Methods and systems for detecting and recognizing an object based on 3D image data

A method of identifying an object which is within or passes through a designated area, the method comprising:

• acquiring first 3D image data representing the object while the object is within or passes through the designated area;
• checking the quality of the second 3D image data;
• determining second 3D image data representing the object's surface based on the first 3D image data;
• generating a feature vector based on the second 3D image data, the feature vector representing features of the object;
• and
• constructing a filter vector based on the feature vector;
• determining a subset of data representing known objects based on the filter vector;
• and
• comparing the second 3D image data to the subset of data representing features of known objects;
• and
• identifying the object based on the second 3D image data.

A system for identifying an object while the object is within or passes through a designated area, the system comprising:

• at least one 3D sensor comprising at least one illumination unit configured for illuminating the object and at least one 3D data collecting unit configured for passively acquiring without affirmative cooperation from the object a 3D image data representing the object while the object is within or passes through a designated area, wherein the object can be modeled by the 3D sensor when the object is at least six inches from the 3D sensor;
• and
• a processing unit configured for:
• receiving from the at least one 3D sensor the first 3D image data representing the object
• determining second 3D image data representing the object's surface based on the first 3D image data;
• checking the quality of the second 3D image data;
• comparing the second 3D image data to data representing known objects;
• and
• identifying the object based on the second 3D image data.

A computer readable medium containing instructions for controlling a computer system to perform a method of identifying an object which is within or passes through a designated area, the method comprising:

• passively acquiring by at least one 3D sensor without affirmative cooperation from the object a first 3D image data representing the object while the object is within or passes through the designated area wherein the object can be modeled by the 3D sensor when the object is at least six inches from the 3D sensor;
• determining second 3D image data representing the object's surface based on the first 3D image data;
• checking the quality of the second 3D image data;
• comparing the second 3D image data to data representing known objects;
• and
• identifying the object based on the second 3D image data.

A computer readable medium containing instructions for controlling a computer system to perform a method of identifying an object which is within or passes through a designated area, the method comprising:

• acquiring first 3D image data representing the object while the object is within or passes through the designated area;
• determining second 3D image data representing the object's surface based on the first 3D image data;
• checking the quality of the second 3D image data;
• generating a feature vector based on the second 3D image data, the feature vector representing features of the object;
• and
• constructing a filter vector based on the feature vector;
• determining a subset of data representing known objects based on the filter vector;
• and
• comparing the second 3D image data to the subset of data representing features of known objects;
• and
• identifying the object based on the second 3D image data.

An apparatus for identifying an object comprising:

• at least one 3D sensor configured to passively acquire without affirmative cooperation from an object, a first 3D image data representing the object while the object is within or passes through a designated area, wherein the object can be modeled by the 3D sensor when the object is at least six inches from the 3D sensor;
• a processing unit configured for receiving from the at least one 3D sensor the first 3D image data representing the object;
• determining second 3D image data representing the object's surface based on the first 3D image data;
• checking the quality of the second 3D image data;
• comparing the second 3D image data to data representing known objects;
• and identifying the object based on the second 3D image data;
• and
• a memory unit capable of storing 3D image data.

An apparatus for identifying an object comprising:

• a processing unit configured for acquiring first 3D image data representing the object while the object is within or passes through a designated area;
• determining second 3D image data representing the object's surface based on the first 3D image data;
• checking the quality of the second 3D image data;
• comparing the second 3D image data to data representing known objects;
• generating a feature vector based on the second 3D image data, the feature vector representing features of the object;
• and constructing a filter vector based on the feature vector;
• determining a subset of data representing known objects based on the filter vector;
• comparing the second 3D image data to the subset of data representing features of known objects;
• and identifying the object based on the second 3D image data;
• and
• a memory unit capable of storing 3D image data.