Reference Surface Detection for Mobile Dimensioning

A computing device, comprising:

• a stereo camera assembly;
• an auxiliary sensor;
• and
• a controller connected with the stereo camera assembly and the auxiliary sensor, the controller configured to:
• control the stereo camera assembly to capture a reference stereo image;
• detect a reference surface from the reference stereo image;
• determine an inclination angle of the reference surface relative to an output vector of the auxiliary sensor;
• control the stereo camera assembly to capture a first dimensioning stereo image;
• detect the reference surface in the first dimensioning stereo image based on the inclination angle;
• detect a first object surface in the first dimensioning stereo image;
• and
• generate dimensions of the object based on the first object surface and the reference surface.

A non-transitory computer-readable medium storing instructions executable by a processor of a mobile computing device, the instructions comprising:

• controlling a stereo camera assembly to capture a reference stereo image;
• detecting a reference surface from the reference stereo image;
• determining an inclination angle of the reference surface relative to an output vector of an auxiliary sensor;
• controlling the stereo camera assembly to capture a first dimensioning stereo image;
• detecting the reference surface in the first dimensioning stereo image based on the inclination angle;
• detecting a first object surface in the first dimensioning stereo image;
• and
• generating dimensions of the object based on the first object surface and the reference surface.