Method, system and apparatus for mobile dimensioning

A method for mobile dimensioning at a controller of a mobile device, the method comprising:

• controlling a tracking sensor to track successive poses of the mobile device in a frame of reference;
• receiving a first range value indicating a first distance between the mobile device and a first point external to the mobile device;
• receiving a second range value indicating a second distance between the mobile device and a second point external to the mobile device;
• generating a first position, in the frame of reference, of the first external point based on the first range value and the first pose;
• generating a second position, in the frame of reference, of the second external point based on the second range value and the second pose;
• responsive to a first activation of a rangefinder of the mobile device at the first pose, controlling the rangefinder to measure the first range value;
• responsive to a second activation of the rangefinder at the second pose, controlling the rangefinder to measure the second range value;
• and
• prior to determining a distance between the first and second external points based on the first and second positions, detecting that the first and second external points correspond to respective edges of an item by:
• (a) fitting respective planes to each of a plurality of subsets of external points including the first external point and the second external point, and
• (b) detecting that a difference between orientations of the planes exceeds a threshold.

A mobile device, comprising:

• a tracking sensor;
• a rangefinder;
• a controller connected with the tracking sensor and the rangefinder, the controller configured to:
• track successive poses of the mobile device in a frame of reference via the tracking sensor;
• at a first one of the poses, receive a first range value indicating a first distance between the mobile device and a first external point;
• generate a first position, in the frame of reference, of the first external point based on the first range value and the first pose;
• at a second one of the poses, receive a second range value indicating a second distance between the mobile device and a second external point, and
• generate a second position, in the frame of reference, of the second external point based on the second range value and the second pose;
• and
• determine a distance between the first and second external points based on the first and second positions, and
• prior to determination of the distance between the first and second external points, detect that the first and second external points correspond to respective edges of an item by:
• (a) fitting respective planes to each of a plurality of subsets of external points including the first external point and the second external point, and
• (b) detecting that a difference between orientations of the planes exceeds a threshold a device housing supporting the controller and the tracking sensor;
• and an accessory housing supporting the rangefinder;
• wherein,
• the accessory housing is removably coupled to the device housing,
• the tracking sensor includes a camera,
• the accessory housing includes an opening therethrough disposed over the camera when the accessory housing is coupled to the device housing.

A mobile device, comprising:

• a tracking sensor;
• a rangefinder;
• a controller connected with the tracking sensor and the rangefinder, the controller configured to:
• track successive poses of the mobile device in a frame of reference via the tracking sensor;
• at a first one of the poses, receive a first range value indicating a first distance between the mobile device and a first external point;
• generate a first position, in the frame of reference, of the first external point based on the first range value and the first pose;
• at a second one of the poses, receive a second range value indicating a second distance between the mobile device and a second external point, and
• generate a second position, in the frame of reference, of the second external point based on the second range value and the second pose;
• and
• determine a distance between the first and second external points based on the first and second positions;
• and
• prior to determination of the distance between the first and second external points, detect that the first and second external points correspond to respective edges of an item by:
• (a) fitting respective planes to each of a plurality of subsets of external points including the first external point and the second external point, and
• (b) detecting that a difference between orientations of the planes exceeds a threshold a device housing supporting the controller and the tracking sensor;
• and an accessory housing supporting the rangefinder;
• wherein, the accessory housing is removably coupled to the device housing,
• the mobile device further comprising a scanner supported by the device housing,
• the accessory housing includes a cutout disposed over at least a portion of the scanner when the accessory housing is coupled to the device housing.