Patent Document ID: 9521397
Application ID: 14204119
Patent Status: 1

Claim One:
1. A system comprising: a first camera defining a first camera coordinate system (C 1 ) and configured to acquire a first image of a scene; a range sensor spaced a first distance from the first camera and defining a range sensor coordinate system (R); a controller operatively connected to the first camera and range sensor, the controller having a processor and a tangible, non-transitory memory device on which is recorded instructions for executing a method for obtaining a two-dimensional region of interest (u 1 *, v 1 *) in the first image; wherein execution of the instructions by the processor causes the controller to: acquire the first image of the scene with the first camera, the first image being represented by a plurality of first points (u 1 , v 1 ) in a first image plane; acquire a range image of the scene with the range sensor, the range image being represented by a plurality of second points (u 2 , v 2 , d) in a second image plane; convert the range image to a three-dimensional sample of points (x 2 , y 2 , z 2 ) in the range sensor coordinate system (R); select a three-dimensional region of interest (x 2 *, y 2 *, z 2 *) in the range sensor coordinate system (R) from the three-dimensional sample of points (x 2 , y 2 , z 2 ); wherein the selected three-dimensional region of interest (x 2 *, y 2 *, z 2 *) in the range sensor coordinate system (R) includes only objects in the scene on a surface of or within a three-dimensional volume, the three-dimensional volume defining selected points; wherein a spatial location of each of the selected points is a function of time; wherein the selected three-dimensional region of interest (x 2 *, y 2 *, z 2 *) in the range sensor coordinate system (R) includes only objects in the scene that are less than a minimum distance from the range sensor; and wherein said converting the range image to a three-dimensional sample of points (x 2 , y 2 , z 2 ) in the range sensor coordinate system (R) includes: obtaining a conversion matrix (P 2 ) for converting the range sensor coordinate system (R) to the second image plane; and using an inverse of the conversion matrix for converting the range image to the three-dimensional sample of points (x 2 , y 2 , z 2 ).