Dimensional acquisition of packages
OwnerPaul Driegen, Adam Stevenson +3inventors
InventorsPaul Driegen, Adam Stevenson, Kirk Serjeantson, David Short, Brian Glancy
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Abstract
The present disclosure relates to methods and systems for calculating dimensions of objects on loaded or partially loaded pallets for purposes of billing in shipping and transportation applications using depth-sensing imaging devices. A plurality of depth maps of an object are retrieved from one or more imaging devices. The depth maps are filtered and transformed into a world co-ordinate system based on calibration of the imaging devices. A point cloud is generated and a minimum volume bounding box is determined. The edge lengths and height of the object are calculated, and a volume may be determined to associate a volume with the object.
Claims21
A method of dimensioning an object for determining shipping volumes, the method comprising:
- retrieving a plurality of depth maps of an object placed on a dimensioning surface from one or more depth-sensing imaging devices using a host processor;
- filtering each of the plurality of depth maps retrieved from the one or more depth-sensing imaging devices using the host processor;
- applying a bounding volume to each of the plurality of depth maps retrieved using the host processor, the bounding volume defining a three dimensional hexahedron aligned to the world co-ordinate system and representing an allowable space for points of a depth map to be considered for dimensioning;
- transforming each depth map into a world co-ordinate system in three dimensional space utilizing calibration parameters of each of the one or more depth-sensing imaging devices using the host processor;
- generating a point cloud via the host processor representing the object to be dimensioned using the transformation of the plurality of depth maps;
- determining edge lengths of the object using the host processor;
- determining a height of the object using the host processor;
- and
- calculating a volume of the object using the host processor.
A system for dimensioning an object for determining shipping volumes, the system comprising:
- one or more imaging devices configured to generate a depth map of an object;
- one or more processors each coupled to a respective imaging device of the one or more imaging devices, the processors for controlling the imaging devices;
- and
- a host processor coupled to the one or more processors each coupled to a respective imaging device, the host processor configured to:
- retrieve a plurality of depth maps of an object placed on a dimensioning surface from one or more depth-sensing imaging devices;
- filter each of the plurality of depth maps retrieved from the one or more depth-sensing imaging devices;
- applying a bounding volume to each of the plurality of depth maps retrieved, the bounding volume defining a three dimensional hexahedron aligned to the world co-ordinate system and representing an allowable space for points of a depth map to be considered for dimensioning;
- transform each depth map into a world co-ordinate system in three dimensional space utilizing calibration parameters of each of the one or more depth-sensing imaging devices;
- generate a point cloud representing the object to be dimensioned using the transformation of the plurality of depth maps;
- determine edge lengths of the object;
- determine a height of the object;
- and
- calculate a volume of the object.
A non-transitory computer readable memory storing instructions, which when executed by a processor of a computing system configure the computing system to:
- retrieve a plurality of depth maps of an object placed on a dimensioning surface from one or more depth-sensing imaging devices;
- filter each of the plurality of depth maps retrieved from the one or more depth-sensing imaging devices;
- applying a bounding volume to each of the plurality of depths maps retrieved, the bounding volume defining a three dimensional hexahedron aligned to the world co-ordinate system and representing an allowable space for points of a depth map to be considered for dimensioning;
- transform each depth map into a world co-ordinate system in three dimensional space utilizing calibration parameters of each of the one or more depth-sensing imaging devices;
- generate a point cloud representing the object to be dimensioned using the transformation of the plurality of depth maps;
- determine edge lengths of the object;
- determine a height of the object;
- and
- calculate a volume of the object.
Dependencies are inferred from the claim text.