Methods and systems for detecting and recognizing objects in a controlled wide area

A method of identifying an object of interest in a controlled area, the method comprising:

• collecting first 3D image data representing the controlled area;
• detecting a zone of interest within the controlled area based on the first 3D image data;
• collecting second image data representing the detected zone of interest;
• detecting an object of interest within the detected zone of interest based on the second 3D image data;
• collecting third 3D image data representing the detected object of interest;
• comparing the third 3D image data to data representing known objects;
• and
• identifying an object of interest in the controlled area based on the third 3D image data, wherein identifying the object of interest based on the third 3D image data includes:
• 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.

A system for identifying an object in a controlled area surrounded

• by at least two pairs of 3D sensors, the system comprising:
• at least two pairs of 3D sensors, each pair comprising a first and a second 3D sensor, each first 3D sensor in a pair of 3D sensors is situated directly across the controlled area from its corresponding second 3D sensor, wherein the first and second 3D sensor each independently acquire 3D image data from a single viewing angle within the controlled area, each 3D sensor comprising:
• an illumination unit capable of illuminating the controlled area and the object;
• a registration unit comprising:
• a detecting unit capable of detecting light reflected by at least one of the controlled area and the object, and
• an analog-to-digital converter for converting the detected light into digital data;
• and
• a processing unit capable of generating 3D image data based on the converted data.

A system for identifying an object of interest in a controlled area, the system comprising:

• a processing unit adapted to perform steps of:
• obtaining first 3D image data representing the controlled area from a first 3D sensor, wherein the first 3D sensor independently acquires first 3D image data from a single viewing angle within the controlled area, at a first time;
• detecting a zone of interest within the controlled area based on the first 3D image data;
• obtaining second image data representing the detected zone of interest, from a second 3D sensor wherein the second 3D sensor independently acquires second 3D image data from a single viewing within the controlled area, at a second time;
• detecting an object of interest within the detected zone of interest based on the second 3D image data;
• obtaining third 3D image data representing the detected object of interest;
• comparing the third 3D image data to data representing known objects;
• and identifying an object of interest in the controlled area based on the third 3D image data;
• and
• a memory unit capable of storing 3D image data.

A computer readable medium containing instructions for

• controlling a computer system to perform a method of identifying an object of interest in a controlled area the method comprising:
• collecting first 3D image data representing the controlled area using a first 3D sensor, wherein the first 3D sensor independently acquires first 3D image data from a single viewing angle within the controlled area, at a first time;
• detecting a zone of interest within the controlled area based on the first 3D image data;
• collecting second image data representing the detected zone of interest utilizing a second 3D sensor, wherein the second 3D sensor independently acquires second 3D image data from a single viewing angle within the controlled area, at a second time;
• and
• identifying an object of interest in the controlled area 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 of interest in a controlled area, the method comprising:

• collecting first 3D image data representing the controlled area using a first 3D sensor, wherein the first 3D sensor independently acquires first 3D image data from a single viewing angle within the controlled area, at a first time;
• detecting a zone of interest within the controlled area based on the first 3D image data;
• collecting second image data representing the detected zone of interest using a second 3D sensor, wherein the second 3D sensor independently acquires second 3D image data from a single viewing angle within the controlled area, at a second time;
• detecting an object of interest within the detected zone of interest based on the second 3D image data;
• collecting third 3D image data representing the detected object of interest;
• comparing the third 3D image data to data representing known objects;
• and
• identifying an object of interest in the controlled area based on the third 3D image data.