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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
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.
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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.
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