公开(公告)号：US20200149870A1

公开(公告)日：2020-05-14

申请号：US16189574

申请日：2018-11-13

Applicant: Zebra Technologies Corporation

Inventor： Sanjeewa Thimirachandra

IPC: G01B11/03 ,  G01B11/25 ,  G06T7/13 ,  G06T7/60

Abstract: A method of dimensioning an object includes: projecting, from a plurality of laser emitters disposed on a dimensioning device and having a predefined spatial arrangement forming a plane, respective laser beams onto a surface of the object, the laser beams oriented parallel to each other; controlling an image sensor of the dimensioning device, simultaneously with the projecting, to capture image data representing the surface and projections of the laser beams on the surface; detecting projection pixel coordinates in the image data representing the projections of the laser beams on the surface; detecting edge pixel coordinates in the image data representing edges of the surface; and determining a dimension of the surface based on the projection pixel coordinates, the edge pixel coordinates, and the predefined spatial arrangement.

公开(公告)号：US11836940B2

公开(公告)日：2023-12-05

申请号：US16901868

申请日：2020-06-15

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Patrick B. Tilley ,  Ronald Zancola ,  Aleksandar Rajak ,  Kevin Kar Yin Chan ,  Peter Randall Daly ,  Sanjeewa Thimirachandra ,  Raghavendra Tenkasi Shankar ,  Alexander Miller ,  Scott R. Murchison ,  Eliran Noach

IPC: G06T7/593 ,  H04N13/239 ,  G06T7/90

CPC classification number: G06T7/593 ,  G06T7/90 ,  H04N13/239

Abstract: A computing device includes: a three-dimensional (3D) sensor configured to capture point cloud data from a field of view (FOV); an auxiliary sensor configured to capture reference depth measurements corresponding to a surface within the FOV; a controller connected with the 3D sensor and the auxiliary sensor, the controller configured to: detect a reference depth capture condition; when the reference depth capture condition satisfies a quality criterion, control the auxiliary sensor to capture a reference depth corresponding to the surface within the FOV; and initiate, based on the captured reference depth, generation of corrective data for use at the 3D sensor to capture the point cloud data.

公开(公告)号：US20240265548A1

公开(公告)日：2024-08-08

申请号：US18106613

申请日：2023-02-07

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Sanjeewa Thimirachandra

IPC: G06T7/13 ,  G06T7/73

CPC classification number: G06T7/13 ,  G06T7/75 ,  G06T2207/10028

Abstract: A method in a computing device includes: obtaining (i) a point cloud having captured points depicting a plurality of surfaces of a target object, and (ii) an image depicting the plurality of surfaces of the target object; determining, from the point cloud, respective planes corresponding to each of the plurality of surfaces; determining, from the image, respective boundaries of each of the plurality of surfaces; for each of the plurality of surfaces, generating synthetic points, at least some of the synthetic points having positions different from positions of the captured points in the point cloud, the positions of the synthetic points disposed on a corresponding plane of the target object and within a corresponding surface boundary; and providing an enhanced point cloud including (i) at least a portion of the captured points, and (ii) the synthetic points.

公开(公告)号：US12229997B2

公开(公告)日：2025-02-18

申请号：US17499761

申请日：2021-10-12

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Sanjeewa Thimirachandra

IPC: G06K9/00 ,  G06T7/11 ,  G06T7/73 ,  G06T7/80 ,  G06T7/62

Abstract: An example computing device includes: a three-dimensional (3D) sensor configured to capture point cloud data from a field of view; an auxiliary sensor configured to capture a reference depth measurement corresponding to a surface within the field of view; a processor interconnected with the 3D sensor and the auxiliary sensor, the processor configured to: control the 3D sensor and the auxiliary sensor to capture the point cloud data and the reference depth measurement; select a region of the point could data including a position of the reference depth measurement; determine a representative depth value of the region of the point cloud data to compare to the reference depth measurement; determine whether the representative depth value is within a similarity threshold to the reference depth measurement; and determine, based on whether the representative depth value is within the similarity threshold to the reference depth measurement, whether to use the point cloud data for a dimensioning operation.

公开(公告)号：US20230112666A1

公开(公告)日：2023-04-13

申请号：US17499761

申请日：2021-10-12

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Sanjeewa Thimirachandra

IPC: G06T7/80 ,  G06T7/11 ,  G06T7/73

Abstract: An example computing device includes: a three-dimensional (3D) sensor configured to capture point cloud data from a field of view; an auxiliary sensor configured to capture a reference depth measurement corresponding to a surface within the field of view; a processor interconnected with the 3D sensor and the auxiliary sensor, the processor configured to: control the 3D sensor and the auxiliary sensor to capture the point cloud data and the reference depth measurement; select a region of the point could data including a position of the reference depth measurement; determine a representative depth value of the region of the point cloud data to compare to the reference depth measurement; determine whether the representative depth value is within a similarity threshold to the reference depth measurement; and determine, based on whether the representative depth value is within the similarity threshold to the reference depth measurement, whether to use the point cloud data for a dimensioning operation.

公开(公告)号：US20210390724A1

公开(公告)日：2021-12-16

申请号：US16901868

申请日：2020-06-15

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Patrick B. Tilley ,  Ronald Zancola ,  Aleksandar Rajak ,  Kevin Kar Yin Chan ,  Peter Randall Daly ,  Sanjeewa Thimirachandra ,  Raghvendra Tenkasi Shankar ,  Alexander Miller ,  Scott R. Murchison ,  Eliran Noach

IPC: G06T7/593 ,  G01B11/22 ,  G01N21/25 ,  G01N21/55 ,  H04N13/239 ,  G06T7/90

Abstract: A computing device includes: a three-dimensional (3D) sensor configured to capture point cloud data from a field of view (FOV); an auxiliary sensor configured to capture reference depth measurements corresponding to a surface within the FOV; a controller connected with the 3D sensor and the auxiliary sensor, the controller configured to: detect a reference depth capture condition; when the reference depth capture condition satisfies a quality criterion, control the auxiliary sensor to capture a reference depth corresponding to the surface within the FOV; and initiate, based on the captured reference depth, generation of corrective data for use at the 3D sensor to capture the point cloud data.

公开(公告)号：US11015917B2

公开(公告)日：2021-05-25

申请号：US16189574

申请日：2018-11-13

Applicant: Zebra Technologies Corporation

Inventor： Sanjeewa Thimirachandra

IPC: G01B11/03 ,  G01B11/25 ,  G06T7/60 ,  G06T7/13

Abstract: A method of dimensioning an object includes: projecting, from a plurality of laser emitters disposed on a dimensioning device and having a predefined spatial arrangement forming a plane, respective laser beams onto a surface of the object, the laser beams oriented parallel to each other; controlling an image sensor of the dimensioning device, simultaneously with the projecting, to capture image data representing the surface and projections of the laser beams on the surface; detecting projection pixel coordinates in the image data representing the projections of the laser beams on the surface; detecting edge pixel coordinates in the image data representing edges of the surface; and determining a dimension of the surface based on the projection pixel coordinates, the edge pixel coordinates, and the predefined spatial arrangement.