Point cloud annotation for a warehouse environment
AssigneeLineage Logistics, LLC
InventorsChristopher Frank Eckman, Alexander Ming Zhang
Life of this patent
Estimating the term…
Abstract
A system is provided for automatic identification and annotation of objects in a point cloud in real time. The system can automatically annotate a point cloud that identifies coordinates of objects in three-dimensional space while data is being collected for the point cloud. The system can train models of physical objects based on training data, and apply the models to point clouds that are generated by various point cloud generating devices to annotate the points in the point clouds with object identifiers. The solution of automatically annotated point cloud can be used for various applications, such as blueprints, map navigation, and determination of robotic movement in a warehouse.
Claims20
A computer-implemented method using an object identification model, the method comprising:
- receiving, from a vehicle, optical scan data and image data in real time as the vehicle moves in a warehouse;
- recognizing objects that are represented in the image data;
- determining identifiers that represent the objects;
- annotating the optical scan data with the identifiers to generate annotated point cloud data;
- and
- transmitting the annotated point cloud data to a display device configured to present a point cloud based on the annotated point cloud data in real time.
A system comprising:
- a vehicle;
- a camera affixed to the vehicle and configured to capture images and generate image data;
- an optical scanner affixed to the vehicle and configured to measure distances to objects and generate spatial scan data;
- and
- a computing device communicatively coupled to the camera and the optical scanner, the computing device configured to perform operations comprising:
- receiving, from the vehicle, the image data and the optical scan data in real time as the vehicle moves in a warehouse;
- recognizing objects that are represented in the image data;
- determining identifiers that represent the objects;
- annotating the optical scan data with the identifiers to generate annotated point cloud data;
- and
- transmitting the annotated point cloud data to a display device configured to present a point cloud based on the annotated point cloud data in real time.
A non-transitory computer-readable storage medium having instructions stored thereon which, when executed by one or more processors, cause the one or more processors to perform operations comprising:
- receiving optical scan data and image data as the vehicle moves in a warehouse;
- recognizing objects that are represented in the image data;
- determining identifiers that represent the objects;
- annotating the optical scan data with the identifiers to generate annotated point cloud data;
- identifying first annotated objects that are represented in the annotated point cloud data;
- removing data indicative of the first annotated objects from the annotated point cloud data;
- and
- transmitting the annotated point cloud data to a display device configured to present a point cloud based on the annotated point cloud data, the point cloud being presented without the first annotated objects.
Dependencies are inferred from the claim text.