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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.
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公开(公告)号：US20200380454A1
公开(公告)日：2020-12-03
申请号：US16429820
申请日：2019-06-03
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Joseph Lam , Yuanhao Yu , Abhishek Rawat
Abstract: A method of detecting product facings from captured depth and image data includes: obtaining, at an imaging controller, (i) depth measurements representing a support structure supporting a plurality of product facings, (ii) image data representing the support structure, and (iii) a set of region of interest (ROI) indicators each indicating a position of a plurality of the product facings; generating a first set of candidate facing edges from the depth measurements; generating a second set of candidate facing edges from the image data; generating a third set of candidate facing edges by combining the first and second sets; generating, for each adjacent pair of the third set of candidate facing edges, a candidate facing boundary; selecting a subset of output facing boundaries from the candidate facing boundaries, based on the ROI indicators; and storing the output facing boundaries in a memory coupled to the imaging controller.
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公开(公告)号：US20200380317A1
公开(公告)日：2020-12-03
申请号：US16429687
申请日：2019-06-03
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Mohsen Ghazel , Joseph Lam , Qifen Gan , Kiril Lomakin
Abstract: A method of detecting gaps on a support structure includes: obtaining, at an imaging controller, (i) a plurality of depth measurements representing the support structure according to a common frame of reference, and (ii) a plurality of label indicators each defining a label position in the common frame of reference; for each of the label indicators: classifying the label indicator as either a peg label or a shelf label, based on a portion of the depth measurements selected according to the label position and a portion of the depth measurements adjacent to the label position; generating an item search space in the common frame of reference according to the class of the label indicator; and determining, based on a subset of the depth measurements within the item search space, whether the item search space contains an item.
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公开(公告)号：US20200184170A1
公开(公告)日：2020-06-11
申请号：US16214752
申请日：2018-12-10
Applicant: Zebra Technologies Corporation
Inventor： Shoja Ghiass Reza , Joseph Lam
Abstract: A method of auxiliary label detection includes: at an imaging controller, obtaining (i) an image of a support structure and (ii) a plurality of primary label indicators each defining a position of a primary label within the image; at the imaging controller, selecting a detection region from the image based on a reference indicator; at the imaging controller, detecting an auxiliary label within the detection region based on predefined visual attributes of the auxiliary label; at the imaging controller, selecting one of the primary label indicators based on proximity between the auxiliary label and the selected primary label indicator; updating the selected primary label indicator with an identifier of the auxiliary label; and storing the updated primary label indicator in a memory.
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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.
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Patent Agency Ranking
公开(公告)号：US20200380706A1
公开(公告)日：2020-12-03
申请号：US16429516
申请日：2019-06-03
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Vlad Gorodetsky , Joseph Lam , Richard Jeffrey Rzeszutek
Abstract: A method in an imaging controller of detecting obstructions on a front of a support structure includes: obtaining (i) a point cloud of the support structure and an obstruction, and (ii) a support structure plane corresponding to the front of the support structure; for each of a plurality of selection depths: selecting a subset of points from the point cloud based on the selection depth; detecting obstruction candidates from the subset of points and, for each obstruction candidate: responsive to a dimensional criterion being met, determining whether the obstruction candidate meets a confirmation criterion; when the obstruction candidate meets the confirmation criterion, identifying the obstruction candidate as a confirmed obstruction; and presenting obstruction detection output data including the confirmed obstructions.
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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.
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公开(公告)号：US11506483B2
公开(公告)日：2022-11-22
申请号：US16152986
申请日：2018-10-05
Applicant: Zebra Technologies Corporation
Inventor： Raymond Phan , Yuanhao Yu , Richard Jeffrey Rzeszutek , Joseph Lam
IPC: G01B11/22
Abstract: A method of determining a support structure depth of a support structure having a front and a back separated by the support structure depth includes: obtaining a point cloud of the support structure, and a mask indicating, for a plurality of portions of an image of the support structure captured from a capture pose, respective confidence levels that the portions depict the back of the support structure; selecting, from the point cloud, an initial set of points located within a field of view originating at the capture pose; selecting, from the initial set of points, an unoccluded subset of depth measurements, the depth measurements in the unoccluded subset corresponding to respective image coordinates; retrieving, from the mask, a confidence level for each of the depth measurements in the unoccluded subset; and based on the depth measurements in the unoccluded subset and the retrieved confidence levels, determining the support structure depth.
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公开(公告)号：US11341663B2
公开(公告)日：2022-05-24
申请号：US16429516
申请日：2019-06-03
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Vlad Gorodetsky , Joseph Lam , Richard Jeffrey Rzeszutek
Abstract: A method in an imaging controller of detecting obstructions on a front of a support structure includes: obtaining (i) a point cloud of the support structure and an obstruction, and (ii) a support structure plane corresponding to the front of the support structure; for each of a plurality of selection depths: selecting a subset of points from the point cloud based on the selection depth; detecting obstruction candidates from the subset of points and, for each obstruction candidate: responsive to a dimensional criterion being met, determining whether the obstruction candidate meets a confirmation criterion; when the obstruction candidate meets the confirmation criterion, identifying the obstruction candidate as a confirmed obstruction; and presenting obstruction detection output data including the confirmed obstructions.
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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.
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