Systems and methods for transforming 2d image domain data into a 3d dense range map

A method of transforming two-dimensional image domain data into a 3D dense range map, the method comprising the steps of:

• acquiring an image frame from an image sensor;
• establishing a 3D coordinate system for the image sensor;
• manually segmenting at least one region of interest within the image frame and defining a polygonal zone therein using a graphical user interface;
• determining the geo-location of three or more reference points within each segmented region of interest;
• transforming 2D image domain data from each selected region of interest into a 3D dense range map containing physical features of one or more objects within the image frame;
• calculating a feature vector including one or more physical features from each region of interest defined in the image frame;
• analyzing a number of successive image frames from the image sensor and determining the geo-location of one or more objects within each successive image frame;
• and
• dynamically updating the 3D dense range map with the one or more physical features from each successive image frame.

A video surveillance system, comprising:

• an image sensor adapted to acquire images containing at least one region of interest;
• display means for displaying images acquired from the image sensor within an image frame;
• and
• processing means for determining the geo-location of one or more objects within the image frame, said processing means configured to run an algorithm or routine adapted to transform two-dimensional image data received from the image sensor into a 3D dense range map containing physical features of one or more objects within the image frame.