Abstract: An imaging system substantially simultaneously acquires z-depth and brightness data from first sensors, and acquires higher resolution RGB data from second sensors, and fuses data from the first and second sensors to model an RGBZ image whose resolution can be as high as resolution of the second sensors. Time correlation of captured data from first and second sensors is associated with captured image data, which permits arbitrary mapping between the two data sources, ranging from 1:many to many:1. Preferably pixels from each set of sensors that image the same target point are mapped. Many z-depth sensor settings may be used to create a static environmental model. Non-correlative and correlative filtering is carried out, and up-sampling to increase z-resolution occurs, from which a three-dimensional model is constructed using registration and calibration data.

Abstract: Time-of-flight (TOF) three-dimensional sensing systems are deployed on or in a motor vehicle to image contact zones associated with potential contact between an avoidable object and the vehicle or vehicle frame and/or remotely controllable motorized moving door or liftgate. An algorithm processes depth data acquired by each TOF system to determine whether an avoidable object is in the associated contact zone. If present, a control signal issues to halt or reverse the mechanism moving the door. A stored database preferably includes a depth image of the contact zone absent any object, an image of the door, and volume of the door. Database images are compared to newly acquired depth images to identify pixel sensors whose depth values are statistically unlikely to represent background or the door. Pixels within the contact zone so identified are an object, and the control signal is issued.

Abstract: Acquired three-dimensional positional information is used to identify user created gesture(s), which gesture(s) are classified to determine appropriate input(s) to an associated electronic device or devices. Preferably at at least one instance of a time interval, the posture of a portion of a user is recognized, based at least one factor such as shape, position, orientation, velocity. Posture over each of the instance(s) is recognized as a combined gesture. Because acquired information is three-dimensional, two gestures may occur simultaneously.

Abstract: RGB-Z imaging systems acquire RGB data typically with a high X-Y resolution RGB pixel array, and acquire Z-depth data with an array of physically larger Z pixels having additive signal properties. In each acquired frame, RGB pixels are mapped to a corresponding Z pixel. Z image resolution is enhanced by identifying Z discontinuities and identifying corresponding RGB pixels where the Z discontinuities occur. Thus segmented data enables RGB background substitution, which preferably blends foreground pixel color and substitute background color. The segmented data also enables up-sampling in which a higher XY resolution Z image with accurate Z values is obtained. Up-sampling uses an equation set enabling assignment of accurate Z values to RGB pixels. Fixed acquisition frame rates are enabled by carefully culling bad Z data. Segmenting and up-sampling enhanced video effects and enable low cost, low Z resolution arrays to function comparably to higher quality, higher resolution Z arrays.

Abstract: A method and system analyzes data acquired by image systems to more rapidly identify objects of interest in the data. In one embodiment, z-depth data are segmented such that neighboring image pixels having similar z-depths are given a common label. Blobs, or groups of pixels with a same label, may be defined to correspond to different objects. Blobs preferably are modeled as primitives to more rapidly identify objects in the acquired image. In some embodiments, a modified connected component analysis is carried out where image pixels are pre-grouped into regions of different depth values preferably using a depth value histogram. The histogram is divided into regions and image cluster centers are determined. A depth group value image containing blobs is obtained, with each pixel being assigned to one of the depth groups.

Abstract: An obstacle detection and tracking system identifies objects in the path of a vehicle equipped with the system and issues a visual, audible, and/or control system warning. The system includes a depth imaging system that acquires depth data from objects in the field of view of a detection zone encompassing at least a portion of the road to be driven upon. It is assumed most of the acquired data represents road plane information. Statistical analysis of the depth image data identifies in (X,Y,Z) space at least one plane of the road being driven, after which identification threshold normal heights above and below the road plane are defined. Imaged objects within the detection zone that are higher or lower than a threshold normal are deemed of potential concern and will generate a warning to the vehicle operator or vehicle.

Abstract: A sensor system is provided for determining a deployment level of an airbag in a vehicle. A light source of the sensor system emits light onto a region around a vehicle seat. An array of light-sensitive pixels which capture reflected light from the scene, including reflected light that originated from the light source. Processing resources are provided that determine depth information for an object in the scene based on a time-of-flight characteristic of the reflected light from the light source captured on the array. The processing resources may be configured to determine occupancy data for the object based on the captured reflected light from the scene. The processing resources are configured to determine the deployment level of the airbag based at least in part on the occupancy data in when a collision of the vehicle occurs.

Abstract: Performance of pixel detectors in a TOF imaging system is dynamically adjusted to improve dynamic range to maximize the number of pixel detectors that output valid data. The invention traverses the system-acquired z depth, the brightness, and the active brightness images, and assigns each pixel a quantized value. Quantization values encompass pixels receiving too little light, normal light, to too much light. Pixels are grouped into quantized category groups, whose populations are represented by a histogram. If the number of pixels in the normal category exceeds a threshold, no immediate corrective action is taken. If the number of pixel receiving too little (or too much) light exceeds those receiving too much (or too little) light, the invention commands at least one system parameter change to increase (or decrease) light reaching the pixels. Controllable TOF system parameters can include exposure time, common mode resets, video gain, among others.

Abstract: Performance of pixel detectors in a TOF imaging system is dynamically adjusted to improve dynamic range to maximize the number of pixel detectors that output valid data. The invention traverses the system-acquired z depth, the brightness, and the active brightness images, and assigns each pixel a quantized value. Quantization values encompass pixels receiving too little light, normal light, to too much light. Pixels are grouped into quantized category groups, whose populations are represented by a histogram. If the number of pixels in the normal category exceeds a threshold, no immediate corrective action is taken. If the number of pixel receiving too little (or too much) light exceeds those receiving too much (or too little) light, the invention commands at least one system parameter change to increase (or decrease) light reaching the pixels. Controllable TOF system parameters can include exposure time, common mode resets, video gain, among others.

Abstract: Dynamic range of photodetector sensors useable in a TOF system is enhanced by capturing images of an object using multiple exposure time settings. Longer exposure settings more appropriately capture non-reflective and/or distant objects, while shorter exposure settings more appropriately capture reflective and/or closer objects. During parallel mode operation, detection signal readouts are taken from each photodetector at different time intervals within an overall exposure time. In sequential mode operation, detection signal readouts are taken and stored for each photodetector at the end of a first exposure time interval and the photodetectors are reset. After a second, different exposure time interval readouts are taken and stored, and the photodetectors reset, etc. In these modes one of the time exposure intervals will be relatively optimum for enhanced dynamic range operation.

Abstract: Three-dimensional position information is used to identify the gesture created by a body part of interest. At one or more instances of an interval, the posture of a body part is recognized, based on the shape of the body part and its position and orientation. The posture of the body part over each of the one or more instances in the interval are recognized as a combined gesture. The gesture is classified for determining an input into a related electronic device.

Abstract: Three-dimensional position information is used to segment objects in a scene viewed by a three dimensional camera. At one or more instances of an interval, the head location of the user is determined. Object-based compression schemes are applied on the segmented objects and the detected head.

Abstract: A system and method for determining which key value in a set of key values is to be assigned as a current key value as a result an object intersecting a region where a virtual interface is provided. The virtual interface may enable selection of individual key values in the set. The position is determined using a depth sensor that determines a depth of the position in relation to the location of the depth sensor. A set of previous key values that are pertinent to the current key value may also be identified. In addition, at least one of either a displacement characteristic of the object, or a shape characteristic of the object is determined. A probability is determined that indicates the current key value is a particular one or more of the key values in the set.

Abstract: A method and system corrects motion blur in time-of-flight (TOF) image data in which acquired consecutive images may evidence relative motion between the TOF system and the imaged object or scene. Motion is deemed global if associated with movement of the TOF sensor system, and motion is deemed local if associated with movement in the target or scene being imaged. Acquired images are subjected to global and then to local normalization, after which coarse motion detection is applied. Correction is made to any detected global motion, and then to any detected local motion. Corrective compensation results in distance measurements that are substantially free of error due to motion-blur.

Abstract: An imaging system substantially simultaneously acquires z-depth and brightness data from first sensors, and acquires higher resolution RGB data from second sensors, and fuses data from the first and second sensors to model an RGBZ image whose resolution can be as high as resolution of the second sensors. Time correlation of captured data from first and second sensors is associated with captured image data, which permits arbitrary mapping between the two data sources, ranging from 1:many to many:1. Preferably pixels from each set of sensors that image the same target point are mapped. Many z-depth sensor settings may be used to create a static environmental model. Non-correlative and correlative filtering is carried out, and up-sampling to increase z-resolution occurs, from which a three-dimensional model is constructed using registration and calibration data.

Abstract: Performance of pixel detectors in a TOF imaging system is dynamically adjusted to improve dynamic range to maximize the number of pixel detectors that output valid data. The invention traverses the system-acquired z depth, the brightness, and the active brightness images, and assigns each pixel a quantized value. Quantization values encompass pixels receiving too little light, normal light, to too much light. Pixels are grouped into quantized category groups, whose populations are represented by a histogram. If the number of pixels in the normal category exceeds a threshold, no immediate corrective action is taken. If the number of pixel receiving too little (or too much) light exceeds those receiving too much (or too little) light, the invention commands at least one system parameter change to increase (or decrease) light reaching the pixels. Controllable TOF system parameters can include exposure time, common mode resets, video gain, among others.

Abstract: Dynamic range of photodetector sensors useable in a TOF system is enhanced by capturing images of an object using multiple exposure time settings. Longer exposure settings more appropriately capture non-reflective and/or distant objects, while shorter exposure settings more appropriately capture reflective and/or closer objects. During parallel mode operation, detection signal readouts are taken from each photodetector at different time intervals within an overall exposure time. In sequential mode operation, detection signal readouts are taken and stored for each photodetector at the end of a first exposure time interval and the photodetectors are reset. After a second, different exposure time interval readouts are taken and stored, and the photodetectors reset, etc. In these modes one of the time exposure intervals will be relatively optimum for enhanced dynamic range operation.

Abstract: A system used with a virtual device inputs or transfers information to a companion device, and includes two optical systems OS1, OS2. In a structured-light embodiment, OS1 emits a fan beam plane of optical energy parallel to and above the virtual device. When a user-object penetrates the beam plane of interest, OS2 registers the event. Triangulation methods can locate the virtual contact, and transfer user-intended information to the companion system. In a non-structured active light embodiment, OS1 is preferably a digital camera whose field of view defines the plane of interest, which is illuminated by an active source of optical energy. Preferably the active source, OS1, and OS2 operate synchronously to reduce effects of ambient light. A non-structured passive light embodiment is similar except the source of optical energy is ambient light. A subtraction technique preferably enhances the signal/noise ratio. The companion device may in fact house the present invention.

Abstract: A sensor system is provided for determining a deployment level of an airbag in a vehicle. A light source of the sensor system emits light onto a region around a vehicle seat. An array of light-sensitive pixels which capture reflected light from the scene, including reflected light that originated from the light source. Processing resources are provided that determine depth information for an object in the scene based on a time-of-flight characteristic of the reflected light from the light source captured on the array. The processing resources may be configured to determine occupancy data for the object based on the captured reflected light from the scene.

Abstract: A modular signature and data capture device employs a standardized ISA bus, standardized communication ports, and standardized ×86 CPU architecture to promote flexibility in using past, present, and future software and accessories. A VGA-caliber backlit LCD is superimposingly combined with a pressure touch pad that is useable with a passive stylus. The LCD displays pen drawn signatures and graphics in real-time, and can display images and data stored in the device, or downloaded from a host system, including advertisements. The LCD can also display menus, device instructions, virtual pressure-sensitive data keys, and control keys. The device includes a built-in a three-stripe magnetic card reader unit. The device accepts PCMCIA-compatible accessories including solid state memory units and smartcards, and is compatible with plug-in accessories including an external PIN keypad entry unit, a fingerprint unit, an omnibus unit including a printer and check processor in addition to a fingerprint unit.