Image-stitching for dimensioning

Patent metadata

Field	Value
Publication number	US-2016104274-A1
Application number	US-201514870488-A
Country	US
Kind code	A1
Filing date	Sep 30, 2015
Priority date	Oct 10, 2014
Publication date	Apr 14, 2016
Grant date	—

Abstract

Dimensioning systems may automate or assist with determining the physical dimensions of an object without the need for a manual measurement. A dimensioning system may project a light pattern onto the object, capture an image of the reflected pattern, and observe changes in the imaged pattern to obtain a range image, which contains 3D information corresponding to the object. Then, using the range image, the dimensioning system may calculate the dimensions of the object. In some cases, a single range image does not contain 3D data sufficient for dimensioning the object. To mitigate or solve this problem, the present invention embraces capturing a plurality of range images from different perspectives, and then combining the range images (e.g., using image-stitching) to form a composite range-image, which can be used to determine the object's dimensions.

First claim

1 . A method for dimensioning an object, the method comprising:
positioning a dimensioning system so that at least a portion of an object is contained in the dimensioning system's field-of-view; capturing, using the dimensioning system, a range image of the field-of-view; moving either the dimensioning system or the object so that the dimensioning system's field-of-view contains a different portion of the object; repeating the capturing and the moving until a plurality of range images have been captured; combining the plurality of range images to create a composite range-image; and dimensioning the object using the composite range-image.

2 . The method according to claim 1 , wherein the capturing, using the dimensioning system, a range image of the field-of-view comprises:
projecting, using a pattern projector, a light pattern into the field-of-view; capturing, using a range camera, an image of the field-of-view, the image comprising a reflected light-pattern; and generating 3D data from the image of the reflected light-pattern.

3 . The method according to claim 2 , wherein the plurality of range images comprise 3D data sufficient for dimensioning the object.

4 . The method according to claim 3 , wherein the 3D data sufficient for dimensioning comprises 3D data from all surfaces of the object.

5 . The method according to claim 3 , wherein the 3D data sufficient for dimensioning comprises 3D data from a surface of the object without any gaps in the reflected light-pattern.

6 . The method according to claim 1 , wherein the dimensioning system is handheld.

7 . The method according to claim 1 , wherein the moving either the dimensioning system or the object comprises generating audio and/or visual messages to guide a user to perform the movement.

8 . The method according to claim 7 , wherein the audio and/or visual messages comprise instructions for the user to (i) move the dimensioning system or the object in a particular direction, (ii) move the dimensioning system or the object at a particular speed, and/or (iii) cease moving the dimensioning system or the object.

9 . The method according to claim 1 , wherein the moving of either the dimensioning system or the object comprises an automatic movement of the dimensioning system or the object.

10 . The method according to claim 1 , wherein the combining the plurality of range images to create a composite range-image, comprises:
image-stitching the plurality of range images.

11 . The method according to claim 10 , wherein the image-stitching comprises simultaneous localization and mapping (SLAM).

12 . A dimensioning system, comprising:
a pattern projector configured to project a light pattern onto an object; a range camera configured to (i) capture an image of a reflected light-pattern, (ii) generate 3D data from the reflected light-pattern, and (iii) create a range image using the 3D data; and a processor communicatively coupled to the pattern projector and the range camera, wherein the processor is configured by software to:
(i) trigger the range camera to capture a plurality of range images,
(ii) combine the plurality of range images into a composite range-image, and
(iv) calculate the dimensions of the object using the composite range-image.

13 . The dimensioning system according to claim 12 , wherein the plurality of range images are captured as the spatial relationship between the dimensioning system and the object is changed.

14 . The dimensioning system according to claim 13 , wherein (i) each range image in the plurality of range images comprises 3D data from a portion of the object, and (ii) the composite range-image comprises 3D data from the entire object.

15 . The dimensioning system according to claim 14 , wherein the processor is further configured by software to:
gather tracking/mapping information as the spatial relationship between the range camera and the object is changed.

16 . The dimensioning system according to claim 15 , wherein to combine the plurality of range images into a composite range-image, the processor is configured by software to:
image-stitch the plurality of range images using the tracking/mapping information.

17 . The dimensioning system according to claim 16 , wherein range images in the plurality of range images have partially overlapping fields of view.

18 . The dimensioning system according to claim 15 , wherein the processor is further configured to:
use the tracking/mapping information to generate messages to help a user change the spatial relationship between the range camera and the object.

19 . The dimensioning system according to claim 18 , wherein the messages comprise instructions to (i) move the dimensioning system or the object in a particular direction, (ii) move the dimensioning system or the object at a particular speed, and/or (iii) cease moving the dimensioning system or the object.

20 . The dimensioning system according to claim 12 , wherein the dimensioning system is handheld.

Assignees

• Hand Held Prod Inc

Inventors

• Jovanovski Brian L
• Li Jingquan

Classifications

• H04N23/698

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• B65G1/1375

  the orders being assembled on a commissioning stacker-crane or truck · CPC title

• B65G1/1371

  with data records · CPC title

• G05B2219/31319

  Use data groups as inventory control value, adapt inventory need to new data · CPC title

• G06T7/33

  using feature-based methods · CPC title