Video safety detector with projected pattern
First Claim
1. A method of detecting an intruding object in a space comprising the steps of:
- projecting a pattern onto at least part of said space;
acquiring a set of source images of said space, said source images comprising a set of data elements representing light intensity for each corresponding pixel including data representing said pattern and additional data representing objects in said space;
generating a background image by processing said source images using a low pass filter, said background image comprising an image of said space including said pattern and said objects, based upon images previously captured and filtered;
comparing a next source image with said background image using a digital subtraction step to form a difference image; and
segmenting said difference image.
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Abstract
A two-dimensional (2-D) machine-vision safety-solution involving a method and apparatus for performing high-integrity, high efficiency machine vision. A known structured lighting texture pattern is projected upon a target area. A model image of the pattern on an empty target field is stored during an initial training step. The machine vision safety solution digitally interprets a camera image of the light reflected by the objects in the target area to detect and characterize a pattern in the image. The pattern characterization is then processed to determine if a distortion of the characterization factors is larger than a predetermined threshold, and results in an alarm condition.
92 Citations
17 Claims
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1. A method of detecting an intruding object in a space comprising the steps of:
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projecting a pattern onto at least part of said space; acquiring a set of source images of said space, said source images comprising a set of data elements representing light intensity for each corresponding pixel including data representing said pattern and additional data representing objects in said space; generating a background image by processing said source images using a low pass filter, said background image comprising an image of said space including said pattern and said objects, based upon images previously captured and filtered; comparing a next source image with said background image using a digital subtraction step to form a difference image; and segmenting said difference image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A machine vision intrusion detection apparatus comprising:
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at least one image acquisition device arranged to acquire an image of a space; at least one pattern projector arranged to project a structured lighting pattern onto at least part of said space; at least one video processor in communication with said at least one image acquisition device; wherein said at least one video processor further comprises; an image processor component in communication with said image acquisition device; wherein said image processor component further comprises a low pass filter component in communication with said image acquisition device and receiving a source image therefrom, said low pass filter providing a background image as a result of processing said source image; wherein said source image comprises a set of data elements representing light intensity for each corresponding pixel including data representing said pattern and additional data representing objects in said space; wherein said background image comprises an image of said space including said pattern and said objects, based upon images previously captured and filtered; a comparison component in communication with said image acquisition device and receiving said source image therefrom, said comparison component also in communication with said low pass filter component and receiving a background image therefrom; a segmentation component in communication with said comparison component and receiving a difference image therefrom; and a results processor in communication with said segmentation component. - View Dependent Claims (15, 16, 17)
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Specification