The past decades have seen significant improvements in 3D imaging where the related techniques and technologies have advanced to a mature state. These exciting developments have sparked increasing interest in industry and academia in the challenges and opportunities afforded by 3D sensing. As a consequence, the emerging area of safety and security related imaging incorporates these important new technologies beyond the limitations of 2D image processing. This is the first book that covers the current state of the art in 3D imaging for safety and security. Topics addressed in this book include 3D imaging related to biometrics, face recognition, surveillance, safety inspection and robotic planning for physical security analysis and public safety. The book presents thoroughly revised versions of lectures given by leading researchers during the 'Workshop on Advanced 3D Imaging for Safety and Security' in conjunction with the International Conference on Computer Vision and Pattern Recognition CVPR 2005 on June 25, 2005 in San Diego, USA. TOC:From the contents Part I: Biometrics. 3D Assisted Face recognition: A survey. A survey on 3D Modeling of Human Faces and Face Recognition.- Automatic 3D Face Registration without Initialization. A Genetic Algorithm Based Approach for 3D Face Recognition.- Story of Cinderella: Biometrics and Isometry-invariant Distances. Human Ear Detection from 3D Side Face Range Images.- Part II: Safety and Security Applications. Synthetic Aperture Focusing Using Dense Camera Arrays. Dynamic Pushbroom Stereo Vision for Surveillance and Inspection. 3D Modeling of Indoor Environments for a Robotic Security Guard. 3D Site Modeling and Verification-Usage of 3D Laser Techniques for Verification of Plant Design for Nuclear Security Applications. Under Vehicle Inspection with 3D Imaging - Safety and Security for Check Point and Gate-Entry Inspections.- Index. The past decades have seen significant improvements in 3D imaging where the related techniques and technologies have advanced to a mature state. These exciting developments have sparked increasing interest in industry and academia in the challenges and opportunities afforded by 3D sensing. As a consequence, the emerging area of safety and security related imaging incorporates these important new technologies beyond the limitations of 2D image processing. This book is so far the first that covers the current state of the art in 3D imaging for safety and security. It reports about selected contributions given at the ¿Workshop on Advanced 3D Imaging for Safety and Security¿ held in conjunction with the International Conference on Computer Vision and Pattern Recognition CVPR 2005, June 2005, San Diego, CA. The workshop brought together pioneering academic and industrial researchers in the field of computer vision and image analysis. Special attention was given to advanced 3D imaging technologies in the context of safety and security applications. Comparative evaluation studies showing advantages of 3D imaging over traditional 2D imaging for a given computer vision or pattern recognition task were emphasized. Moreover, additional experts in the field of 3D imaging for safety and security were invited by the editors for a contribution to this book. The book is structured into two parts, each containing five or six chapters on (1) Biometrics and (2) Safety and Security Applications. Contributing Authors vii Preface xiii PART I: BIOMETRICS 1 3D Assisted Face Recognition: A Survey 3 M. HAMOUZ, J. R. TENA, J. KITTLER, A. HILTON, AND J. ILLINGWORTH A Survey on 3D Modeling of Human Faces for Face Recognition 25 S. HUQ, B. ABIDI, S.G. KONG, AND M. ABIDI Automatic 3D Face Registration without Initialization 69 A. KOSCHAN, V.R. AYYAGARI, F. BOUGHORBEL, AND M.A. ABIDI A Genetic Algorithm Based Approach for 3D Face Recognition: Using Geometric Face Modeling and Labeling 95 Y. SUN AND L. YIN Story of Cinderella: Biometrics and Isometry-Invariant Distances 119 A.M. BRONSTEIN, M.M. BRONSTEIN, AND R. KIMMEL Human Ear Detection from 3D Side Face Range Images 133 H. CHEN AND B. BHANU PART II: SAFETY AND SECURITY APPLICATIONS 157 Synthetic Aperture Focusing Using Dense Camera Arrays 159 V. VAISH, G. GARG, E.-V. TALVALA, E. ANTUNEZ, B. WILBURN, M. HOROWITZ, AND M. LEVOY Dynamic Pushbroom Stereo Vision: Dynamic Pushbroom Stereo Vision for Surveillance and Inspection 173 Z. ZHU, G. WOLBERG, AND J.R. LAYNE 3D Modeling of Indoor Environments for a Robotic Security Guard 201 P. BIBER, S. FLECK, T. DUCKETT, AND M. WAND 3D Site Modelling and Verification: Usage of 3D Laser Techniques for Verification of Plant Design for Nuclear Security Applications 225 V. SEQUEIRA, G. BOSTR , AND J.G.M. GON LVES Under Vehicle Inspection with 3D Imaging: Safety and Security for Check-Point and Gate-Entry Inspections 249 S.R. SUKUMAR, D.L. PAGE, A.F. KOSCHAN, AND M.A. ABIDI Colour Plate Section 279 Index 307