Determining payload carrier volume using a neural network
AssigneeCaterpillar Inc.
InventorsShawn Nainan Mathew, Christopher Ha, Yang Liu, Sanghyun Shin
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Abstract
A method for loading a payload carrier of a machine includes receiving, from a camera on the machine, a two-dimensional image of an interior of the payload carrier as material is loaded into the payload carrier. The method further includes sectioning the two-dimensional image into a plurality of regions, and determining, for individual of the regions, whether the region includes a representative of fill material. The method may also include determining a fill volume based on the regions having fill and those not having fill.
Claims20
A method of determining a volume of fill material in a payload carrier of a machine, the method comprising:
- receiving, from a camera on the machine, a two-dimensional image of an interior of the payload carrier;
- identifying a plurality of regions of the two-dimensional image corresponding to regions of the interior of the payload carrier;
- determining, for individual regions of the plurality of regions, whether the individual regions include a representation of fill material;
- and
- determining a fill volume of the payload carrier based at least in part on a number of the individual regions that include the representation of fill material and at the exclusion of three-dimensional image data about the fill material.
A machine comprising:
- a payload carrier defining an interior having a volume;
- a camera fixed relative to the interior of the payload carrier and configured to capture two-dimensional images of the interior of the payload carrier;
- a display device;
- and
- a controller configured to:
- receive an image of the two-dimensional images;
- determine, for individual regions of a plurality of regions of the image, whether the individual regions include a representation of fill material;
- determine, based at least in part on whether the individual regions include the representation of fill material, a fill volume of the payload carrier, the fill volume representative of a relationship of a number of individual regions including the representation of fill material and a total number of the plurality of regions;
- and
- cause the display device to display information about the fill volume.
A camera system for assisting loading of a payload carrier of a machine, the camera system comprising:
- a two-dimensional camera;
- one or more processors;
- and
- memory storing instructions that, when executed by the one or more processors, cause the camera system to perform actions comprising:
- receiving, from the two-dimensional camera, an image of an interior of the payload carrier of the machine;
- identifying a plurality of regions of the image;
- determining, for individual regions of the plurality of regions, a presence of fill material;
- and
- determining, based at least in part on the presence of fill material in the individual regions, and at the exclusion of three-dimensional image data, a fill volume of the payload carrier.
Dependencies are inferred from the claim text.