Dimensional acquisition of packages

A method of dimensioning an pallet for determining shipping volumes, the method comprising:

• retrieving a plurality of depth maps of an pallet placed on a dimensioning surface from a plurality of depth-sensing imaging devices;
• filtering each of the plurality of depth maps retrieved from the plurality of depth-sensing imaging devices;
• 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;
• generating a point cloud representing the object to be dimensioned using the transformation of the plurality of depth maps;
• determining edge lengths of the pallet;
• determining a height of the pallet;
• and
• calculating a volume of the pallet;
• wherein determining the edge lengths comprises:
• translating the point cloud to be at a center of the world co-ordinate system;
• rotating, about a center of the point cloud, 90 degrees in rotation angles of one degree around a vertical axis of the world co-ordinate system;
• calculating, at each rotation angle, a bounding box aligned with axes in the world co-ordinate system;
• calculating, at each rotation angle, an area of a front face of the bounding box, the front face being an upper surface of the object;
• determining a minimum calculated area of the front face of the bounding box representing a bounding rectangle and a rotation angle associated with the bounding rectangle;
• and
• determining a length and a width of the bounding rectangle, representing a maximum length and a maximum width of the object.