. The apparatus of claim 108 wherein the field-of-view includes at least part of a pathway to a door.

110. The apparatus of claim 109 further comprising a door opener operably coupled to the door and responsive to objects detected within the field-of-view.

118. The device of claims 12-117 including a third sequencing key which is configured to prompt a user to enter a fifth set of data into the device using a first display key when actuated a first time and prompt the user to enter a sixth set of data into the device using the first display key when actuated a second time.

121. The device of claim 118 wherein the first and third sequencing keys are configured with a hierarchy, the hierarchy allowing the first sequencing key to override operation of the third sequencing key.

122. The device of claim 118 wherein the first, second and third sequencing keys are configured with a hierarchy, the hierarchy allowing the first sequencing key to override operation of the second and third sequencing keys.

111. An input device for communicating with a controller for an automatic door comprising:

a first sequencing key which is configured to prompt a user to enter a first set of data into the device when actuated a first time and prompt the user to enter a second set of data when actuated a second time;

at least one input key; and

at least one input.

112. The device of claim 111 including a display for displaying user input.

113. The device of claim 111 including a display for displaying pre-stored user options for selection in response to prompts from the first sequencing key.

114. The device of claim 113 wherein the display displaying only a portion of the pre-stored data to be displayed for each actuation of the at least one input key.

115. The device of claims 111-114 including an input selector which accepts and stores user input when actuated.

116. The device of claims 112-115 including a second sequencing key which is configured to prompt a user to enter a third set of data into the device using a first display key when actuated a first time and prompt the user to enter a fourth set of data into the device using the first display key when actuated a second time.

117. The device of claims 112-115 including a second sequencing key which is configured to prompt a user to enter a third set of data into the device using the first display key when actuated a first time and prompt the user to enter a fourth set of data into the device using a second display key when actuated a second time.

119. The device of claims 112-117 including a third sequencing key which is configured to prompt a user to enter a fifth set of data into the device using the first display key when actuated a first time and prompt the user to enter a sixth set of data into the device using a second display key when actuated a second time.

120. The device of claim 116 wherein the first and second sequencing keys are configured with a hierarchy, the hierarchy allowing the first sequencing key to override operation of the second sequencing key.

123. The device of claim 111 wherein the at least one input is a numerical input.

124. The device of claim 111 wherein the at least one input is an alpha input.

125. A sensor system for controlling an automatic door which has a door panel selectively blocking an opening comprising:

a sensor having a field of view of areas of interest about the opening and a signal output relative to objects sensed in the field of view of the sensor;

a signal processor responsive to sensor output signals;

a door drive responsive to the signal processor; and

an input device having a signal output, the signal processor responsive to output signals from the input device,

wherein the input device having a pose input for permitting a user to input data indicative of the pose of the sensor as mounted to obtain the field of view.

126. The sensor system of claim 125 wherein the pose input includes installed height of the sensor.

127. The sensor system of claim 125 wherein the pose input includes a nominal height of the sensor.

128. The sensor system of claim 125 wherein the pose input includes a model number of the door associated with the field of view.

129. The sensor system of claim 125 wherein the pose input includes a width of the opening.

130. The sensor system of claim 125 wherein the pose input includes a length of the opening.

131. The sensor system of claim 125 wherein the pose input includes a first position of an activation zone.

132. The sensor system of claim 125 wherein the pose input includes a second position of an activation zone.

133. An input device for communicating with a door drive responsive to a sensor which has a field of view of areas of interest about the door, the device comprising:

a first tier of selectable input selectors; and

a second tier of selectable input selectors;

wherein the first and second tiers being configured such that user input into the first tier of selectable input selectors controls the availability of selections for input on the second tier of selectable input selectors.

134. A sensor system for controlling an automatic door which has a door panel selectively blocking an opening, the sensor system comprising:

a sensor configured to sense objects in a field of view; and

an input device having an output for communication with a controller for the automatic door, the input device having a user input relative to the sensor height.

135. The system of claim 134 wherein the input device having a user input relative to the door width.

136. The system of claim 134 wherein the input device having a data set stored relative to door model.

137. An image analyzer for data processing comprising:

a FPGA for pixel processing;

a CPU operably connected to the FPGA in parallel; and

a video buffer operably connected to the CPU.

138. A process for performing high-rate data processing comprising the steps of:

providing a CPU for processing a current frame;

providing a FPGA for simultaneously processing a next frame to generate a FPGA output;

storing the FPGA output in a storage bank;

retrieving the FPGA output from the storage bank; and

sending the FPGA output to the CPU for processing.

139. A process for initializing a video system comprising the steps of:

initializing a FPGA;

selecting a first ping-pong data set;

instructing the FPGA to capture a video frame;

initializing at least one reference image;

instructing the FPGA to process the at least one reference image to generate FPGA outputs; and

transferring the FPGA outputs from the FPGA to the first ping-pong data set.

140. A system for controlling an effector comprising:

a sensor configured and adapted to sense one of either active or passive energy or both from a field of view;

an imager configured to form an image from the energy sensed by the sensor;

an image analyzer responsive to the imager, the image analyzer being configured and adapted to define image content information from the image;

a decision maker responsive to the image analyzer, the decision maker being adapted and configured to make determinations about the presence of a/an (stationary) object in the field of view from the image content information; and

,

a first controller for controlling the effector, the first controller being responsive to the decision maker.

141. The system of claim 140 wherein the decision maker having a first decision metric, the first decision metric being based upon the relationship of selected image information content to a first predetermined area or zone within the image.

142. The system of claim 141 wherein the decision maker having a first decision metric, the first decision metric being based upon the relationship of selected image information content to a second predetermined area or zone within the image.

143. The system of claim 141 or 142 wherein the selected image information content is determined by the decision maker to be indicative of the object.

144. The system of claim 143 wherein the relationship to the area or zone is limited to whether at least a portion of the object is within the first or second predetermined zones.

145. A system for controlling an automatic door which selectively blocks an opening, the system comprising:

a sensor configured and adapted to sense one of either active or passive energy or both from a field of view;

an imager configured to form an image from the energy sensed by the sensor;

an image analyzer responsive to the imager, the image analyzer being configured and adapted to define image content information from the image;

a decision maker responsive to the image analyzer, the decision maker being adapted and configured to make determinations about the objects in the field of view based upon the image content information; and

,

a door controller for controlling at least the opening and closing of the door, the door controller being responsive to the decision maker.

146. The system of claim 145 wherein the decision maker having a first decision metric, the first decision metric being based upon the relationship of selected image information content to a first predetermined area or zone within the image.

147. The system of claim 146 wherein the decision maker having a first decision metric, the first decision metric being based upon the relationship of selected image information content to a second predetermined area or zone within the image.

148. The system of claim 146 or 147 wherein the selected image information content is indicative of the presence of a stationary object.

149. The system of claim 148 wherein the relationship to the area or zone includes whether at least a portion of the object is within the first or second predetermined zones.

150. The system of claim 146 or 147 wherein the relationship to the area or zone includes whether at least a portion of an object is within the first or second predetermined zones.

151. The system of claim 145 including a geometry mapper which translates the dimensions and geometries of the field of view to coordinates of pixels comprising the images.

152. An object position locator consisting of a single camera for generating pixel images for analysis, comprising:

an image analyzer having an object detection algorithm which determines the existence of objects in a field of view of the camera;

a labeler for providing a discrete identity to an object in the pixel image; and

a position locator for determining coordinates of the object within the pixel image.

153. A monitoring device comprising:

a sensor for sensing energy from an environment and providing an output indicative of same;

an image formed from the output of the sensor;

n analyzers for analyzing n portions of the image, each portion being distinct; and

each analyzer generating a signal indicative of the respective portion of the image analyzed by the respective analyzer.

154. A surveillance system comprising:

multiple sensors, each sensor being deployed at an individual location of interest, each sensor having a field of view and generating a sensor signal indicative of objects within its field of view;

one or more signal analyzers for receiving sensor signals and determining from the signals the presence of objects of interest or motion in the respective fields of view of the multiple sensors, and for generating a display signal representative of the multiple fields of view and for generating detection signals indicative of object presence or motion in respective ones of the multiple fields of view;

at least one viewer for receiving display signals and generating and displaying human interpretable data representative of selected fields of view; and

a controller receiving at least the detection signals from the signal analyzers, the controller determining from the detection signals which field of view will be displayed on the at least one viewer.

155. A system for defogging a window comprising:

an electrically conductive terminal; and

a PTC material adjoining the conductive terminal and operably coupled to the window.

156. The system of claim 155 further comprising another electrically conductive terminal adjoining the PTC material.

157. The system of claim 156 further comprising a voltage potential coupled to the electrically conductive terminals.

158. The system of claim 155 wherein the electrically conductive terminal has an aperture extending therethrough.

159. The system of claim 155 wherein the PTC material has an aperture extending therethrough.

160. The system of claim 155 wherein the electrically conductive terminal and the PTC material have apertures extending therethrough and in coaxial alignment with each other.

161. An apparatus comprising:

a housing having an opening;

a window mounted over the opening;

a PTC material operably coupled to the window.

162. The apparatus of claim 161 further comprising an electrically conductive terminal connected to the PTC material.

163. The apparatus of claim 162 further comprising another electrically conductive terminal adjoining the PTC material.

164. The apparatus of claim 162 further comprising a voltage potential coupled to the electrically conductive terminal.

165. The apparatus of claim 162 wherein the electrically conductive terminal has an aperture extending therethrough.

166. The apparatus of claim 161 wherein the PTC material has an aperture extending therethrough.

167. The apparatus of claim 162 wherein the electrically conductive terminal and the PTC material have apertures extending therethrough and in coaxial alignment with each other and the opening in the housing.

168. The apparatus of claim 161 further comprising a camera mounted within the housing.

169. The apparatus of claim 168 wherein the camera has a field-of-view extending through the window.

170. The apparatus of claim 169 wherein the field-of-view includes at least part of a pathway to a door.

171. The apparatus of claim 170 further comprising a door opener operably coupled to the door and responsive to objects detected within the field-of-view.

172. A system for controlling a door comprising:

a camera for collecting image data;

a control unit receiving image data from the camera; and

a drive motor for controlling the opening and closing of the door, the drive motor receiving control signals from the control unit.

173. The system of claim 172 wherein the control unit has means for defining at least a portion of an image as a control zone.

174. The system of claim 173 including a first control zone wherein selected image data within the first control zone will cause a control signal to open the door.

175. The system of claim 173-174 including a second control zone wherein selected image data within the second control zone will generate a first control condition preventing the door from closing.

176. The system of claim 173 wherein the means for defining includes choosing coordinates from all pixel coordinates by direct access within the control zone.

177. The system of claim 173 wherein the means for defining includes choosing from multiple predefined zones.

178. The system of claim 173 wherein the means for defining includes putting real objects in a field of view so as to delineate boundary coordinates and the real objects become part of the image data, the control zone being defined from the real objects image data.

179. The system of claim 172-174 wherein

the control unit analyzes the image data in the first control zone at a first time;

the control unit analyzes the image data in the first control zone at a second time; and

the control unit compares the image data at the first time and the image data at the second time to determine whether an object is present in the first control zone.

180. The system of claim 179 wherein the object is analyzed to determine if any portion of the object is within the first control zone.

181. The system of claim 180 wherein the selected image data within the first control zone causes the control signal to open the door if any portion of the object is within the first control zone.

182. The system of claim 181 wherein the control unit chooses a portion of the object to determine a bottom edge of the object.

183. The system of claim 182 wherein the control unit analyzes the bottom edge to determine if the bottom edge is within the first control zone.

184. The system of claim 183 wherein a fourth control zone is defined adjacent the first control zone, the fourth control zone possessing objects between the first control zone and the camera.

185. The system of claim 184 wherein the fourth control zone is positioned between the first control zone and the camera.

186. The system of claim 185 wherein the presence of the object in the fourth control zone will prevent the first control zone from sending the control signal to open the door.

187. The system of claim 186 wherein the presence of the object in the fourth control zone will cause the first control zone to send the control signal to open the door.

188. The system of claim 172-175 wherein

the control unit analyzes the image data in the second control zone at a first time;

the control unit analyzes the image data in the second control zone at a second time; and

the control unit compares the image data at the first time and the image data at the second time to determine whether an object is present in the first control zone.

189. The system of claim 172-175 further including a third control zone wherein selected image data within the third control zone will generate a second control condition preventing the door from closing.

190. The system of claim 172-175 wherein the second control zone comprises a plurality of predetermined shapes.

191. The system of claim 189-190 wherein the third control zone comprises a plurality of predetermined shapes, the shapes of the third control zone being complementary to the shapes of the second control zone.

192. The system of claim 191 wherein

the control unit analyzes the image data in the third control zone at a first time;

the control unit analyzes the image data in the third control zone at a second time; and

the control unit compares the image data at the first time and the image data at the second time to determine whether an object is present in the third control zone.

193. The system of claim 172-174 wherein the first control zone includes means for comparing the image data to a plurality of user specified dimensions.

194. The system of claims 172-193 wherein the camera senses energy selected from the group consisting of:

visible light waves, infrared lights waves, microwaves, radar and sound waves.

195. The system of claim 173-194 wherein a user can enter data to define at least one control zone parameter from the group consisting of area, location, shape, number of control zones and control criteria.

197. A system for controlling a door comprising:

a sensor, the sensor having, for example, a beam for sensing coherent energy from objects near the door;

a control unit receiving electronic values from the sensor indicative of energy sensed by the camera;

a drive motor for controlling the opening and closing of the door, the drive motor receiving control signals from the control unit; and

means for defining a portion of a beam pattern as a control zone.

198. The system of claim 197 wherein the control zone is a beam pattern