Patent ID: 11961042
Assignee: MUJIN, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 18:
19. The non-transitory computer-readable storage medium of claim 18, wherein:
generating the detection estimate includes generating the detection estimate based on:
identifying a layer corresponding to objects within the 3D image data, wherein the layer includes a set of horizontally adjacent locations having depth measures within a threshold range of each other,
identifying edges of the layer, wherein the edges represent locations where the depth measures deviate outside of the threshold range across horizontally adjacent locations,
calculating lengths of the edges, and
matching the edge lengths to dimensions of an object represented in the object set; and

verifying the detection estimate includes verifying the detection estimate based on:
identifying a portion in the 2D image data corresponding to the detection estimate,
identifying 2D characteristics in the identified portion of the 2D image data, and
verifying the detection estimate when the 2D characteristics match corresponding characteristics of an image of the one of the registered objects represented in the object set.