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System and method for tracking objects using a detection system

  • US 5,668,739 A
  • Filed: 06/04/1996
  • Issued: 09/16/1997
  • Est. Priority Date: 09/02/1994
  • Status: Expired due to Term
First Claim
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1. An autonomous mining system, comprising:

  • at least one mining truck having a sensor, wherein said sensor is configured to detect objects within a field of view;

    means for sampling each detector at a sample time to generate a current frame of datapoints, wherein each datapoint represents an object detected by said detector;

    means for converting said datapoints into datapoints represented in global coordinates;

    means for mapping said converted datapoints into a next frame of datapoints generated at a next sample time to create a new frame of datapoints, wherein said new frame of datapoints represents objects detected in said next frame as well as objects detected in one or more previous frames;

    means for blob coloring said new frame of datapoints to define objects;

    means for making list of said defined objects; and

    wherein said means for blob coloring comprises;

    means for scanning said new frame to locate a bin having datapoint having a non-zero power value;

    means for labeling said located bin with a new label where said located bin is not adjacent to a previously-labeled bin; and

    means for labeling said located bin with the same label as was assigned to said previously-labeled bin where said located bin is adjacent to said previously-labeled bin.

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