METHOD AND SYSTEM FOR EXTRACTING THREE-DIMENSIONAL INFORMATION

• US 20130163879A1
• Filed: 08/29/2011
• Published: 06/27/2013
• Est. Priority Date: 08/30/2010
• Status: Abandoned Application

• Current Assignee: Bk-Imaging Ltd.
• Original Assignee: Bk-Imaging Ltd.
• Inventors: Katz, Barak, Zahavi, Oded
• Application Number:
  US13/819,747
• Publication Number:
  US 20130163879A1
• Time in Patent Office: Days
• US Class Current: 382/195
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30232 Surveillance
• CPC Class Codes: G06T 2207/30236 Traffic on road, railway or crossing
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/254 involving subtraction of images
• CPC Class Codes: G06T 7/55 from multiple images
• CPC Class Codes: G06T 7/74 involving reference images or patches

Abstract

A method of extracting three-dimensional (3D) information from an image of a scene is disclosed. The method comprises: comparing the image with a reference image associated with a reference depth map, so as to identify an occluded region in the scene; analyzing an extent of the occluded region; and based on the extent of the occluded region, extracting 3D information pertaining to an object that occludes the occluded region. In some embodiments the 3D information is extracted, based, at least in part, on parameters of the imaging system that acquires the image.

Claims

1. A method of extracting three-dimensional information from an image, of a scene comprising:

comparing the image with a reference image associated with a reference depth map, so as to identify an occluded region in the scene;

analyzing an extent of said occluded region; and

based on said extent, extracting at least one of;

a three-dimensional size and a three-dimensional location of an object occluding said occluded region.

2. The method according to claim 1, further comprising receiving information pertaining to the height of said object, wherein said extraction of said three-dimensional location utilizes a single viewpoint vector and is based on said height.

3. The method according to claim 1, comprising receiving a plurality of images and a plurality of reference images, respectively corresponding to a plurality of viewpoints of the same scene, wherein said comparison and said extent analysis is performed separately for each image, and wherein said extraction is based on relations between said extents.

4. The method according to claim 1, further comprising receiving information pertaining to the height of said object, wherein said extraction of said three-dimensional location is also based on said height.

8. The method according to claim 1, wherein the image is a video stream defined over a plurality of frames, and wherein said comparison, said analysis and said extraction are performed separately for each of at least some of said frames.

10. The method according to claim 1, further comprising segmenting the image, wherein said identification of said occluded region is based, at least in part, on said segmentation.

14. The method according to claim 1, further comprising associating said reference image with said reference depth map.

16. A method of three-dimensional tracking, comprising:

acquiring at least one video stream defined over a plurality of frames from a scene including therein a moving object; and

for each of at least some of said frames, executing the method according to claim 1 so as to extract three-dimensional location of said object, thereby providing a set of locations; and

using said set of locations for tracking the object.

17. The method of claim 16, further comprising predicting future motion of said object based on said tracking.

18. The method of claim 16, further comprising identifying or predicting abrupt change of altitude during said motion of the object, and issuing an alert responsively to said identification.

20. The method of claim 16, further comprising adjusting artificial environmental conditions based on said tracking.

21. The method of claim 16, further comprising identifying or predicting a change of posture of the object, and issuing an alert responsively to said identification.

23. The method according to claim 16, wherein the scene includes a plurality of objects, wherein said tracking is executed for each of at least some of said plurality of objects.

31. A computer software product, comprising a computer-readable medium in which program instructions are stored, which instructions, when read by a computer, cause the computer to receive an image and a reference image, and to execute the method according to claim 1.

5-7. -7. (canceled)

9. (canceled)

11-13. -13. (canceled)

15. (canceled)

19. (canceled)

22. (canceled)

24-30. -30. (canceled)

32. A system for extracting three-dimensional information, comprising:

at least one image capturing system; and

a data processor configured for receiving at least one image of a scene from said at least one image capturing system, accessing at least one recorded reference image associated with a reference depth map, comparing said at least one image with said at least one reference image to identify an occluded region in the scene, analyzing an extent of said occluded region, and extracting at least one of;

a three-dimensional size and a three-dimensional location of an object occluding said occluded region, based on said extent.

34. The system according to claim 32, wherein said at least one image capturing system is mounted indoor, and wherein said data processor is configured for transmitting information pertaining to said location and/or size via a hotspot access point.

33. (canceled)

35-36. -36. (canceled)

37. A method of monitoring, comprising:

analyzing a video stream of a subject so as to identify a posture of said subject;

comparing said posture with a database of postures which are specific to said subject;

based on said comparison, determining the likelihood that the subject is at risk of falling; and

issuing an alert if said likelihood is above a predetermined threshold.

39. The method of claim 37, further comprising:

communicating with at least one wearable risk monitoring device;

determining whether said device is worn and/or being activate; and

issuing an alert, if said device is not worn or not activate.

38. (canceled)

40. A method of identifying a subject, comprising:

analyzing a video stream of a scene having a plurality of subjects therein so as to extract three-dimensional information pertaining to locations, shapes and sizes of the subjects;

dynamically receiving from a cellular positioning system subject-identification codes for uniquely identifying the subjects at said scene;

monitoring changes in said three-dimensional locations, so as relate, for at least one subject in the scene, a subject-identification code to a three-dimensional shape and size; and

making a record of said relation.

41. A visual communication system, comprising:

at least one access point or beacon, configured for broadcasting data over a communication region;

an arrangement of imaging devices deployed over said communication region; and

a data processor configured for receiving images from said imaging devices, determining three-dimensional information pertaining to individuals in said images, and broadcasting said three-dimensional information using said at least one access point or beacon such that at least one individual in said region receives both a location and visualization of at least one tracked individual in said region.