Detection of prohibited objects concealed in an item, using a three-dimensional image of the item

A non-transitory computer readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to:

• obtain an initial three-dimensional (3D) representation of at least part of an item, wherein the initial three dimensional representation includes a plurality of points each associated with an intensity obtained based on an acquisition of the at least part of the item by an acquisition device,
• select a fraction of the points of the initial three-dimensional (3D) representation which are associated with an intensity which is a predefined range,
• use the selected points to generate a three-dimensional (3D) representation of the at least part of the item,
• determine at least one given cluster of points in the 3D representation, the given cluster of points being informative of at least one given object present in the at least part of the item,
• use the given cluster of points to determine data Dposition/orientation informative of at least one of a position or an orientation of the given object, and
• use data Dposition/orientation to generate a two-dimensional image displaying the given object with a viewing angle selected to enhance detectability of the given object as a prohibited object, wherein the viewing angle is selected depending on a type of prohibited object to be detected.

A system comprising one or more processing circuitries configured to:

• obtain a three-dimensional (3D) representation of at least part of an item, wherein the three-dimensional representation includes a plurality of points each associated with an intensity obtained based on an acquisition of the at least part of the item by an acquisition device,
• determine at least one given cluster of points in the 3D representation, the given cluster of points being informative of at least one given object present in the at least part of the item,
• use the given cluster of points to determine data Dposition/orientation informative of at least one of a position or an orientation of the given object,
• determine a region of the 3D representation which includes:
• at least part of a plane of the 3D representation determined using Dposition/orientation, and
• a volume of the 3D representation,
• wherein a position of the volume with respect to the plane is determined using Dposition/orientation, wherein one or more dimensions of the volume are selected to include mostly or only points which are informative of the given object, wherein a minority or none of these points are informative of other neighbouring objects of the given object in the item, and
• use said region to generate a two-dimensional image displaying the given object with a viewing angle selected to enhance detectability of the given object as a prohibited object.