4D indicium mapping for moving objects
AssigneeZebra Technologies Corporation
InventorDuanfeng He
Life of this patent
Estimating the term…
Abstract
Systems and methods for tracking objects in space are disclosed. The systems and methods include capturing two-dimensional (2D) image data from which a indicium is decoded and capturing, generating, or otherwise accessing three-dimensional (3D) image data from which a 3D object is identified. A 2D image of a indicium and indicium data is combined with the 3D object to form reference 3D object data that is used for comparison to subsequently captured 3D and 2D image data. In some examples, a four-dimensional (4D) projection of the reference 3D object data is used for comparison and validation of the subsequently captured 3D and 2D image data.
Claims17
A system for tracking indicia in space, the system comprising:
- a three-dimensional (3D) data acquisition subsystem;
- a two-dimensional (2D) imaging subsystem comprising one or more 2D imagers, wherein the 2D imaging subsystem is oriented and configured to:
- at the one or more 2D imagers, capture a 2D image data representing a 2D image of an environment;
- and
- identify an indicium in the captured 2D image data;
- and
- a computing subsystem including one or more processors, and a non-transitory computer-readable storage medium storing instructions that, when executed by the one or more processors, cause the computing system to:
- access, from the 3D data acquisition subsystem, captured 3D image data corresponding to a 3D representation of the environment;
- identify in the environment an object, based on the captured 3D image data, and associate the object with the indicium identified in the captured 2D image data to generate marked object data representing the object in the environment;
- and
- perform a four-dimensional (4D) projection of the marked object data, the projection representing an expected future location of the object based on an expected or measured movement of the object.
A method for tracking indicia in space, the method comprising:
- capturing, at the one or more two-dimensional (2D) imagers, 2D image data representing a 2D image of an environment;
- detecting an indicium in the captured 2D image data;
- accessing, from a three-dimensional (3D) data acquisition subsystem, captured 3D image data corresponding to a 3D representation of the environment;
- identifying in the environment an object, based on the captured 3D image data, and associating the object with the indicium identified in the captured 2D image data to generate a marked object data representing the object in the environment;
- and
- performing a four-dimensional (4D) projection of the marked object data, the projection representing an expected future location of the object based on an expected or measured movement of the object.
Dependencies are inferred from the claim text.