Abstract: A camera system includes memory, image sensors, illuminators, and a processor. The processor operates the illuminators and the image sensors in a first mode to capture a two-dimensional image of the scene using light transmitted by the illuminators and reflected from the scene. The processor operates in a second mode to capture a plurality of images of the scene, including capturing a first image of the scene while one or more of the illuminators are activated and capturing a second image of the scene is while none of the illuminators are activated. The images are transmitted to a remote cloud computing system. The remote system constructs a light intensity map for the scene using the first and second images, and identifies a first region in the light intensity map as a glass surface when the light intensity values for the first region are below a threshold value corresponding to glass.

Abstract: A process reduces false positive security alerts. The process is performed at a computing device having one or more processors, and memory storing one or more programs configured for execution by the one or more processors. The process computes a depth map for a scene monitored by a video camera using a plurality of IR images captured by the video camera and uses the depth map to identify a first region within the scene having historically above average false positive detected motion events. In some instances, the first region is a ceiling, a window, or a television. The process monitors a video stream provided by the video camera to identify motion events, excluding the first region, and generates a motion alert when there is detected motion in the scene outside of the first region and the detected motion satisfies threshold criteria.

Abstract: A process identifies large planar surfaces in scenes. The process receives captured IR images of a scene taken by a 2-dimensional array of image sensors of a camera system. Each IR image is captured when a distinct subset of IR illuminators of the camera system is illuminated. The process constructs a depth map of a scene using IR images and uses the depth map to compute a binary depth edge map for the scene. The binary depth edge map identifies which points in the depth map comprise depth discontinuities. The process identifies contiguous components based on the binary depth edge map and determines that a first component of the contiguous components represents a large planar surface in the scene by: fitting a plane to points in the first component; determining the orientation of the plane; and determining that the plane fitting residual error is less than a predefined threshold.

Abstract: A camera system includes memory, a lens assembly arranged to direct light from a scene onto an image sensing element, an image sensing element configured to receive light from the scene via the lens assembly, at least one infrared illuminator configured to transmit infrared light, and a processor, coupled to the image sensing element and the illuminators. The processor is configured to operate the illuminators and the image sensing element in a first mode whereby infrared light transmitted by the illuminators and reflected from the scene is used to generate a two-dimensional image of the scene. The processor is also configured to operate the illuminators and the image sensing element in a second mode whereby infrared light transmitted by the illuminators and reflected from the scene is used to detect a first region, located within the scene, having a specific material.

Abstract: A process classifies objects in a scene. The process receives a captured IR image of a scene taken by a 2-dimensional image sensor array of a camera system while one or more IR illuminators of the camera system are emitting IR light, thereby forming an IR intensity map of the scene with a respective intensity value determined for each pixel of the IR image. The process uses the IR intensity map to identify a plurality of pixels whose corresponding intensity values are within a predefined intensity range, and clusters the identified plurality of pixels into one or more regions that are substantially contiguous. The process determines that a first region of the one or more regions corresponds to a specific material based, at least in part, on the intensity values of the pixels in the first region. The process then stores information in the memory that identifies the first region.

Abstract: A camera system includes memory, a lens assembly to direct light from a scene onto an image sensing element, an image sensing element configured to receive light from the scene via the lens assembly, at least one infrared illuminator configured to transmit infrared light, and a processor, coupled to the image sensing element and the at least one infrared illuminator. The processor is configured to operate the illuminators and the image sensing element in a first mode whereby infrared light transmitted by the illuminators and reflected from the scene is used to generate a two-dimensional image of the scene. The processor is also configured to operate the illuminators and the image sensing element in a second mode whereby infrared light transmitted by the illuminators and reflected from the scene is used to identify a planar surface in the scene.

Abstract: A process generates lookup tables for estimating spatial depth in a scene. The process identifies subsets of illuminators of a camera system that has a 2-dimensional array of image sensors and illuminators in fixed locations relative to the array, and partitions the image sensors into a plurality of pixels. For each pixel, and for each of m distinct depths from the respective pixel, the process simulates a virtual surface at the respective depth. For each of the subsets of illuminators, the process determines an expected light intensity at the pixel based on the respective depth. The process forms an intensity vector using the expected light intensities for each of the distinct subsets and normalizes the intensity vector. For each pixel, the process constructs a lookup table comprising the normalized vectors corresponding to the pixel. The lookup table associates each normalized vector with the depth of the corresponding simulated surface.

Abstract: A process identifies large planar surfaces in scenes. The process receives captured IR images of a scene taken by a 2-dimensional array of image sensors of a camera system. Each IR image is captured when a distinct subset of IR illuminators of the camera system is illuminated. The process constructs a depth map of a scene using IR images and uses the depth map to compute a binary depth edge map for the scene. The binary depth edge map identifies which points in the depth map comprise depth discontinuities. The process identifies contiguous components based on the binary depth edge map and determines that a first component of the contiguous components represents a large planar surface in the scene by: fitting a plane to points in the first component; determining the orientation of the plane; and determining that the plane fitting residual error is less than a predefined threshold.

Abstract: A process reduces false positive security alerts. The process is performed at a computing device having one or more processors, and memory storing one or more programs configured for execution by the one or more processors. The process computes a depth map for a scene monitored by a video camera using a plurality of IR images captured by the video camera and uses the depth map to identify a first region within the scene having historically above average false positive detected motion events. In some instances, the first region is a ceiling, a window, or a television. The process monitors a video stream provided by the video camera to identify motion events, excluding the first region, and generates a motion alert when there is detected motion in the scene outside of the first region and the detected motion satisfies threshold criteria.

Abstract: A process classifies objects in a scene. The process receives a captured IR image of a scene taken by a 2-dimensional image sensor array of a camera system while one or more IR illuminators of the camera system are emitting IR light, thereby forming an IR intensity map of the scene with a respective intensity value determined for each pixel of the IR image. The process uses the IR intensity map to identify a plurality of pixels whose corresponding intensity values are within a predefined intensity range, and clusters the identified plurality of pixels into one or more regions that are substantially contiguous. The process determines that a first region of the one or more regions corresponds to a specific material based, at least in part, on the intensity values of the pixels in the first region. The process then stores information in the memory that identifies the first region.

Abstract: A camera system includes memory, a lens assembly to direct light from a scene onto an image sensing element, an image sensing element configured to receive light from the scene via the lens assembly, at least one infrared illuminator configured to transmit infrared light, and a processor, coupled to the image sensing element and the at least one infrared illuminator. The processor is configured to operate the illuminators and the image sensing element in a first mode whereby infrared light transmitted by the illuminators and reflected from the scene is used to generate a two-dimensional image of the scene. The processor is also configured to operate the illuminators and the image sensing element in a second mode whereby infrared light transmitted by the illuminators and reflected from the scene is used to identify a planar surface in the scene.

Abstract: A camera system includes memory, a lens assembly arranged to direct light from a scene onto an image sensing element, an image sensing element configured to receive light from the scene via the lens assembly, at least one infrared illuminator configured to transmit infrared light, and a processor, coupled to the image sensing element and the illuminators. The processor is configured to operate the illuminators and the image sensing element in a first mode whereby infrared light transmitted by the illuminators and reflected from the scene is used to generate a two-dimensional image of the scene. The processor is also configured to operate the illuminators and the image sensing element in a second mode whereby infrared light transmitted by the illuminators and reflected from the scene is used to detect a first region, located within the scene, having a specific material.

Abstract: A process estimates height and tilt of a camera having an image sensor array and IR illuminators. The process identifies multiple distinct subsets of the illuminators. For multiple heights and tilts, the process constructs dictionary entries that correspond to the camera having the height and tilt above a floor. Each entry includes light intensity values for pixels in images corresponding to activating each of the subsets of illuminators. For each of the subsets, the process receives an image of a scene captured while the subset is emitting light and the other illuminators are not. The process uses the captured images to identify a floor region corresponding to a floor in the scene. The process forms a vector including pixels from the captured images in the identified floor region and estimates the height and tilt of the camera by comparing the vector to the dictionary entries.

Abstract: A process recomputes zones for a scene. The process is performed at a computing device having one or more processors and memory. The memory stores one or more programs configured for execution by the one or more processors. The process receives a first image of a scene taken by an array of image sensors of a camera system at a first time and receives designation from a user of a zone within the first image. The process also receives a second image of the scene taken by the array of image sensors at a second time that is after the first time. The process compares the first and second images to identify movement of the camera and notifies the user about a change to the zone when the camera has moved.

Abstract: A process creates a depth map of a scene. The process is performed at a computing device having one or more processors, and memory storing one or more programs configured for execution by the one or more processors. For each of a plurality of distinct subsets of illuminators of a camera system, the process receives a captured image of a first scene taken by a 2-dimensional array of image sensors of the camera system while the respective subset of illuminators are emitting light and the illuminators not in the respective subset are not emitting light. The image sensors are partitioned into a plurality of pixels. For each pixel, the process uses the captured images to form a respective vector of light intensity at the pixel and estimates a depth in the first scene at the respective pixel by looking up the respective vector in a respective lookup table.

Abstract: A process recomputes zones for a scene. The process is performed at a computing device having one or more processors and memory. The memory stores one or more programs configured for execution by the one or more processors. The process receives a first image of a scene taken by an array of image sensors of a camera system at a first time and receives designation from a user of a zone within the first image. The process also receives a second image of the scene taken by the array of image sensors at a second time that is after the first time. The process compares the first and second images to identify movement of the camera and notifies the user about a change to the zone when the camera has moved.

Abstract: A process generates lookup tables for estimating spatial depth in a scene. The process identifies subsets of illuminators of a camera system that has a 2-dimensional array of image sensors and illuminators in fixed locations relative to the array, and partitions the image sensors into a plurality of pixels. For each pixel, and for each of m distinct depths from the respective pixel, the process simulates a virtual surface at the respective depth. For each of the subsets of illuminators, the process determines an expected light intensity at the pixel based on the respective depth. The process forms an intensity vector using the expected light intensities for each of the distinct subsets and normalizes the intensity vector. For each pixel, the process constructs a lookup table comprising the normalized vectors corresponding to the pixel. The lookup table associates each normalized vector with the depth of the corresponding simulated surface.