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公开(公告)号：US11587238B2
公开(公告)日：2023-02-21
申请号：US17081412
申请日：2020-10-27
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Eliezer Azi Ben-Lavi , Qifeng Gan , Vlad Gorodetsky
IPC: G06T7/168 , G06T7/13 , G06T7/00 , G06T7/174 , G06V10/22 , G06V10/26 , G06T7/11 , G06V10/42 , G06T7/143
Abstract: A method of barrier detection in an imaging controller includes: obtaining an image of a support structure configured to support a plurality of items on a support surface extending between a shelf edge and a shelf back; extracting frequency components representing pixels of the image; based on the extracted frequency components, identifying a barrier region of the image, the barrier region containing a barrier adjacent to the shelf edge; and detecting at least one empty sub-region within the barrier region, wherein the empty sub-region is free of items between the barrier and the shelf back.
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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：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：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：US20220130050A1
公开(公告)日：2022-04-28
申请号：US17081412
申请日：2020-10-27
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Eliezer Azi Ben-Lavi , Qifeng Gan , Vlad Gorodetsky
Abstract: A method of barrier detection in an imaging controller includes: obtaining an image of a support structure configured to support a plurality of items on a support surface extending between a shelf edge and a shelf back; extracting frequency components representing pixels of the image; based on the extracted frequency components, identifying a barrier region of the image, the barrier region containing a barrier adjacent to the shelf edge; and detecting at least one empty sub-region within the barrier region, wherein the empty sub-region is free of items between the barrier and the shelf back.
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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：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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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.
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