公开(公告)号：US20220130050A1

公开(公告)日：2022-04-28

申请号：US17081412

申请日：2020-10-27

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Eliezer Azi Ben-Lavi ,  Qifeng Gan ,  Vlad Gorodetsky

IPC: G06T7/13 ,  G06T7/00 ,  G06T7/174 ,  G05D1/02 ,  B25J19/02

Abstract: A method of barrier detection in an imaging controller includes: obtaining an image of a support structure configured to support a plurality of items on a support surface extending between a shelf edge and a shelf back; extracting frequency components representing pixels of the image; based on the extracted frequency components, identifying a barrier region of the image, the barrier region containing a barrier adjacent to the shelf edge; and detecting at least one empty sub-region within the barrier region, wherein the empty sub-region is free of items between the barrier and the shelf back.

公开(公告)号：US11587238B2

公开(公告)日：2023-02-21

申请号：US17081412

申请日：2020-10-27

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Eliezer Azi Ben-Lavi ,  Qifeng Gan ,  Vlad Gorodetsky

IPC: G06T7/168 ,  G06T7/13 ,  G06T7/00 ,  G06T7/174 ,  G06V10/22 ,  G06V10/26 ,  G06T7/11 ,  G06V10/42 ,  G06T7/143

Abstract: A method of barrier detection in an imaging controller includes: obtaining an image of a support structure configured to support a plurality of items on a support surface extending between a shelf edge and a shelf back; extracting frequency components representing pixels of the image; based on the extracted frequency components, identifying a barrier region of the image, the barrier region containing a barrier adjacent to the shelf edge; and detecting at least one empty sub-region within the barrier region, wherein the empty sub-region is free of items between the barrier and the shelf back.

公开(公告)号：US20200380709A1

公开(公告)日：2020-12-03

申请号：US16429523

申请日：2019-06-03

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Eliezer Azi Ben-Lavi ,  Richard Jeffrey Rzeszutek ,  Paul D. Haist ,  Venu Kurella

IPC: G06T7/55

Abstract: A method in an imaging controller of detecting depth sensor artifacts includes: obtaining, from first and second sensors, first and second pluralities of points defined by respective (i) planar positions and depths in a common frame of reference, and (ii) scan angles relative to field of view centers of the first or second sensors; for each of a subset of candidate points from the first plurality of points: searching the second plurality of points for a validator point having (i) a planar position within a threshold distance of a planar position of the candidate point, and (ii) a scan angle smaller than a scan angle of the candidate point; responsive to identifying the validator point: when the depth of the validator point exceeds the depth of the candidate point, classifying the candidate point as an artifact.

公开(公告)号：US11158075B2

公开(公告)日：2021-10-26

申请号：US16429523

申请日：2019-06-03

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Eliezer Azi Ben-Lavi ,  Richard Jeffrey Rzeszutek ,  Paul D. Haist ,  Venu Kurella

IPC: G06K9/00 ,  G06T7/55 ,  G06K9/03 ,  G06K9/40 ,  G06T7/50

Abstract: A method in an imaging controller of detecting depth sensor artifacts includes: obtaining, from first and second sensors, first and second pluralities of points defined by respective (i) planar positions and depths in a common frame of reference, and (ii) scan angles relative to field of view centers of the first or second sensors; for each of a subset of candidate points from the first plurality of points: searching the second plurality of points for a validator point having (i) a planar position within a threshold distance of a planar position of the candidate point, and (ii) a scan angle smaller than a scan angle of the candidate point; responsive to identifying the validator point: when the depth of the validator point exceeds the depth of the candidate point, classifying the candidate point as an artifact.