Patent ID: 8718372
Filing Date: 2014-05-06
Classification: B66F,G06T

Abstract:
1. A method for tracing a line from a possible corner of a pallet comprising: providing a Ro image comprising pixels that may generally correspond to an orthogonal distance from an origin point to one or more possible lines in a corresponding grey scale image; identifying, using a computer, a possible pallet corner in the Ro image; positioning, using the computer, a J×K window over at least respective portions of a plurality of rows in the Ro image including at least a portion of a row containing said possible corner; calculating, using the computer, an average of pixel values for each row in said J×K window; determining, using the computer, one of said rows in said J×K window having an average pixel value nearest a current pixel location being considered for inclusion in a line being traced and defining said one row as a nearest row; and deciding, using the computer, whether said nearest row is over a pallet, wherein said current pixel location is included in said line being traced when said nearest row is over a pallet.