Method and apparatus for high-confidence people classification, change detection, and nuisance alarm rejection based on shape classifier using 3D point cloud data

A detector comprising processing circuitry configured to:

• receive monitoring data associated with an environment being monitored, the monitoring data comprising a series of frames of three-dimensional point cloud information,
• perform image segmentation on the monitoring data to generate segmented three-dimensional data associated with the environment;
• identify one or more objects in the environment based on subtracting background from the segmented three-dimensional data;
• convert data associated with the one or more objects from the segmented three-dimensional data into two-dimensional object data;
• and
• perform object classification on the two-dimensional object data,
• wherein identifying the one or more objects comprises comparing frames of the segmented three-dimensional data to subtract data associated with unchanged segments over a time averaged period and retain data associated with changed segments over the time averaged period.

A method of detecting objects in an environment being monitored, the method comprising:

• receiving, from a sensor, monitoring data associated with the environment, the monitoring data comprising a series of frames of three-dimensional point cloud information,
• performing, by processing circuitry, image segmentation on the monitoring data to generate segmented three-dimensional data associated with the environment responsive to receiving the monitoring data;
• identifying, by the processing circuitry, one or more objects in the environment based on subtracting background from the segmented three-dimensional data after generating the segmented three-dimensional data;
• converting, by the processing circuitry, data associated with the one or more objects from the segmented three-dimensional data into two-dimensional object data after the identification of one or more objects in the environment;
• and
• subsequently performing, by the processing circuitry, object classification on the two-dimensional object data.