Patent ID: 11861858
Assignee: ZEBRA TECHNOLOGIES CORPORATION
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A method for determining rotation and clipping parameters for images of unit load devices (ULDs), the method comprising:
capturing a set of image data featuring a ULD, wherein the set of image data featuring the ULD includes at least a three-dimensional (3D) depth image that includes 3D point data;
locating a fiducial marker proximate to the ULD within the set of image data;
cropping the set of image data, based upon the located fiducial marker, to generate a set of marker point data and a set of floor point data;
rotating the set of image data based upon the set of marker point data and the set of floor point data; and
clipping the rotated set of image data based upon the set of marker point data and the set of floor point data;
fitting a first plane to the set of marker data points and a second plane to the set of floor data points;
calculating a pitch angle of the 3D point data relative to the camera based upon the set of floor point data; and
calculating a yaw angle of the 3D point data relative to the camera based upon the set of marker point data.