Image-stitching for dimensioning

{
  "publication_number": "US10402956B2",
  "country": "US",
  "kind": "B2",
  "title": "Image-stitching for dimensioning",
  "abstract": "Dimensioning systems may automate or assist with determining the physical dimensions of an object without the need for a manual measurement. A dimensioning system may project a light pattern onto the object, capture an image of the reflected pattern, and observe changes in the imaged pattern to obtain a range image, which contains 3D information corresponding to the object. Then, using the range image, the dimensioning system may calculate the dimensions of the object. In some cases, a single range image does not contain 3D data sufficient for dimensioning the object. To mitigate or solve this problem, the present invention embraces capturing a plurality of range images from different perspectives, and then combining the range images (e.g., using image-stitching) to form a composite range-image, which can be used to determine the object's dimensions.",
  "claims": [
    "1. A method, comprising: projecting, using a pattern projector, a light pattern into a field-of-view of a range camera of a dimensioning system, the field-of-view comprising a portion of an object; capturing, using the range camera of the dimensioning system, a range image of the field-of-view, wherein each pixel of the range image represents a distance from the range camera to a respective point in the range camera's field-of-view, wherein the range image is created by determining a range value for each point of light in the projected light pattern to generate a point-cloud image and interpolating range values between points of light in the point-cloud image; moving the dimensioning system and/or the object so that there is relative movement between the dimensioning system and the object, and the range camera's field-of-view contains a different portion of the object; repeating the capturing and the moving until a plurality of range images have been captured, wherein in each range image of the plurality of range images, each pixel of the range image represents a distance from the range camera to a respective point in the range camera's field-of-view; gathering information as a spatial relationship between the range camera and the object is changed, and the information is selected from the group consisting of tracking information and mapping information; combining the plurality of range images to create a composite range-image by image-stitching the plurality of range images using the information gathered as the spatial relationship between the range camera and the object is changed; and dimensioning the object using the composite range-image, wherein dimensioning the object using the composite range-image comprises creating a minimum bounding box that surrounds the object; and returning the dimensions of the minimum bounding box as dimensions of the object.",
    "2. The method of claim 1, wherein range images in the plurality of range images have partially overlapping fields of view.",
    "3. The method of claim 1, wherein the field-of-view of the range camera and a field-of-view of the pattern projector overlap.",
    "4. The method of claim 3, wherein the field-of-view of the range camera and the field-of-view of the pattern projector do not have the same shape and/or size.",
    "5. The method of claim 1, comprising generating messages to help a user change the spatial relationship between the range camera and the object using the gathered information.",
    "6. The method of claim 5, wherein the messages comprise instructions to take action, and the instructions to take action are selected from the group consisting of instructions to (i) move the dimensioning system or the object in a particular direction, (ii) move the dimensioning system or the object at a particular speed, and (iii) cease moving the dimensioning system or the object.",
    "7. The method of claim 1, wherein the light pattern comprises points of light arranged in a pseudo-random pattern.",
    "8. The method of claim 1, wherein the light pattern comprises points of light having different sizes.",
    "9. The method of claim 1, comprising moving the dimensioning system and/or the object so that there is a constant range between the dimensioning system and the object.",
    "10. The method of claim 1, comprising moving the dimensioning system and/or the object along a certain path having a particular starting point and ending point.",
    "11. The method of claim 10, comprising determining the certain path using an expected object size, an expected object shape, or an expected object size and shape.",
    "12. A dimensioning system, comprising: a pattern projector configured to project a light pattern onto an object; a range camera having a field of view and configured to (i) capture an image of a reflected light-pattern in the field of view, (ii) generate 3D data from the reflected light-pattern, and (iii) create a range image using the 3D data by determining a range value for each point of light in the projected light pattern to generate a point-cloud image and interpolating range values between points of light in the point-cloud image, wherein the pattern projector and the range camera are spatially offset; at least one device configured to move the dimensioning system and/or the object so that there is relative movement between the dimensioning system and the object, and the range camera's field-of-view contains a different portion of the object; and a processor communicatively coupled to the pattern projector and the range camera, wherein the processor is configured by software to: trigger the range camera to capture a plurality of range images, wherein in each range image of the plurality of range images, each pixel of the range image represents a distance from the range camera to a respective point in the range camera's field-of-view; gather information as the spatial relationship between the range camera and the object is changed, and the information is selected from the group consisting of tracking information and mapping information; combine the plurality of range images to create a composite range-image by image-stitching the plurality of range images using the information gathered as the spatial relationship between the range camera and the object is changed; and dimension the object using the composite range-image, wherein dimensioning the object using the composite range-image comprises creating a minimum bounding box that surrounds the object; and return the dimensions of the minimum bounding box as dimensions of the object.",
    "13. The dimensioning system of claim 12, wherein the processor is configured by software to adjust the spatial offset to change a resolution at which range differences may be detected.",
    "14. The dimensioning system of claim 12, wherein the image-stitching comprises simultaneous localization and mapping (SLAM).",
    "15. The dimensioning system of claim 14, wherein the simultaneous localization and mapping comprises: detecting features in a captured range image; and comparing the detected features to features detected in previously captured range image to update a position of the dimensioning system.",
    "16. The dimensioning system of claim 15, wherein the processor is configured by software to use the updated position of the dimensioning system to combine the plurality of range images.",
    "17. The dimensioning system of claim 12, wherein the dimensioning system is handheld."
  ],
  "description_excerpt": "The present invention relates to systems for determining an object's physical dimensions (i.e., dimensioning systems) and, more specifically, to a dimensioning system that uses image-stitching to acquire the data necessary for dimensioning.\n\nDetermining an item's dimensions is often necessary as part of a logistics process (e.g., shipping, storage, etc.). Physically measuring objects, however, is time consuming and may not result in accurate measurements. For example, in addition to human error, measurement errors may result when measuring irregularly shaped objects or when combining multiple objects into a single measurement. As a result, dimensioning systems have been developed to automate, or assist with, this measurement.\n\nA dimensioning system typically senses an object's shape/size in three-dimensions (3D) and then uses this 3D information to compute an estimate of an object's dimensions (e.g., volume, area, length, width, height, etc.). In addition, for irregular objects (or multiple objects), the dimensioning system may compute the dimensions of a minimum bounding box (MVBB) that contains the object (or objects).\n\nThe dimensioning system may sense an object by projecting a light pattern (i.e., pattern) into a field-of-view. Objects within the field-of-view will distort the appearance of the light pattern. The dimensioning system can capture an image of the reflected light-pattern and analyze the pattern distortions in the captured image to compute the 3D data necessary for dimensioning.",
  "cpc": [
    "G06T 5/50",
    "B65G 1/1371",
    "B65G 1/1375",
    "G01B 11/25",
    "G01B 11/2522",
    "G05B 19/402",
    "G05B 2219/31319",
    "G06T 2207/10021",
    "G06T 2207/10028",
    "G06T 7/33",
    "G06T 7/521",
    "G06T 7/60",
    "H04N 13/204",
    "H04N 13/254",
    "H04N 13/282",
    "H04N 23/698",
    "H04N 5/23238"
  ],
  "ipc": [
    "B65G 1/137",
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  ],
  "assignees": [
    "Hand Held Products Inc"
  ],
  "inventors": [
    "Brian L. Jovanovski",
    "Jingquan Li"
  ],
  "filing_date": "2018-09-25",
  "publication_date": "2019-09-03",
  "grant_date": "2019-09-03",
  "priority_date": "2014-10-10",
  "application_number": "US-201816140953-A",
  "family_id": "55654964",
  "cited_by_count": 7,
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}