Intrusion Detection Using Fast 3D Imaging

The problem described in the RFP is to build a system which will be able to detect intrusion from a moving platform. The solution herein proposed is based on a new type of camera designed by Intelligent Automation, Incorporated. This new type of camera produces a three dimensional image of the scene at normal video frame rates of 60 frames per second. Our Fast 3D Imaging camera will generate 3 dimensional images in real time. By "3 Dimensional Image" we mean that the value of each pixel in the image will represent the distance from the camera's focal point to the corresponding point in the scene. We call this type of image a range image. Our intrusion detection approach uses the range camera for what is basically visual inspection. A conventional videotape would be made of the vehicle's patrol path where the videotape would be recording the range image from the range camera (not a normal intensity image). This can be thought of as the "teach mode, " where both the path and the expected range recording is captured at normal frame rates. Then as the vehicle moves through its normal patrol path, it continually compares its real-time range image with the pre-recorded "normal" range image. Minor differences are used to control the vehicle along the pre-defined path. Significant deviations must be caused by unexpected changes in the area and would raise ail alarm. The same range camera Output can also be used for obstacle avoidance. Our Fast 3D Imaging camera can also capture normal intensity images by switching the state of a single control bit. The range image and the intensity image can therefore be used without requinng an additional camera.