System and method for detecting a face contour using a three-dimensional measurement system

Abstract

A system uses range and Doppler velocity measurements from a lidar system and images from a video system to estimate a six degree-of-freedom trajectory of a target. The system may determine a skin area or face contour based on the 3D measurements from a lidar subsystem and information regarding the location of various facial features from the 2D video images of a video subsystem.

What is claimed is: 
     
         1 . A system for detecting a face contour, the system comprising:
 a lidar subsystem configured to direct at least two beams toward the target, generate a set of 3D measurements for a plurality of points on a target for each of the at least two beams, and determine a plurality of first 3D face contour points associated with the target;   a video subsystem configured to provide at least one video frame of the target; and   a processor configured to:
 receive, from the lidar subsystem, the set of 3D measurements and the plurality of first 3D face contour points, 
 receive, from the video subsystem, the at least one video frame of face, 
 transform each of the plurality of first 3D face contour points to a video frame time associated with the at least one video frame based on a plurality of first transformation parameters, and 
 determine a face contour in the video frame based on the transformation. 
   
     
     
         2 . The system of  claim 1 , wherein the plurality of transformation parameters are based on translational velocity components and angular velocity components of the target. 
     
     
         3 . The system of  claim 1 , wherein the plurality of first 3D face contour points comprise one or more obscure face contour points, and wherein the processor:
 transforms to the video frame time, a set of points associated with the set of 3D measurements that were close to the obscure face contour points; and   determines at least one point with an extreme coordinate for the obscure face contour points.