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公开(公告)号：US11200677B2
公开(公告)日：2021-12-14
申请号：US16429920
申请日：2019-06-03
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Tze Fung Christopher Chan , Feng Cao , Mehdi Mazaheri Tehrani , Mahyar Vajedi
Abstract: A method of detecting an edge of a support surface in an imaging controller includes: obtaining image data captured by an image sensor and a plurality of depth measurements captured by a depth sensor, the image data and the plurality of depth measurements corresponding to an area containing the support surface; detecting preliminary edges in the image data; applying a Hough transform to the preliminary edges to determine Hough lines representing candidate edges of the support surface; segmenting the plurality of depth measurements to assign classes to each pixel, each class defined by one of a plurality of seed pixels, wherein the plurality of seed pixels are identified from the depth measurements based on the Hough lines; and detecting the edge of the support surface by selecting a class of pixels and applying a line-fitting model to the selected class to obtain an estimated edge of the support surface.
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公开(公告)号：US20200379480A1
公开(公告)日：2020-12-03
申请号：US16429586
申请日：2019-06-03
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Mehdi Mazaheri Tehrani , Mahyar Vajedi , Feng Cao , Tze Fung Christopher Chan
Abstract: A method in a navigational controller includes: controlling a ceiling-facing camera of a mobile automation apparatus to capture a stream of images of a facility ceiling; activating a primary localization mode including: (i) detecting primary features in the captured image stream; and (ii) updating, based on the primary features, an estimated pose of the mobile automation apparatus and a confidence level corresponding to the estimated pose; determining whether the confidence level exceeds a confidence threshold; when the confidence level does not exceed the threshold, switching to a secondary localization mode including: (i) detecting secondary features in the captured image stream; (ii) updating the estimated pose and the confidence level based on the secondary features; and (iii) searching the image stream for the primary features; and responsive to detecting the primary features in the image stream, re-activating the primary localization mode.
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公开(公告)号：US10731970B2
公开(公告)日：2020-08-04
申请号：US16219679
申请日：2018-12-13
Applicant: Zebra Technologies Corporation
Inventor： Feng Cao , Harsoveet Singh
Abstract: A method of detecting a support structure in a navigational controller includes: controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing the support structure on a ground plane; generating, for each of the depth measurements, a projected depth measurement on the ground plane; selecting a boundary set of the projected depth measurements defining a boundary of the projection; selecting, based on angles between adjacent pairs of the boundary set of projected depth measurements, a subset of the projected depth measurements; generating a region of interest based on the subset of the projected depth measurements; retrieving a candidate subset of the depth measurements corresponding to the projected depth measurements in the region of interest; and generating a support structure plane definition based on the candidate subset of depth measurements.
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公开(公告)号：US20200380694A1
公开(公告)日：2020-12-03
申请号：US16429920
申请日：2019-06-03
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Tze Fung Christopher Chan , Feng Cao , Mehdi Mazaheri Tehrani , Mahyar Vajedi
Abstract: A method of detecting an edge of a support surface in an imaging controller includes: obtaining image data captured by an image sensor and a plurality of depth measurements captured by a depth sensor, the image data and the plurality of depth measurements corresponding to an area containing the support surface; detecting preliminary edges in the image data; applying a Hough transform to the preliminary edges to determine Hough lines representing candidate edges of the support surface; segmenting the plurality of depth measurements to assign classes to each pixel, each class defined by one of a plurality of seed pixels, wherein the plurality of seed pixels are identified from the depth measurements based on the Hough lines; and detecting the edge of the support surface by selecting a class of pixels and applying a line-fitting model to the selected class to obtain an estimated edge of the support surface.
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公开(公告)号：US10716177B2
公开(公告)日：2020-07-14
申请号：US16219691
申请日：2018-12-13
Applicant: Zebra Technologies Corporation
Inventor： Feng Cao , Harsoveet Singh , Sadegh Tajeddin
Abstract: A method of controlling light emitters of a mobile automation apparatus includes: controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing a support structure; obtaining a support structure plane definition; selecting a subset of the depth measurements; determining, based on the subset of depth measurements and the support structure plane, whether the subset of the depth measurements indicates the presence of a sensitive receptor; when the determination is affirmative, disabling the light emitters; and when the determination is negative, controlling (i) the light emitters to illuminate the support structure and (ii) a camera to capture an image of the support structure simultaneously with the illumination.
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Patent Agency Ranking
公开(公告)号：US11662739B2
公开(公告)日：2023-05-30
申请号：US16429586
申请日：2019-06-03
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Mehdi Mazaheri Tehrani , Mahyar Vajedi , Feng Cao , Tze Fung Christopher Chan
CPC classification number: G05D1/0253 , G05D1/0094 , G05D1/027 , G06V10/758
Abstract: A method in a navigational controller includes: controlling a ceiling-facing camera of a mobile automation apparatus to capture a stream of images of a facility ceiling; activating a primary localization mode including: (i) detecting primary features in the captured image stream; and (ii) updating, based on the primary features, an estimated pose of the mobile automation apparatus and a confidence level corresponding to the estimated pose; determining whether the confidence level exceeds a confidence threshold; when the confidence level does not exceed the threshold, switching to a secondary localization mode including: (i) detecting secondary features in the captured image stream; (ii) updating the estimated pose and the confidence level based on the secondary features; and (iii) searching the image stream for the primary features; and responsive to detecting the primary features in the image stream, re-activating the primary localization mode.
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公开(公告)号：US11416000B2
公开(公告)日：2022-08-16
申请号：US16213571
申请日：2018-12-07
Applicant: Zebra Technologies Corporation
Inventor： Sadegh Tajeddin , Harsoveet Singh , Feng Cao
Abstract: A method of navigational ray casting in a computing device includes: obtaining a distance map having a plurality of cells representing respective sub-regions of an environment containing obstacles; wherein each cell defines a minimum obstacle distance indicating a distance from the corresponding sub-region to a nearest one of the obstacles; selecting an origin cell from the plurality of cells, and setting the origin cell as a current cell; selecting a ray cast direction for a ray originating from the origin cell; retrieving the minimum obstacle distance defined by the current cell; selecting a test cell at the minimum obstacle distance from the current cell in the ray cast direction; determining whether the test cell indicates the presence of one of the obstacles; and when the determination is affirmative, determining a total distance between the origin cell and the test cell.
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公开(公告)号：US11151743B2
公开(公告)日：2021-10-19
申请号：US16429927
申请日：2019-06-03
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Tze Fung Christopher Chan , Feng Cao , Mehdi Mazaheri Tehrani , Mahyar Vajedi
IPC: G06T7/70 , G06T7/73 , G01C21/20 , G01S17/89 , G06Q10/08 , G06T7/13 , G06T7/50 , G01C23/00 , G06K9/00 , G06T7/181 , G06T7/168
Abstract: A method of detecting an end of an aisle of shelf modules in an imaging controller of a mobile automation apparatus, includes: obtaining image data captured by an image sensor and a plurality of depth measurements captured by a depth sensor, the image data and the depth measurements corresponding to an area containing a portion of the aisle of shelf modules; obtaining locomotive data of the apparatus; generating a dynamic trust region based on the locomotive data; detecting an edge segment based on the image data and the plurality of depth measurements, the edge segment representing an edge of a support surface; and when the edge segment is located at least partially in the dynamic trust region, updating an estimated end of the aisle based on the detected edge segment.
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公开(公告)号：US20200380715A1
公开(公告)日：2020-12-03
申请号：US16429927
申请日：2019-06-03
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Tze Fung Christopher Chan , Feng Cao , Mehdi Mazaheri Tehrani , Mahyar Vajedi
Abstract: A method of detecting an end of an aisle of shelf modules in an imaging controller of a mobile automation apparatus, includes: obtaining image data captured by an image sensor and a plurality of depth measurements captured by a depth sensor, the image data and the depth measurements corresponding to an area containing a portion of the aisle of shelf modules; obtaining locomotive data of the apparatus; generating a dynamic trust region based on the locomotive data; detecting an edge segment based on the image data and the plurality of depth measurements, the edge segment representing an edge of a support surface; and when the edge segment is located at least partially in the dynamic trust region, updating an estimated end of the aisle based on the detected edge segment.
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公开(公告)号：US20200183408A1
公开(公告)日：2020-06-11
申请号：US16213571
申请日：2018-12-07
Applicant: Zebra Technologies Corporation
Inventor： Sadegh Tajeddin , Harsoveet Singh , Feng Cao
Abstract: A method of navigational ray casting in a computing device includes: obtaining a distance map having a plurality of cells representing respective sub-regions of an environment containing obstacles; wherein each cell defines a minimum obstacle distance indicating a distance from the corresponding sub-region to a nearest one of the obstacles; selecting an origin cell from the plurality of cells, and setting the origin cell as a current cell; selecting a ray cast direction for a ray originating from the origin cell; retrieving the minimum obstacle distance defined by the current cell; selecting a test cell at the minimum obstacle distance from the current cell in the ray cast direction; determining whether the test cell indicates the presence of one of the obstacles; and when the determination is affirmative, determining a total distance between the origin cell and the test cell.
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