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

Claim 10:
11. A system for determining rotation and clipping parameters for images of unit load devices (ULDs), the system comprising:
a housing;
an imaging assembly at least partially within the housing and configured to capture a set of image data featuring the ULD;
one or more processors; and
a non-transitory computer-readable memory coupled to the imaging assembly and the one or more processors, the memory storing instructions thereon that, when executed by the one or more processors, cause the one or more processors to:
locate a fiducial marker proximate to the ULD within the set of image data, the image data includes at least a three-dimensional (3D) depth image that includes 3D point data;
crop 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;
rotate the set of image data based upon the set of marker point data and the set of floor point data;
clip the rotated set of image data based upon the set of marker point data and the set of floor point data;
fit a first plane to the set of marker data points and a second plane to the set of floor data points;
calculate a pitch angle of the 3D point data relative to the camera based upon the set of floor point data; and
calculate a yaw angle of the 3D point data relative to the camera based upon the set of marker point data.