US 10,096,099 B2Granted

Image-stitching for dimensioning

AssigneeHand Held Products, Inc.

InventorsBrian L. Jovanovski, Jingquan Li

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Abstract

Dimensioning systems may automate or assist with determining the physical dimensions of an object without the need for a manual measurement. A dimensioning system may project a light pattern onto the object, capture an image of the reflected pattern, and observe changes in the imaged pattern to obtain a range image, which contains 3D information corresponding to the object. Then, using the range image, the dimensioning system may calculate the dimensions of the object. In some cases, a single range image does not contain 3D data sufficient for dimensioning the object. To mitigate or solve this problem, the present invention embraces capturing a plurality of range images from different perspectives, and then combining the range images (e.g., using image-stitching) to form a composite range-image, which can be used to determine the object's dimensions.

Claims19

Dependent claims

A method for dimensioning an object, the method comprising:

having a portion of an object in a field-of-view of a range camera of the dimensioning system;
projecting, using a pattern projector, a light pattern into the field-of-view;
capturing, using the range camera of the dimensioning system, a range image of the field-of-view, wherein each pixel of the range image represents a distance from the range camera to a respective point in the range camera's field-of-view;
moving the dimensioning system and/or the object so that there is relative movement between the dimensioning system and the object, and the range camera's field-of-view contains a different portion of the object, wherein the moving of the dimensioning system and/or the object is automatic;
repeating the capturing and the moving until a plurality of range images have been captured, wherein in each range image of the plurality of range images, each pixel of the range image represents a distance from the range camera to a respective point in the range camera's field-of-view;
combining the plurality of range images to create a composite range-image;
and
dimensioning the object using the composite range-image.

5 more elements

A dimensioning system, comprising:

a pattern projector configured to project a light pattern onto an object;
a range camera having a field of view and configured to (i) capture an image of a reflected light-pattern in the field of view, (ii) generate 3D data from the reflected light-pattern, and (iii) create a range image using the 3D data, wherein each pixel of the range image represents a distance from the range camera to a respective point in the range camera's field-of-view;
at least one device configured to automatically move the dimensioning system and/or the object so that there is relative movement between the dimensioning system and the object, and the range camera's field-of-view contains a different portion of the object;
and
a processor communicatively coupled to the pattern projector and the range camera, wherein the processor is configured by software to:
(i) trigger the range camera to capture a plurality of range images, wherein in each range image of the plurality of range images, each pixel of the range image represents a distance from the range camera to a respective point in the range camera's field-of-view,
(ii) combine the plurality of range images into a composite range-image, and
(iv) calculate the dimensions of the object using the composite range-image.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/870,488Filed 30 Sep 2015 · us provisional application
Priority: 10 Oct 2014
Published: US 2016/0104274 A114 Apr 2016
Granted: 9 Oct 2018
Term ends: Not estimatedThe source records don’t support an estimate.

Classification17 codes

G06T 5/50
Image enhancement or restoration: using two or more images, e.g. averaging or subtraction
G01B 11/2522
Projection by scanning of the object: the position of the object changing and being recorded
G05B 19/402
Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to…
H04N 5/23238