# US 9,752,864 B2 · Handheld dimensioning system with feedback

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- Number: US 9,752,864 B2
- Document ID: US9752864B2
- Status: Granted
- Kind: B2
- Application number: 14/519,195
- Filed: 2014-10-21
- Published: 2016-04-21
- Granted: 2017-09-05
- Earliest claimed: 2014-10-21
- Assignees: Hand Held Products, Inc.
- Applicants: Hand Held Products, Inc.
- Inventors: Franck Laffargue; Jeffrey Hunt
- Web page: https://patentgrep.com/patent/US9752864B2

## CPC

- G06T 7/62: of area, perimeter, diameter or volume
- G01B 11/00: Measuring arrangements characterised by the use of optical techniques
- G01B 11/024: {by means of diode-array scanning}
- G01B 11/25: by projecting a pattern, e.g. {one or more lines,} moiré fringes on the object (G01B11/255 takes precedence {; image analysis for depth or shape recovery G06T7/50})
- G06T 17/20: Finite element generation, e.g. wire-frame surface description, {tesselation}
- G06V 20/64: Three-dimensional [3D] objects
- H04N 13/257: Colour aspects
- H04N 13/271: wherein the generated image signals comprise depth maps or disparity maps
- G06T 2207/10024: Color image
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- H04N 2013/0077: {Colour aspects}
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

A handheld dimensioning system that analyzes a depth map for null-data pixels to provide feedback is disclosed. Null-data pixels correspond to missing range data and having too many in a depth map may lead to dimensioning errors. Providing feedback based on the number of null-data pixels helps a user understand and adapt to different dimensioning conditions, promotes accuracy, and facilitates handheld applications.

## Claims

### Claim 1

A method for obtaining a dimension measurement using a handheld dimensioner, the method comprising:
receiving, using a processor, range data from a dimensioning subsystem;
creating, using the processor, a depth map from the range data;
determining, using the processor, a null-data pixel-count from the depth map, the null-data pixel-count comprising a sum total of null-data pixels; and
computing, using the processor, a dimension measurement if the null-data pixel-count is at or below a threshold count, or
generating, using the processor, an error feedback if the null-data pixel-count is above the threshold count.

### Claim 2 (depends on 1)

The method according to claim 1, wherein the depth map comprises a digital image of the handheld-dimensioner's field-of-view, wherein the digital-image's pixel values correspond to the distance between the handheld dimensioner and an object or objects in the field-of-view.

### Claim 3 (depends on 2)

The method according to claim 2, wherein the depth map's null-data pixels comprise a single pixel value, the single pixel value indicating that a range measurement for a pixel was not possible.

### Claim 4 (depends on 1)

The method according to claim 1, comprising generating, using the processor, a confidence feedback if the depth-map's null-data pixel-count is below the threshold count.

### Claim 5 (depends on 4)

The method according to claim 4, wherein the confidence feedback comprises a visible image of the handheld-dimensioner's field-of-view and a wireframe rendering of an object, the wireframe rendering displayed with the visible image.

### Claim 6 (depends on 4)

The method according to claim 4, wherein the confidence feedback comprises an indication of a confidence value, the confidence value corresponding to the null-data pixel count.

### Claim 7 (depends on 4)

The method according to claim 4, wherein the confidence feedback comprises an indication of the dimension measurement's conformance to a standard.

### Claim 8 (depends on 1)

The method according to claim 1, comprising generating, using the processor, a user-guidance feedback if the null-data pixel-count is above the threshold count.

### Claim 9 (depends on 8)

The method according to claim 8, wherein the user-guidance feedback comprises information to facilitate the adjustment of a measurement geometry.

### Claim 10 (depends on 8)

The method according to claim 8, wherein the user-guidance feedback comprises information to facilitate the adjustment of lighting.

### Claim 11 (depends on 8)

The method according to claim 8, comprising repeating the receiving, creating, determining, and generating until the depth map's null-data pixel-count is at or below the threshold count then computing, using the processor, a dimension measurement.

### Claim 12 (depends on 1)

The method according to claim 1, wherein the error feedback comprises an indication that the handheld dimensioner cannot produce a dimension measurement.

### Claim 13 (depends on 1)

The method according to claim 1, wherein the error feedback comprises an indication that the object or objects are positioned with at least one object surface that is not visible to the handheld dimensioner.

### Claim 14 (depends on 1)

The method according to claim 1, wherein the error feedback comprises an indication that the object color is too dark or that the lighting is insufficient.

### Claim 15

A handheld dimensioning system configured to provide error feedback, the dimensioning system comprising:
a dimensioning subsystem comprising at least one image sensor for capturing range data of an object or objects within a field-of-view; and
a control subsystem communicatively coupled to the at least one image sensor, the control subsystem comprising at least one processor and at least one non-transitory storage medium for storing information and processor-executable instructions, wherein the processor-executable instructions configure the processor to:
(i) receive range data from the dimensioning subsystem, (ii) create a depth map from the range data, (iii) process the depth map to obtain a depth-map quality, and (iv) generate an error feedback if the depth-map quality is below a minimum-quality threshold;
wherein the depth-map quality comprises a sum of the number of pixels in the depth map having insufficient information to determine depth.

### Claim 16 (depends on 15)

The handheld dimensioning system according to claim 15, wherein the dimensioning subsystem comprises a pattern projector, the pattern projector projecting a light pattern on the object or objects in the field-of-view.

### Claim 17 (depends on 15)

The handheld dimensioning system according to claim 15, wherein the error feedback comprises user guidance information to facilitate the repositioning of the handheld dimensioner to capture range data having an improved depth-map quality.

### Claim 18 (depends on 15)

The handheld dimensioning system according to claim 15, wherein the error feedback comprises information indicating that no dimension measurement is possible.

### Claim 19 (depends on 15)

The handheld dimensioning system according to claim 15, wherein the error feedback comprises information indicating that a dimension measurement does not conform to a standard.