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

IPC: G06T7/73 ,  G06Q10/08 ,  G06K9/20 ,  G06T7/13 ,  G06T7/50

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.

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.

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

IPC: G06T7/73 ,  G06Q10/08 ,  G06K9/20 ,  G06T7/13 ,  G06T7/50

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.