公开(公告)号：US11450024B2

公开(公告)日：2022-09-20

申请号：US16932174

申请日：2020-07-17

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Vlad Gorodetsky ,  Giorgio Gallina ,  Anshul V. Joshi ,  Richard Jeffrey Rzeszutek ,  Joseph Lam

IPC: G06T7/70 ,  G06T7/73 ,  G01S17/894 ,  G06T7/13

Abstract: A method includes obtaining a point cloud captured by a depth sensor, and image data captured by an image sensor, the point cloud and the image data representing a support structure bearing a set of objects; obtaining an image boundary corresponding to an object from the set of objects; determining a portion of the point cloud corresponding to the image boundary; selecting, from the determined portion, a subset of points corresponding to a forward surface of the object; and generating a three-dimensional position of the object based on the forward surface.

公开(公告)号：US20240296584A1

公开(公告)日：2024-09-05

申请号：US18661521

申请日：2024-05-10

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Vlad Gorodetsky ,  Giorgio Gallina ,  Anshul V. Joshi ,  Richard Jeffrey Rzeszutek ,  Joseph Lam

IPC: G06T7/73 ,  G01S17/894 ,  G06T7/13

CPC classification number: G06T7/74 ,  G01S17/894 ,  G06T7/13 ,  G06T2207/10028

Abstract: A method includes obtaining (i) a point cloud, captured by a depth sensor, of a structure and an obstruction, and (ii) a plurality of local structure planes derived from the point cloud and corresponding to respective portions of the structure, for each local structure plane: selecting a membership set of points from the point cloud, generating a mask based on the membership set of points, selecting a subset of points from the point cloud based on the local structure plane and the mask, and detecting obstructions from the subset of points.

公开(公告)号：US20220414926A1

公开(公告)日：2022-12-29

申请号：US17900392

申请日：2022-08-31

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Vlad Gorodetsky ,  Giorgio Gallina ,  Anshul V. Joshi ,  Richard Jeffrey Rzeszutek ,  Joseph Lam

IPC: G06T7/73 ,  G01S17/894 ,  G06T7/13

Abstract: A method includes obtaining a point cloud captured by a depth sensor, and image data captured by an image sensor, the point cloud and the image data representing a support structure bearing a set of objects; obtaining an image boundary corresponding to an object from the set of objects; determining a portion of the point cloud corresponding to the image boundary; selecting, from the determined portion, a subset of points corresponding to a forward surface of the object; and generating a three-dimensional position of the object based on the forward surface.

公开(公告)号：US12014518B2

公开(公告)日：2024-06-18

申请号：US17900392

申请日：2022-08-31

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Vlad Gorodetsky ,  Giorgio Gallina ,  Anshul V. Joshi ,  Richard Jeffrey Rzeszutek ,  Joseph Lam

IPC: G06T7/70 ,  G01S17/894 ,  G06T7/13 ,  G06T7/73

CPC classification number: G06T7/74 ,  G01S17/894 ,  G06T7/13 ,  G06T2207/10028

Abstract: A method includes obtaining a point cloud captured by a depth sensor, and image data captured by an image sensor, the point cloud and the image data representing a support structure bearing a set of objects; obtaining an image boundary corresponding to an object from the set of objects; determining a portion of the point cloud corresponding to the image boundary; selecting, from the determined portion, a subset of points corresponding to a forward surface of the object; and generating a three-dimensional position of the object based on the forward surface.

公开(公告)号：US20220020170A1

公开(公告)日：2022-01-20

申请号：US16932174

申请日：2020-07-17

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Vlad Gorodetsky ,  Giorgio Gallina ,  Anshul V. Joshi ,  Richard Jeffrey Rzeszutek ,  Joseph Lam

IPC: G06T7/73 ,  G06T7/13 ,  G01S17/894

Abstract: A method includes obtaining a point cloud captured by a depth sensor, and image data captured by an image sensor, the point cloud and the image data representing a support structure bearing a set of objects; obtaining an image boundary corresponding to an object from the set of objects; determining a portion of the point cloud corresponding to the image boundary; selecting, from the determined portion, a subset of points corresponding to a forward surface of the object; and generating a three-dimensional position of the object based on the forward surface.