Abstract: A system and method for optical assessment of a heliostat includes obtaining a point cloud data representing an image of the heliostat; isolating the data; filtering and fitting the filtered heliostat data to a bounding box; translating the heliostat data to a plane to aid in segmentation; segmenting a plurality of facets of the heliostat fitting each of the segmented facets to a respective plane; generating normal vectors characterizing each of the plurality of facets; and calculating a canting angle associated with each respective facet of the plurality of facets. A heliostat with mirrored facets and a scanner are provided. The scanner captures point cloud data representing the heliostat, which is segmented for each facet. Normal vectors characterize the facets and a canting angle is calculated for the respective facet.

Abstract: Various embodiments may include collecting, by an unmanned aerial vehicle (UAV), a measuring image of an assessed heliostat in a heliostat field. The measuring image of the assessed heliostat includes an assessed facet forming a reflective surface of the assessed heliostat. At least a portion of a reference heliostat is visible in a reflection on the assessed facet. Also, a surface normal variance between a calculated surface normal of the assessed heliostat and a presumed surface normal of the assessed heliostat may be collected. The calculated surface normal is determined from a point on the assessed facet that corresponds to one or more features of the reference heliostat identifiable in the reflection. The presumed surface normal of the assessed heliostat may be updated based on the determined surface normal variance.

Abstract: A system and method for intrusion detection includes an imager directed towards an object in an interior space. The imager is in data communication with a computer. The computer is arranged to process digital three-dimensional image data received from the imager and programmed to execute a change detection algorithm in response to the processed three-dimensional data to determine movement of the object. The computer generates an alarm output in response to detecting movement of the object above a predetermined threshold. The method includes providing an imager directed towards an object in an interior space; receiving Time of Flight signals by the imager; processing digital three-dimensional image data received from the imager; and executing a change detection algorithm in response to the processed three-dimensional data to determine movement of the object.

Abstract: A system or method for a physical intrusion detection and assessment system is provided for determining a deliberate motion intrusion. The system includes first and second sensing device to sense physical data set within a predetermined space. A transducer module receives the first sensor physical data set and the second sensor physical data set and converts the first and second physical data sets into analog signals representative of the first and second physical data sets. A signal conditioning layer converts the first and second physical data analog signals to digital signals. A processor device correlates the first physical data set and the second physical data set and generates an alarm in response to identification of an intrusion in the space. A method and algorithms are applied to the data sets for determining whether a detected intrusion is associated with deliberate motion rather than random motion.

Abstract: A markerless method is described for tracking the motion of subjects in a three dimensional environment using a model based on linked kinematic chains. The invention is suitable for tracking robotic, animal or human subjects in real-time using a single computer with inexpensive video equipment, and does not require the use of markers or specialized clothing. A simple model of rigid linked segments is constructed of the subject and tracked using three dimensional volumetric data collected by a multiple camera video imaging system. A physics based method is then used to compute forces to align the model with subsequent volumetric data sets in real-time. The method is able to handle occlusion of segments and accommodates joint limits, velocity constraints, and collision constraints and provides for error recovery. The method further provides for elimination of singularities in Jacobian based calculations, which has been problematic in alternative methods.