System and Method for Object Detection and Dimensioning
AssigneeZebra Technologies Corporation
InventorRaveen T. Thrimawithana
Life of this patent
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Abstract
A method for detecting and dimensioning a target object includes: obtaining depth data representing a target object; defining a mask having a structure which decreases in density away from a central point of the mask; overlaying the mask on the depth data and selecting a subset of the depth data comprising data points which contact the mask; detecting a cluster of data points from the subset; detecting, based on the cluster, the target object; and outputting a representation of the target object.
Claims22
A method comprising:
- obtaining, from a depth sensor, depth data representing a target object;
- defining a mask having a structure which decreases in density away from a central point of the mask;
- overlaying the mask on the depth data and selecting a subset of the depth data comprising data points having coordinates which match coordinates of a point of the mask;
- detecting a cluster of data points from the subset;
- detecting, based on the cluster, the target object;
- and
- determining an object dimension of the target object based on the cluster.
A device comprising:
- a depth sensor configured to obtain depth data representing a target object;
- a memory;
- a processor interconnected with the depth sensor and the memory, the processor configured to:
- obtain, from the depth sensor, depth data representing the target object;
- define a mask having a structure which decreases in density away from a central point of the mask;
- overlay the mask on the depth data and select a subset of the depth data comprising data points having coordinates which match coordinates of a point of the mask;
- detect a cluster of data points from the subset;
- detect, based on the cluster, the target object;
- and
- determine an object dimension of the target object based on the cluster.
A non-transitory computer-readable medium storing a plurality of computer-readable instructions executable by a processor, wherein execution of the instructions configures the processor to:
- obtain, from a depth sensor, depth data representing a target object;
- define a mask having a structure which decreases in density away from a central point of the mask;
- overlay the mask on the depth data and select a subset of the depth data comprising data points having coordinates which match coordinates of a point of the mask;
- detect a cluster of data points from the subset;
- detect, based on the cluster, the target object;
- and
- determine an object dimension of the target object based on the cluster.
Dependencies are inferred from the claim text.