Dimensioning system calibration systems and methods

Patent metadata

Field	Value
Publication number	US-9292969-B2
Application number	US-201514679275-A
Country	US
Kind code	B2
Filing date	Apr 6, 2015
Priority date	May 7, 2012
Publication date	Mar 22, 2016
Grant date	Mar 22, 2016

Abstract

Systems and methods of determining the volume and dimensions of a three-dimensional object using a dimensioning system are provided. The dimensioning system can include an image sensor, a non-transitory, machine-readable, storage, and a processor. The dimensioning system can select and fit a three-dimensional packaging wireframe model about each three-dimensional object located within a first point of view of the image sensor. Calibration is performed to calibrate between image sensors of the dimensioning system and those of the imaging system. Calibration may occur pre-run time, in a calibration mode or period. Calibration may occur during a routine. Calibration may be automatically triggered on detection of a coupling between the dimensioning and the imaging systems.

First claim

The invention claimed is:

1. A dimensioning system device selectively couplable to an imaging system device that has at least one imaging system image sensor and at least one imaging system display coupled to present display images acquired by the at least one imaging system image sensor, the dimensioning system device comprising:
at least one dimensioning system sensor, where:
in a calibration mode the dimensioning system device:
captures a depth map;
captures an intensity image;
receives imaging system image data display image from the imaging system, the imaging system image data representative of an image captured via the at least one imaging sensor; and
determines a number of extrinsic parameters that provide a correspondence between a three-dimensional point in each of the depth map and the intensity image as viewed by the dimensioning system sensor with a same three-dimensional point viewed by the at least one imaging system image sensor of the imaging system device, including:
determines a number of points positioned on at least one feature in the depth map and the intensity image including:
determines a minimum of at least eight points positioned on at least one feature in the depth map and the intensity image, the at least one feature including an item other than a calibration target; and
determines an equal number of respective points similarly positioned on the at least one feature in the imaging system image data.

2. The dimensioning system device of claim 1 , wherein in a run-time mode the dimensioning system device:
generates a packaging wireframe image to be presented by the at least one imaging system display of the imaging system positioned to encompass an object in a display of the image represented by the imaging system image data concurrently presented with the package wireframe image by the at least one imaging system display as correlated spatially therewith based at least in part on the determined extrinsic parameters.

3. The dimensioning system device of claim 1 , wherein the dimensioning system device selectively couples to the imaging system device wirelessly.

4. The dimensioning system device of claim 1 , wherein responsive to the receipt of at least one input when in run-time mode, the dimensioning system device:
captures a second depth map;
captures a second intensity image;
receives a second display image from the imaging system; and
determines a number of extrinsic parameters that provide a correspondence between a three-dimensional point in each of the second depth map and the second intensity image as viewed by the dimensioning system sensor with a same three-dimensional point viewed by the at least one imaging system image sensor of the imaging system device.

5. The dimensioning system device of claim 1 , comprising a timer configured to provide an output at one or more intervals, and wherein responsive to the at least one output by the timer, the dimensioning system device:
captures a second depth map;
captures a second intensity image;
receives a second display image from the imaging system; and
determines a number of extrinsic parameters that provide a correspondence between a three-dimensional point in each of the second depth map and the second intensity image as viewed by the dimensioning system sensor with a same three-dimensional point viewed by the at least one imaging system image sensor of the imaging system device.

6. The dimensioning system device of claim 1 , comprising a depth lighting system to selectively illuminate an area within a field of view of the dimensioning system sensor, and wherein the dimensioning system device selectively illuminates the area contemporaneous with the capture of the depth map and the capture of the intensity image by the dimensioning system sensor.

7. The dimensioning system device of claim 6 , wherein the depth lighting system provides a structured light pattern and/or a modulated light pattern.

8. The dimensioning system device of claim 6 , comprising:
an automatic exposure control system, and wherein the automatic exposure control system adjusts an exposure of at least one of the depth map and the intensity image contemporaneous with the selective illumination of the area within the field of view of the dimensioning system sensor; and/or
an automatic gain control system, and wherein the automatic gain control system adjusts a gain of at least one of the depth map and the intensity image contemporaneous with the selective illumination of the area within the field of view of the dimensioning system sensor.

9. The dimensioning system device of claim 1 , wherein in response to an input when in calibration mode, the dimensioning system device establishes a correspondence between a three-dimensional point in each of the depth map and the intensity image as viewed by the dimensioning system sensor with a same three-dimensional point viewed by the at least one imaging system image sensor of the imaging system device.

10. A method of operation of a dimensioning system device, the method comprising:
detecting a selective coupling of an imaging system device to the dimensioning system device, the imaging system including at least one imaging system image sensor and at least one imaging system display;
capturing by the dimensioning system device a depth map via the dimensioning system sensor;
capturing by the dimensioning system device an intensity image via the dimensioning system sensor;
receiving by the dimensioning system device imaging system image data, the imaging system image data representing an image captured by the at least one imaging system image sensor; and
determining by the dimensioning system device a number of extrinsic parameters that provide a correspondence between a point in the depth map and intensity image as viewed by the dimensioning system sensor with a same point as viewed by the at least one imaging system image sensor of the imaging system device including:
determining by the dimensioning system device a minimum of at least eight points positioned on at least one feature in the depth map and the intensity image, the at least one feature including an item other than a calibration target; and
determining by the dimensioning system device an equal number of respective points similarly positioned on the at least one feature in the imaging system image data.

11. The method of claim 10 , wherein the dimensioning system device selectively couples to the imaging system device wirelessly.

12. The method of claim 10 , comprising generating by the dimensioning system processor a packaging wireframe model for presentation by the at least one imaging system display of the imaging system, the packaging wireframe model positioned to encompass an object in the imaging system image data concurrently presented by the at least one imaging system display and spatially correlated therewith based at least in part on the determined extrinsic parameters.

13. The method of claim 10 , wherein:
the imaging system image sensor includes a known back focus value (f c ); and
determining by the dimensioning system processor a number of extrinsic parameters that provide a correspondence between a point in the depth map and intensity image as viewed by the dimensioning system sensor with a same point as viewed by the at least one imaging system image sensor of the imaging system device includes for each of the minimum of at least eight points:
determining by the dimensioning system device a point coordinate location (x i , y i ) within the intensity image;
determining by the dimensioning system device a point depth (z i ) within the depth map for the de

Assignees

• Intermec Ip Corp

Inventors

• Laffargue Franck
• Thebault Patrice
• Hunt Jeffrey Mark

Classifications

• G06T7/0065

  Physics · mapped topic

• G06T17/20 Primary

  Finite element generation, e.g. wire-frame surface description, {tesselation} · CPC title

• G06T19/20

  Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts · CPC title

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• G06T3/40

  Scaling of whole images or parts thereof, e.g. expanding or contracting · CPC title