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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：US11010920B2
公开(公告)日：2021-05-18
申请号：US16153064
申请日：2018-10-05
Applicant: Zebra Technologies Corporation
Inventor： Yuanhao Yu , Raymond Phan
Abstract: A method of detecting objects on a support structure includes: obtaining a point cloud of the support structure supporting an object; obtaining a position of a back of the support structure in the point cloud; discarding a portion of the point cloud based on the position of the back of the support structure; generating a three-dimensional occupancy grid from the point cloud, the occupancy grid having a plurality of cells each indicating whether the cell is one of occupied and unoccupied; identifying a contiguous region of occupied cells in the occupancy grid corresponding to the object; and generating a detected object position based on the contiguous region.
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公开(公告)号：US20210272316A1
公开(公告)日：2021-09-02
申请号：US17322545
申请日：2021-05-17
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Yuanhao Yu , Raymond Phan
Abstract: A method of detecting objects on a support structure includes: obtaining a point cloud of the support structure supporting an object; obtaining a position of a back of the support structure in the point cloud; discarding a portion of the point cloud based on the position of the back of the support structure; generating a three-dimensional occupancy grid from the point cloud, the occupancy grid having a plurality of cells each indicating whether the cell is one of occupied and unoccupied; identifying a contiguous region of occupied cells in the occupancy grid corresponding to the object; and generating a detected object position based on the contiguous region.
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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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