Method for cargo counting, computer equipment, and storage medium
AssigneeVisionNav Robotics USA Inc.
InventorsHang Ding, Yujie Lu, Bingchuan Yang, Mu Fang
Life of this patent
Estimating the term…
Abstract
A method for cargo counting, a computer equipment, and a storage medium are provided in the disclosure. The method includes the following. Three-dimensional (3D) point cloud data of a set of cargoes within a preset placement region is obtained based on a cargo-counting instruction. Whether the set of cargoes are in a first placement state is determined according to the 3D point cloud data. Based on a determination that the set of cargoes are in the first placement state, a quantity of the set of cargoes is calculated.
Claims18
A method for cargo counting, comprising:
- obtaining three-dimensional (3D) point cloud data of a set of cargoes within a preset placement region based on a cargo-counting instruction;
- determining whether the set of cargoes are in a first placement state according to the 3D point cloud data;
- and
- calculating a quantity of the set of cargoes, based on a determination that the set of cargoes are in the first placement state;
- wherein determining whether the set of cargoes are in the first placement state according to the 3D point cloud data comprises:
- projecting the 3D point cloud data onto a ground plane to obtain a statistics-based grid map;
- performing straight line detection on the grid map to obtain a plurality of straight line equations;
- and
- determining that the set of cargoes are in the first placement state, on condition that a straight line slope of each of the plurality of straight line equations is equal to 0 or 1.
A computer equipment, comprising:
- a processor;
- and
- a memory, coupled to the processor and storing computer programs which, when executed by the processor, cause the processor to:
- obtain three-dimensional (3D) point cloud data of a set of cargoes within a preset placement region based on a cargo-counting instruction;
- determine whether the set of cargoes are in a first placement state according to the 3D point cloud data;
- and
- calculate a quantity of the set of cargoes, based on a determination that the set of cargoes are in the first placement state;
- wherein the processor configured to determine whether the set of cargoes are in the first placement state according to the 3D point cloud data is configured to:
- project the 3D point cloud data onto a ground plane to obtain a statistics-based grid map;
- perform straight line detection on the grid map to obtain a plurality of straight line equations;
- and
- determine that the set of cargoes are in the first placement state, on condition that a straight line slope of each of the plurality of straight line equations is equal to 0 or 1.
A non-transitory computer-readable storage medium storing computer programs which, when executed by a processor, cause the processor to carry out actions, comprising:
- obtaining three-dimensional (3D) point cloud data of a set of cargoes within a preset placement region based on a cargo-counting instruction;
- determining whether the set of cargoes are in a first placement state according to the 3D point cloud data;
- and
- calculating a quantity of the set of cargoes, based on a determination that the set of cargoes are in the first placement state;
- wherein determining whether the set of cargoes are in the first placement state according to the 3D point cloud data comprises:
- projecting the 3D point cloud data onto a ground plane to obtain a statistics-based grid map;
- performing straight line detection on the grid map to obtain a plurality of straight line equations;
- and
- determining that the set of cargoes are in the first placement state, on condition that a straight line slope of each of the plurality of straight line equations is equal to 0 or 1.
Dependencies are inferred from the claim text.