# US 12,183,016 B2 · System and method for transposition of a detected object and its tracking to a different device

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- Number: US 12,183,016 B2
- Document ID: US12183016B2
- Status: Granted
- Kind: B2
- Application number: 17/992,508
- Filed: 2022-11-22
- Published: 2023-03-23
- Granted: 2024-12-31
- Earliest claimed: 2020-05-22
- Assignees: Mohammad Saud M Alghaith
- Applicants: Cron Systems Pvt. Ltd.
- Inventors: Saurav Agarwala; Tushar Chhabra
- Web page: https://patentgrep.com/patent/US12183016B2

## CPC

- G06T 7/292: Multi-camera tracking
- G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)}
- G06T 19/20: Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts
- G06V 10/764: using classification, e.g. of video objects
- G06V 10/803: {of input or preprocessed data}
- G06V 10/82: using neural networks
- G06V 20/52: Surveillance or monitoring of activities, e.g. for recognising suspicious objects (recognising microscopic objects G06V20/69)
- G06V 20/64: Three-dimensional [3D] objects
- G06V 40/10: Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06T 2200/04: involving 3D image data
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- G06T 2207/30196: Human being; Person
- G06T 2207/30232: Surveillance
- G06T 2207/30241: Trajectory
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

A method is provided for transposition of a detected object and its tracking from a 3D sensor to a different system in 6 degrees of freedom. The method includes receiving sensing data from the one or more 3D sensors, generating 3D cartesian coordinates of reflections and intensities with respect to the respective 3D sensors, searching, detecting, classifying, segmenting, tracking and forecasting motion of objects in the 3D surrounding keeping the respective 3D sensor as origin, transposing the origin for the coordinates of the searched, detected, classified and tracked object in real time to one or more secondary devices, and providing the real time detection, classification and tracking of the object to a user context application with the one or more secondary devices as origin, without any delay real time covering all 6 Degrees of Freedom.

## Claims

### Claim 1

A method (200) for transposition of a detected object and its tracking from a 3D sensor to a different system (100) in 6 degrees of freedom, the method comprising:
receiving (210) sensing data from the one or more 3D sensors (102);
generating (220) 3D cartesian coordinates of reflections and intensities with respect to the respective 3D sensors;
searching, detecting, classifying, segmenting and forecasting motion (230) of objects in the 3D surrounding keeping the respective 3D sensor as origin;
transposing (240) the origin for the coordinates of the searched, detected, classified and tracked object in real time to one or more secondary devices (106) using a 4×4 matrix to determine new coordinates of the object covering all 6 degrees of freedom; and
providing (250) the real time detection, classification and tracking of the object to a user context application with the one or more secondary devices (106) as origin, without any delay in real time covering all 6 Degrees of Freedom.

### Claim 2 (depends on 1)

The method (200) as claimed in claim 1, wherein the objects are selected from one or more of living and non-living objects including humans of multiple age groups, animals, plants, furniture, vehicles, natural resources, eatables, crops, infrastructure, stationery, sign boards, wearables, musical instruments, sports equipment, mechanical tools, electrical equipment and electronic equipment.

### Claim 3 (depends on 1)

The method (200) as claimed in claim 1, wherein the one or more 3D sensors (102) are selected from a Light Detection and Ranging (LIDAR) sensor, Laser Detection and Ranging (LaDAR), Light Emitting Diode Detection and Ranging (LeDDAR) mmWave Radar, C or K Band Radar, Time of Flight (ToF) sensors, laser scanners or a combination thereof.

### Claim 4 (depends on 1)

The method (200) as claimed in claim 1, wherein the one or more secondary devices (106) are selected from one or more cameras, secondary sensors such as secondary LIDAR, RADAR, ultrasonic sensors, infrared sensors, lasers or a combination thereof.

### Claim 5 (depends on 1)

The method (200) as claimed in claim 1, wherein the step of transposing (240) the origin for the coordinates of the searched, detected & classified object from respective 3D sensors, further comprises definition and processing of a rotation matrix, a displacement matrix and a coordinate transpose matrix to determine new coordinates of the searched, detected & classified object having the one or more secondary devices (106) as origin;
wherein the coordinate transpose matrix is only a (4×4) matrix, even for 6 degrees of freedom, thereby keeping the processing power consumption and time complexity to a bare minimum.

### Claim 6

A system (100) for transposition of a detected object and its tracking from a 3D sensor to a different system (100) in 6 degrees of freedom, the system (100) comprising:
one or more 3D sensors (102);
one or more secondary devices (106); and
a processing module (104) connected with each of the one or more 3D sensors (102), one or more secondary devices (106) and a data repository (108), the processing module (104) comprising:
a memory unit (1042) configured to store machine-readable instructions; and
a processor (1044) operably connected with the memory unit (1042), the processor (1044) obtaining the machine-readable instructions from the memory unit (1042), and being configured by the machine-readable instructions to:
receive sensing data from the one or more 3D sensors (102);
generate 3D cartesian coordinates of reflections and intensities with respect to the respective 3D sensors;
search, detect, classify, segment and forecast motion of objects in the 3D surrounding keeping the respective 3D sensor as origin;
transpose the origin for the coordinates of the searched, detected, classified and tracked object in real time to the one or more secondary devices (106) using a 4×4 matrix to determine new coordinates of the object covering all 6 degrees of freedom; and
provide the real time detection, classification and tracking of the object to a user application with the one or more secondary devices (106) as origin, without any delay in real time covering all 6 Degrees of Freedom.

### Claim 7 (depends on 6)

The system (100) as claimed in claim 6, wherein the processing module (104) further comprising:
a configurable processing unit (1046) operably connected with the memory unit (1042) and the processor (1044), configured to accelerate matrix multiplications by run time creation of soft logic cores to enable hardware threading when processing load increases and hence provide real time results; and
an operating system (1048) (100) configured to make the processing on the Software (SW) threads on processor (1044) and Hardware (HW) threads on configurable processing unit (1046) transparent to application.

### Claim 8 (depends on 6)

The system (100) as claimed in claim 6, wherein the objects are selected from one or more of living and non-living objects including humans of multiple age groups, animals, plants, furniture, vehicles, natural resources, eatables, crops, infrastructure, stationery, sign boards, wearables, musical instruments, sports equipment, mechanical tools, electrical equipment and electronic equipment.

### Claim 9 (depends on 6)

The system (100) as claimed in claim 6, wherein the one or more 3D sensors (102) are selected from a Light Detection and Ranging (LIDAR) sensor, Laser Detection and Ranging (LaDAR), Light Emitting Diode Detection and Ranging (LeDDAR) mmWave Radar, C or K Band Radar, Time of Flight (ToF) sensors, laser scanners or a combination thereof.

### Claim 10 (depends on 6)

The system (100) as claimed in claim 6, wherein the one or more secondary devices (106) are selected from one or more cameras, secondary sensors such as secondary LIDAR, RADAR, ultrasonic sensors, infrared sensors, lasers or a combination thereof.

### Claim 11 (depends on 6)

The system (100) as claimed in claim 6, wherein for transposing the origin for the coordinates of the searched, detected & classified object from respective 3D sensors, the processor (1044) is further configured to define and process a rotation matrix, a displacement matrix and a coordinate transpose matrix to determine new coordinates of the searched, detected & classified object having the one or more secondary devices (106) as origin;
wherein the coordinate transpose matrix is only a (4×4) matrix, even for 6 degrees of freedom, thereby keeping the processing power consumption and time complexity to a bare minimum.