Tracking subjects using ranging sensors

Number: 10012729
Published: 2018-07-03
Filed: 2014-09-17
Assignee: Disney Enterprises, Inc.
Inventors: Freeman; Kyle G.
CPC: G01S15/66; G01S15/42; G01S7/4808; G01S17/89; G01S15/89; G01S17/42; G01S17/66
Verdict: Medium Hardware
Source: Google Patents · FreePatentsOnline

The keeper's note

Ranging-sensor subject tracking.

Abstract

Systems and methods for tracking subjects within a three-dimensional physical environment are presented herein. A ranging sensor is mounted at a sensor location in the environment. The ranging sensor generates sensor output. The sensor output includes detected ranges of surfaces present in the environment as a function of orientations of the ranging sensor. Characteristics of the surface are determined using the detected ranges and orientations as polar coordinates of the surfaces.

Background

FIELD OF THE DISCLOSURE(1) This disclosure relates to systems that use sensor output of a ranging sensor as polar coordinates of surfaces present in an environment to identify static surfaces and moving surfaces, and track the moving surfaces within the environment.BACKGROUND(2) Ranging sensors are used to detect surfaces that are present in a three-dimensional physical environment. Types of ranging sensor include, without limitation, sonic ranging sensors and light detection and ranging (LIDAR) sensors.SUMMARY(3) One or more aspects of the disclosure relates to a system for tracking moving surfaces within a three-dimensional environment using sensor output from one or more ranging sensors. Sensor output of the one or more ranging sensor includes detected ranges of surfaces at different orientations of the ranging sensors. The detected ranges and orientations are used as polar coordinates of the surfaces to determine one or more characteristics of the surfaces and to track moving surfaces.(4) The system includes one or more processors in communication with the one or more ranging sensors. The one or more processors are configured to execute one or more computer program components. The computer program components include one or more of a receiving component, a static surface identification component, a subject identification component, and a subject tracking component.(5) The receiving component is configured to receive sensor output from the one or more other ranging sensors.

Claims

1. A system for tracking subjects within a three-dimensional environment, the system comprising: one or more physical processors configured by computer-readable instructions to: receive sensor output from a ranging sensor that is rotationally mounted at a sensor location in an environment, such sensor output including detected ranges of surfaces of the environment as a function of orientations from the sensor location such that the ranges and the orientations of the surfaces are specified as polar coordinates with respect to a coordinate system origin at the sensor location; and identify a continuous surface of an object using the detected ranges and orientations as the polar coordinates by determining range changes between adjacent polar coordinates, wherein the continuous surface is identified based on the range changes between the adjacent polar coordinates of the continuous surface not differing more than a threshold distance, and wherein a surface location of the continuous surface as a whole is characterized by the adjacent polar coordinates which do not differ more than the threshold distance. 18. A method of tracking subjects within a three-dimensional environment, the method being implemented in a computer system including one or more physical processors and storage media storing machine-readable instructions, the method comprising: receiving sensor output from a ranging sensor that is rotationally mounted at a sensor location in an environment, such sensor output including detected ranges of surfaces of the environment as a function of orientations from the sensor location such that the ranges and the orientations of the surfaces are specified as polar coordinates with respect to a coordinate system origin at the sensor location; and identifying a continuous surface of an object using the using detected ranges and orientations as the polar coordinates by determining range changes between adjacent polar coordinates, wherein the continuous surface is identified based on the range changes between the adjacent polar coordinates of the continuous surface not differing more than a threshold distance, and wherein a surface location of the continuous surface as a whole is characterized by the adjacent polar coordinates which do not differ more than the threshold distance.