Method and system for providing access control

1. One or more non-transitory computer-readable media storing instructions that, when executed by one or more processors, cause the one or more processors to execute instructions comprising:

receiving, by an access control system, point cloud data associated with a field of view of a sensor;

based on the point cloud data, determining that an object is entering a physical zone of interest in the field of view, wherein determining that the object is entering the physical zone of interest comprises:

spatially segmenting an input search space into a plurality of voxels in a plane;

determining one or more potential clusters in the plurality of voxels; and

identifying a cluster corresponding to the object in the one or more potential clusters, based at least on a determination that the cluster satisfies a voxel count threshold; and

determining, by the access control system, an access control result indicating that the object is authorized to access the physical zone of interest or is not authorized to access the physical zone of interest.

2. The one or more non-transitory computer-readable media of claim 1 , the operations further comprising:

determining, by the access control system, a type of the object entering the physical zone of interest, wherein determining the access control result is based at least on the type of the object.

3. The one or more non-transitory computer-readable media of claim 1 , the operations further comprising:

determining, by the access control system, that the object is crawling or is not crawling, wherein determining the access control result is based at least on whether the object is crawling or is not crawling.

4. The one or more non-transitory computer-readable media of claim 1 , wherein determining the access control result comprises determining whether the object is piggybacking or tailgating an authorized object.

5. The one or more non-transitory computer-readable media of claim 1 ,

wherein the access control result indicates that the object is not authorized to access the physical zone of interest, and

wherein determining the access control result comprises identifying a suspect condition in which the access control system does not detect that the object has been granted access to access the physical zone of interest.

6. The one or more non-transitory computer-readable media of claim 1 , wherein the access control system is configured to determine whether the object is one or more of an adult-height person, a child-height person, a person carrying an item, a person wearing a hat, a person pulling or pushing an item, a plurality of people in close proximity, a non-human animal, an occupied wheelchair, an unoccupied wheelchair, an umbrella, a person on another person's back, and/or a person crawling.

7. A system comprising:

at least one device including a hardware processor;

the system being configured to perform operations comprising:

receiving, by an access control system, point cloud data associated with a field of view of a sensor;

based on the point cloud data, determining that an object is entering a physical zone of interest in the field of view, wherein determining that the object is entering the physical zone of interest comprises:

spatially segmenting an input search space into a plurality of voxels in a plane;

determining one or more potential clusters in the plurality of voxels; and

identifying a cluster corresponding to the object in the one or more potential clusters, based at least on a determination that the cluster satisfies a voxel count threshold; and

determining, by the access control system, an access control result indicating that the object is authorized to access the physical zone of interest or is not authorized to access the physical zone of interest.

8. The system of claim 7 , the operations further comprising:

determining, by the access control system, a type of the object entering the physical zone of interest, wherein determining the access control result is based at least on the type of the object.

9. The system of claim 7 , the operations further comprising:

determining, by the access control system, that the object is crawling or is not crawling, wherein determining the access control result is based at least on whether the object is crawling or is not crawling.

10. The system of claim 7 , wherein determining the access control result comprises determining whether the object is piggybacking or tailgating an authorized object.

11. The system of claim 7 ,

wherein the access control result indicates that the object is not authorized to access the physical zone of interest, and

wherein determining the access control result comprises identifying a suspect condition in which the access control system does not detect that the object has been granted access to access the physical zone of interest.

12. The system of claim 7 , wherein the access control system is configured to determine whether the object is one or more of an adult-height person, a child-height person, a person carrying an item, a person wearing a hat, a person pulling or pushing an item, a plurality of people in close proximity, a non-human animal, an occupied wheelchair, an unoccupied wheelchair, an umbrella, a person on another person's back, and/or a person crawling.

13. A method comprising:

receiving, by an access control system, point cloud data associated with a field of view of a sensor;

based on the point cloud data, determining that an object is entering a physical zone of interest in the field of view, wherein determining that the object is entering the physical zone of interest comprises:

spatially segmenting an input search space into a plurality of voxels in a plane;

determining one or more potential clusters in the plurality of voxels; and

identifying a cluster corresponding to the object in the one or more potential clusters, based at least on a determination that the cluster satisfies a voxel count threshold; and

determining, by the access control system, an access control result indicating that the object is authorized to access the physical zone of interest or is not authorized to access the physical zone of interest.

14. The method of claim 13 , further comprising:

determining, by the access control system, a type of the object entering the physical zone of interest, wherein determining the access control result is based at least on the type of the object.

15. The method of claim 13 , further comprising:

determining, by the access control system, that the object is crawling or is not crawling, wherein determining the access control result is based at least on whether the object is crawling or is not crawling.

16. The method of claim 13 , wherein determining the access control result comprises determining whether the object is piggybacking or tailgating an authorized object.

17. The method of claim 13 , wherein the access control system is configured to determine whether the object is one or more of an adult-height person, a child-height person, a person carrying an item, a person wearing a hat, a person pulling or pushing an item, a plurality of people in close proximity, a non-human animal, an occupied wheelchair, an unoccupied wheelchair, an umbrella, a person on another person's back, and/or a person crawling.