# Patent

## Title
Depth sensor based auto-focus system for an indicia scanner

## Abstract

An indicia reading terminal has a three-dimensional depth sensor, a two dimensional image sensor, an autofocus lens assembly, and a processor. The three dimensional depth sensor captures a depth image of a field of view and create a depth map from the depth image, the depth map having one or more surface distances. The two dimensional image sensor receives incident light and capture an image therefrom. The autofocusing lens assembly is positioned proximate to the two dimensional image sensor such that the incident light passes through the autofocusing lens before reaching the two dimensional image sensor. The processor is communicatively coupled to the two dimensional image sensor, the three dimensional depth sensor, and the autofocusing lens assembly.

## Background
CROSS-REFERENCE TO RELATED APPLICATION
This application claims the benefit of U.S. Provisional Application No. 62/062,175 filed Oct. 10, 2014, which is hereby incorporated by reference in its entirety.


FIELD OF THE INVENTION
The invention is generally related to an indicia scanner, and, more specifically, related to an indicia scanner having a three dimensional depth sensor based auto-focus system.
BACKGROUND
Indicia, such as barcodes, have been used for decades to manage inventory, store useful consumer information, and to automate data entry to reduce time and errors inherent to manual data entry. Generally, an indicia is a machine-readable representation of information that is encoded in a graphic format. Traditional barcodes are a series of parallel bars and spaces of varying widths, such as a linear barcode or 1D barcode. Additionally, matrix code indicia have gained increasing popularity, as technology has advanced and the amount of encoded information needed in an indicia has increased. Examples include 2D barcodes, QR Code, Aztec Code, Data Matrix, and Optical Character Recognition (OCR), among many others.
The increasing ubiquity of mobile devices such as smartphones and tablet computers, and their continually improving processing and camera technology has led consumers to employ these mobile devices as indicia readers. Typically, these mobile devices have integrated digital cameras that are used as image sensor based barcode readers. The image sensors capture a digital image and use software algorithms to locate and decode one or more indicia.
One of the biggest challenges using a mobile device to scan an indicia is obtaining a focused image of the indicia. Typically, most mobile devices utilize an autofocus routine that sweeps across a wide range of focal distances until a proper focal distance is determined. The mobile device generally evaluates intensity differences between adjacent pixels across the wide range of focal distance. Such an autofocus method is quite time consuming, and is often hampered by excessive motion and poor lighting conditions. Consequently, when scanning a decodable indicia, the focusing procedure accounts for the vast majority of overall scan time, resulting in significant time delay.
SUMMARY
Accordingly, in one aspect, the present invention embraces an indicia reading terminal comprising: a three dimensional depth sensor configured to capture a depth image of a field of view and create a depth map from the depth image, the depth map having one or more surface distances; a two dimensional image sensor configured to receive incident light and capture an image therefrom; an autofocusing lens assembly positioned proximate to the two dimensional image sensor such that the incident light passes through the autofocusing lens before reaching the two dimensional image sensor; and a processor communicatively coupled to the two dimensional image sensor, the three dimensional depth sensor, and the autofocusing lens assembly.
In an embodiment, each surface distance corresponds to a distance between the indicia reading terminal and each plane present within the field of view that has an area greater than a predetermined threshold.
In an embodiment, the processor is configured to predict optimal focal distances for each surface distance.
In an embodiment, based on the predicted optimal focal distances, the autofocusing lens assembly progressively adjusts to each of the predicted optimal focal distances.
In an embodiment, the autofocusing lens assembly progressively adjusts to each of the predicted optimal focal distances starting with the optimal focal distance closest to the indicia reading terminal.
In an embodiment, the two dimensional image sensor captures an image when the autofocusing lens assembly is focused at each of the predicted optimal focal distances.
In an embodiment, the processor analyzes each captured image and determines if a decodable indicia is present.
In an embodiment, the processor signals to the autofocusing lens assembly to stop progressively adjusting to the next predicted optimal focal distance when a decodable indicia is present in the captured image.
In an embodiment, the processor is configured to predict an optimal exposure level for each predicted optimal focus distance.
In an embodiment, the two dimension image sensor captures the image at the predicted optimal focal distance using the predicted optimal exposure level.
In another aspect, the invention embraces a method for reading indicia, comprising the steps of providing an indicia reading terminal having a three dimensional depth sensor, a two dimensional image sensor, and an autofocusing lens assembly positioned proximate to the two dimensional image sensor such that the incident light passes through the autofocusing lens before reaching the two dimensional image sensor; capturing a first depth image of a field of view with the three dimensional depth sensor; determining distances from the indicia reading terminal to major surfaces in the depth image having areas greater than a predetermined threshold to create a depth map of the first depth image; calculating optimal focal distances from the autofocusing lens assembly to each of the major surfaces; capturing a first image with the two dimensional image sensor when the autofocusing lens assembly is focused at one of the optimal focal distances; and decoding an indicia in the captured first image.
In an embodiment, the method includes the step of sequentially focusing the auto focusing lens assembly at each of the calculated optimal focal distances.
In an embodiment, the method includes the step of capturing an image at each of the optimal focal distances with the two dimensional image sensor.
In an embodiment, the method includes the step of analyzing each captured image for the presence of a decodable indicia.
In an embodiment, the method includes the step of stopping the sequential focusing of the auto focusing lens assembly when a decodable indicia is present in the captured image.
In an embodiment, the method includes the step of capturing a second depth image of the field of view if no decodable indicia is present in any of the captured images based on the first depth image.
In an embodiment, the method includes the step of comparing the area of the major surface having the decodable indicia with an expected area value encoded in the decodable indicia.
In an embodiment, the method includes the step of determining approximate dimensions of an item having the decodable indicia from the areas of the major surfaces in the depth map.
In an embodiment, the method includes the step of predicting an optimal exposure level for each predicted optimal focus distance.
In an embodiment, the two dimension image sensor captures the first image using the predicted optimal exposure level.
The foregoing illustrative summary, as well as other exemplary objectives and/or advantages of the invention, and the manner in which the same are accomplished, are further explained within the following detailed description and its accompanying drawings.



BRIEF DESCRIPTION OF THE DRAWINGS
The invention will now be described by way of example, with reference to the accompanying Figures, of which:
FIG. 1A is a perspective view of a mobile device having a three dimensional depth sensor;
FIG. 1B is a perspective view of a handheld indicia reading terminal having a three dimensional depth sensor;
FIG. 2 is a schematic illustration of the indicial reading terminal and an operation of the three dimensional depth sensor;
FIG. 3 is a block diagram of a process of using the three dimensional depth sensor to detect decodable indicia;
FIG. 4 is block diagram of a process of using the three dimensional depth sensor to detect decodable indicia; and
FIG. 5 is a block diagram of a process of using the three dimensional depth sensor to determine dimensions of an object and predicting optimal exposure levels.



DETAILED DESCRIPTION
In the embodiments shown in FIGS. 1-5, an indicia reading terminal 1 has a computing device 40, a three dimensional depth sensor 10 (“3D depth sensor” or “depth sensor”), a two dimensional image sensor 20 (“2D image sensor” or “image sensor”), an autofocusing lens assembly 30, and an illumination source 50.
In an embodiments shown in FIGS. 1A and 1B, the indicia reading terminal 1 is a mobile device, such as a hand-held scanner 2, a portable data terminal, mobile phone 3, a tablet, portable computer, etc., or may be a stationary terminal being fixed to a single position, such as along an assembly line. The hand-held scanner 2 can include a handle portion having a hand grip 2a and a trigger 2b, and a component receiving head 2c. The trigger 2b can be used to initiate signals for activating the various components and processes described herein. The portable data terminal, while not shown, is well known to typically describe an electronic device that is used to enter or retrieve data via a wireless transmission, and may also serve as an indicia reader to access a database from a remote location.
In the embodiment shown in FIG. 2, the computing device 40 includes a memory 41 and a processor 42, where the processor 42 is communicatively coupled to the memory 41. The memory 41 can store executable instructions, such as, for example, computer readable instructions (e.g., software), that can be executed by the processor 42. The memory 41 can be volatile or nonvolatile memory. The memory 41 can also be removable (e.g., portable) memory, or non-removable (e.g., internal) memory. For example, the memory 41 can be random access memory (RAM) (e.g., dynamic random access memory (DRAM) and/or phase change random access memory (PCRAM)), read-only memory (ROM) (e.g., electrically erasable programmable read-only memory (EEPROM) and/or compact-disc read-only memory (CD-ROM)), flash memory, a laser disc, a digital versatile disc (MD) or other optical disk storage, and/or a magnetic medium such as magnetic cassettes, tapes, or disks, among other types of memory commonly known to those of ordinary skill in the art.
In the embodiment shown in FIG. 2, the memory 41 is positioned in the computing device 40. However, in another embodiment (not shown), the memory 41 can be positioned internal to another computing resource, thereby enabling computer readable instructions to be downloaded over the internet or another wired or wireless connection.
The processor 42 is communicatively coupled to the 3D depth sensor 10, 2D image sensor 20, the autofocusing lens assembly 30, and the illumination source 50.
The three dimensional depth sensor 10 is configured to capture a depth image of a field of view and the processor 42 creates a depth map from the captured depth image, the depth map having one or more surface distances (explained below in more detail). In an embodiment, the depth sensor 10 is a functional unit that obtains depth information within a field of view. In an embodiment, the depth sensor 10 captures a depth image by using structured light, time of flight, stereoscopy, or any other sensor technology known to those of ordinary skill in the art.
Those of ordinary skill in the art would a understand that a structured-light 3D scanner is a 3D scanning device for measuring the three-dimensional shape of an object using projected light patterns, a camera system, and triangulation calculations. A time-of-flight camera (ToF camera) is a range imaging camera system that resolves distance based on the known speed of light, measuring the time-of-flight of a light signal between the camera and the subject for each point of the image. The time-of-flight camera is a class of scannerless Light Detection And Ranging (“LIDAR”) systems, in which an entire scene is captured with each laser or light pulse, as opposed to point-by-point with a laser beam such as in scanning LIDAR systems. A stereoscopy system two cameras with a known physical relationship (i.e. a common field of view the cameras can see, and how far apart their focal points sit in physical space) are correlated via software. By finding mappings of common pixel values, and calculating how far apart these common areas reside in pixel space, a rough depth map can be created. This is very similar to how the human brain uses stereoscopic information from the eyes to gain depth cue information, such as how far apart any given object in the scene is from the viewer.
As shown in the embodiment of FIG. 2, the depth map includes one or more surface distances (e.g. d1, d2, . . . etc), where each surface distance d1,d2 corresponds to a distance between the indicia reading terminal 1 and one plane 11a,11b present within the field of view. For example, two planes 11a and 11b are shown in FIG. 2. The first plane 11a is spaced a first distance d1 from the indicia reading terminal 1, having a first edge 11a1 spaced a first edge distance d3 and a second edge 11a2 spaced a second edge distance d4 from the indicia reading terminal 1. The second plane 11b is spaced a second distance d2 from the indicia reading terminal 1, having a third edge 11b1 spaced a third edge distance d5 and a fourth edge 11b2 spaced a fourth edge distance d6 from the indicia reading terminal 1.
In an embodiment, the processor 42 calculates an area of each plane (e.g. 11a, 11b) in the field of view by correlating the surface distance of the plane with a number of points, each point having an XYZ coordinate, in the captured depth image having approximately the same surface distance. For example, in embodiments using structured light 3D range sensors, the 3D range sensor 10 would have an infrared (“IR”) emitter (not shown) that projects a structured IR pattern on physical objects and environments within the field of view. The 3D range sensor 10 would have a corresponding IR receiver (not shown) positioned remotely from the IR emitter, that captures the structured IR light pattern, and the processor 42 would apply structured light algorithms to produce an accurate, detailed depth map of the captured image based on triangulation between the emitter, physical objects, and receiver.
In an embodiment, the depth map is limited to surface distances to planes (e.g. 11a, 11b) having areas greater than a predetermined threshold. The predetermined threshold can be planes (e.g. 11a, 11b) having surface areas that are consistent with a size that a decodable indicia may be disposed on. Complexity of the depth map can be reduced, thus reducing processing demand on the processor 42, and decreasing time necessary for the processor 42 to create the depth map.
In another embodiment, the depth map can be limited planes that are within a normal or expected depth of field or distance of an object to be scanned from the indicia reading terminal 1. Thus, only planes (e.g. 11a, 11b) within this expected depth of field or distance will be included in the depth map, reducing the complexity of the depth map.
In the embodiment shown in FIG. 2, the 2D image sensor 20 is configured to receive incident light and capture an image therefrom. The 2D image sensor 20 can be any multiple pixel image sensor, such as charged coupled devices (CCD), complementary metal-oxide-semiconductors (CMOS), active pixel sensors (APS), among others. Those of ordinary skill in the art would appreciate that other types of image sensors that capture two dimensional digital images are within the scope of this disclosure.
In operation, image signals from the 2D image sensor 20 can be read out, converted, and stored into one or more memories 41. The processor 42 is configured to read out the image data stored in the memory 41, and can subject such image data to various image processing algorithms to create the depth map, as well as to signal other components of the indicia reading terminal 1 to perform various tasks, described in more detail below.
In the embodiment shown in FIG. 2, the autofocusing lens assembly 30 is optically coupled to the 2D image sensor 20, being positioned proximate to the 2D image sensor 20 such that the incident light passes through the autofocusing lens before reaching the 2D image sensor 20. The autofocusing lens assembly 30 focuses the incident light onto the 2D image sensor 20 along an optical axis. The autofocusing lens assembly 30 can include a one or more lens elements, such as fluid elements, electro-wetting fluid elements, and/or non-deformable solid elements, such as glass, polycarbonate, or other materials known to those of ordinary skill in the art. Each of these lens elements can be dimensioned, spaced, positioned, and generally constructed to adjust a focal point of the incident light onto the 2D image sensor 20.
In the embodiments shown in FIGS. 1A-2, the illumination source 50 is communicatively connected to, and controlled by the processor 42. The illumination source 50 can include one or more LEDs, or other light generating sources known to those of ordinary skill in the art. The processor 42 can control the intensity and duration of the light emitted by the illumination source 50, so as to optimize the light exposure levels incident on the 2D or 3D sensors 10, 20.
In practice, the processor 42 reads the captured image data stored in the memory 41 and creates the depth map. The processor 42 is configured to predict optimal focal distances for each plane (e.g. 11a, 11b) based on the surface distance of the plane (e.g. 11a, 11b) to the indicia reading terminal 1. Based on the predicted optimal focal distances, the processor 41 instructs the autofocusing lens assembly 30 to progressively adjust the lens elements to each of the predicted optimal focal distances. In an embodiment, the autofocusing lens assembly 30 progressively adjusts to each of the predicted optimal focal distances starting with the optimal focal distance closest to the indicia reading terminal 1. Thus, in this embodiment, the autofocusing lens assembly 30 would adjust the focal distance to focus on the nearest plane to the indicia reading terminal 1, which, for FIG. 2, would be plane 11a. The autofocusing lens assembly 30 would then adjust the focal distance to the next predicted optimal focal distance, and focus on the next nearest plane, which, for FIG. 2, would be plane 11b. The autofocusing lens assembly 30 would continue to adjust the focal distance to the next predicted optimal focal distance and focus on the next nearest plane, until all the assembly 30 has progressively adjusted the focal distance to all of the predicted optimal focal distances.
In an embodiment, the autofocusing lens assembly 30 progressively adjusts to each of the predicted optimal focal distances, starting with the optimal focal distance furthest from the indicia reading terminal 1. Thus, the autofocusing lens assembly 30 would adjust the focus distance to the farthest plane to the indicia reading terminal 1, and progressively adjust the focal distance to the second, third, fourth, or so on furthest plane from the indicia reading terminal 1 until the autofocusing lens assembly 30 has focused at each of the predicted optimal focal distances.
In an embodiment, the processor 42 instructs the 2D image sensor 20 to capture an image when the autofocusing lens assembly 30 is focused at each of the predicted optimal focal distances. The captured image is stored in the memory 41, and is read out to the processor 42, which analyzes each captured image and determines if a decodable indicia is present. If the processor 42 determines a decodable indicia is present in the captured image, the processor 42 signal the autofocusing lens assembly 30 to stop progressively adjusting to the next predicted optimal focal distance, thus terminating the autofocusing process prior to the autofocusing lens assembly 30 comprehensively adjusting the focal distance to each and every predicted optimal focal distance. If the processor 42 determines that the captured image does not contain a decodable indicia, the processor 42 signals the autofocusing lens assembly 30 to continue progressively adjusting the focal distance to the next predicted optimal focal distance.
By limiting the processor 42 to analyzing captured images taken at a relatively small number of optimal focal distances, the processor 42 can more rapidly detect decodable indicia than the traditional autofocusing routines, since the processor 42 is not required to analyze intensity differences between adjacent pixels as the autofocusing lens assembly 30 unintelligently adjusts the focal distance across the entire focal range of the assembly 30. Additionally, since the processor 42 analyzes each captured image as the autofocusing lens assembly 30 is at each predicted optimal focal distance, the autofocusing process may be terminated quickly if a decodable indicia is found early in the focusing routine. This results in reduced power consumption, reduced focusing time, and reduces wear and tear on the autofocusing lens assembly 30 itself.
In an embodiment, when the processor 42 determines a captured image contains a decodable indicia, the processor 42 can signal to the autofocusing lens assembly 30 to continue adjusting the focus to each of the planes in the depth map, until all of the planes have had an image captured. When the last plane in the depth map has had a corresponding image captured by the 2D sensor 20, the processor 42 can instruct the autofocusing lens assembly 30 to terminate focusing adjustment between planes. Thus, in this embodiment, the processor 42 can analyze each plane within the depth map for the presence of one or multiple decodable indicia, but will only have a focus range that is limited to a distance between the closes plane and the furthest plane from the depth sensor 10.
One of the advantages of the indicia reading terminal 1 over traditional autofocus systems, is that the traditional autofocus system's autofocus lens moves comparatively slower than the autofocusing lens assembly 30. The traditional autofocus lens moves comparatively slower as it sweeps across its working range to allow for the camera system to determine if it is in focus. With the indicia reading terminal 1, optimal focal distances for each plane within the field of view is already known, so the autofocusing lens assembly 30 can adjust the focus to these positions faster while simultaneously decoding along the way.
In another embodiment, the processor 42 can instruct the 2D image sensor 20 to continuously capture images as the autofocusing lens assembly 30 adjusts the focus from one predicted optimal focal distance to the next predicated optimal focal distance. The processor 42 can then apply a decode algorithm that is tolerant of limited levels of image blur to search for decodable indicia. If the processor 42 determines that a decodable indicia is present in an image captures as the autofocusing lens assembly 30 is adjusting between predicted optimal focal distances, the processor 42 can signal the autofocusing lens assembly 30 to stop progressively adjusting to the next predicted optimal focal distance, thus terminating the autofocusing process prior to the autofocusing lens assembly 30 comprehensively adjusting the focal distance to each and every predicted optimal focal distance.
In an embodiment shown in FIG. 5, at blocks 113 and 114, the processor 42 is configured to predict an optimal exposure level for each predicted optimal focus distance based on exposure levels detected in the captured depth image. For example, the processor 42 can control the intensity and duration of the light produced by the illumination source 50.
In an embodiment, a linear or logarithmic exposure function calculates the sensor exposure duration at any plane distance within the field of view determined by the depth sensor 10. This function operates such that planes further away from the depth sensor 10, such as plane 11b in FIG. 2, will have shorter exposure times than planes closer to the depth sensor 10. Thus, planes further away from the depth sensor 10 will have less available resolution for decoding and thus would be more susceptible to motion blur. The processor 42 can reduce exposure and increase illumination intensity and duration of the illumination source 50 to reduce motion blur of these more distant planes. Similarly, planes closer to the depth sensor 10 would have more available resolution for decoding and would benefit from less illumination to reduce specular reflection, and therefore often require a longer exposure to compensate for the less intense ambient illumination. The processor 42 can increase exposure and decrease illumination intensity and duration of the illumination source 50 to reduce motion blur of these closer planes.
An exemplary embodiment of the linear exposure function would be ExposureTimeSecs=(6/distanceInInches)*(1/2000), which would apply to a 500 microsecond exposure at 6 inches. Those of ordinary skill in the art would appreciate that this exemplary embodiment can be applied to other distances and exposure times.
The processor 42 instructs the 2D image sensor 20 to capture the image at the predicted optimal focal distance using the predicted optimal exposure level for that focal distance. Thus, the captured image will be obtained using the optimally predicted exposure level to give a high resolution captured image.
FIGS. 3-5 disclose exemplary embodiments of methods for reading indicia. In the embodiment shown in FIG. 3, at block 100, an indicia reading terminal 1 is provided. At block 101, a first depth image of a field of view is captured with the 3D depth sensor 10. At block 102, distances from the indicia reading terminal 1 to major surfaces (e.g. planes 11a, 11b) in the depth image having areas greater than a predetermined threshold are determined to create a depth map of the first depth image. At block 103, optimal focal distances from the autofocusing lens assembly to each of the major surfaces are calculated. At block 104, a first image with the 2D image sensor 20 is captured when the autofocusing lens assembly 30 is focused at one of the optimal focal distances. At block 105, the captured first image is analyzed by the processor 42 to determine if a decodable indicia is present. If a decodable indicia is present, then the indicia is decoded.
In an embodiment shown in FIG. 4, if a decodable indicia is not present, the auto focusing lens assembly is sequentially focused at each of the calculated optimal focal distances (block 106), and an image is captured at each of the optimal focal distances with the 2D image sensor 20 (block 107). At block 108, each of the additional captured images is analyzed for the presence of a decodable indicia. At block 109, the sequential focusing of the auto focusing lens assembly 30 is terminated by the processor 42 when a decodable indicia is detected by the processor 42 in the captured image.
If no decodable indicia is present in any of the captured images based on the predicted optimal focal distances determined from the first depth image, a second depth image of the field of view is captured, and the above described process repeats again (block 110).
In the embodiment shown in FIG. 5, the area of the major surface having the decodable indicia is compared with an expected area value encoded in the decodable indicia (block 111). If the actual area of the major surface is equal to the expected area value, the indicia reading terminal 1 can provide positive feedback in the form of an audible, tactile, or visual cue. If the actual area of the major surface is less than or greater than the expected area value, the indicia reading terminal 1 can provide negative feedback in the form of an audible, tactile or visual cue different from the positive feedback. By comparing the actual area of the major surface with the expected area value, an operator can be alerted when such values do not correspond. Such an alert can be helpful in identifying mislabeled items, as an antitheft procedure, among other uses.
In an embodiment shown in FIG. 5, at block 112, approximate dimensions of an item having the decodable indicia can be determined from the areas of the major surfaces in the depth map. Postal carriers, such as UPS, FEDEX, USPS, etc can easily and quickly determine a package's approximate dimensions during remote pickups, among other applications.
The indicia reading terminal 1 in the exemplary embodiment utilizes depth information to enhance the features and performance over more traditional indicia reading terminals having only a 2D image sensor, or a traditional rangefinder and 2D sensor. The depth information provided by the 3D depth sensor allows for faster and more energy efficient autofocusing of a lens assembly. The depth image improves timing by focusing evaluation on areas of the image that most likely contain a decodable indicia, the areas being those within the normal depth of field of the product, contain areas of flat surfaces, or that protrude out from the rest of the environment.
The 3D depth sensor permits item verification with the 3D depth image preventing, for example, an operator at a store to scan the label of an item without really paying attention to whether the scanned information matches the item that is being purchased. A database can be setup within a store that associates an item's dimensions with the barcode information. Including a 3D depth sensor within the indicia reading terminal, such as a barcode scanner, can aid in automatic verification or signal to the operator that they should scrutinize the item for purchase if the general size of the item does not match a size indicated by the decodable indicia.
The use of a 3D image sensor allows for determining package dimensioning. By integrating a 3D depth sensor into scan engines and PDTs can enable quick and portable package dimensioning by carriers (e.g. UPS, FEDEX, USPS, etc) during remote pickups.
The use of a 3D image sensor additionally permits a distance to the decodable indicia to be used as another datapoint for determining exposure settings. The 3D depth map can be running prior to a trigger pull to help determine the initial exposure.
Those of ordinary skill in the art would appreciate that devices having 3D range sensors may be integrated into a standard 2D image sensor, where the indicia readers alternate the use of the 2D sensor between imaging for decodable indicia and capturing 3D depth images. In another embodiment, such as the embodiment shown in FIG. 2, the indicia reader includes a 2D image sensor dedicated to barcode scanning, and a separate 3D depth sensor dedicated to determining distances between the indicia reader and objects within the field of view.
In the case of item verification during checkout, the 3D range sensor can be a separate piece of hardware from the indicia reader, where the 3D range sensor is positioned for optimal viewing of larger objects. Synchronization between the 3D range sensor and the indicia reader can occur by a direct physical connection between the devices or through an indirect approach that involves the host system.
To supplement the present disclosure, this application incorporates entirely by reference the following commonly assigned patents, patent application publications, and patent applications:
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In the specification and/or figures, typical embodiments of the invention have been disclosed. The present invention is not limited to such exemplary embodiments. The use of the term “and/or” includes any and all combinations of one or more of the associated listed items. The figures are schematic representations and so are not necessarily drawn to scale. Unless otherwise noted, specific terms have been used in a generic and descriptive sense and not for purposes of limitation.

## Claims

1. A method for reading indicia, comprising the steps of:
providing an indicia reading terminal having:
a three dimensional depth sensor,
a two dimensional image sensor, and
an autofocusing lens assembly positioned proximate to the two dimensional image sensor such that the incident light passes through the autofocusing lens before reaching the two dimensional image sensor;

capturing a first depth image of a field of view with the three dimensional depth sensor;
determining distances from the indicia reading terminal to major surfaces in the depth image having areas greater than a predetermined threshold to create a depth map of the first depth image, comprising calculating areas of the major surfaces and comparing the calculated areas to the predetermine threshold;
calculating optimal focal distances from the autofocusing lens assembly to each of the major surfaces;
capturing a first image with the two dimensional image sensor when the autofocusing lens assembly is focused at one of the optimal focal distances; and
decoding an indicia in the captured first image.

2. The method of claim 1, further comprising the step of: sequentially focusing the auto focusing lens assembly at each of the calculated optimal focal distances.

3. The method of claim 2, further comprising the step of: capturing an image at each of the optimal focal distances with the two dimensional image sensor.

4. The method of claim 3, further comprising the step of: analyzing each captured image for the presence of a decodable indicia.

5. The method of claim 4, further comprising the step of: stopping the sequential focusing of the auto focusing lens assembly when a decodable indicia is present in the captured image.

6. The method of claim 5, further comprising the step of: capturing a second depth image of the field of view if no decodable indicia is present in any of the captured images based on the first depth image.

7. The method of claim 5, further comprising the step of determining approximate dimensions of an item having the decodable indicia from the areas of the major surfaces in the depth map.

8. The indicia reading terminal of claim 1, further comprising the step of: predicting an optimal exposure level for each predicted optimal focus distance.

9. The indicia reading terminal of claim 8, wherein the two dimension image sensor captures the first image using the predicted optimal exposure level.

10. A method for reading indicia, comprising the steps of:
providing an indicia reading terminal having:
a three dimensional depth sensor,
a two dimensional image sensor, and
an autofocusing lens assembly positioned proximate to the two dimensional image sensor such that the incident light passes through the autofocusing lens before reaching the two dimensional image sensor;

capturing a first depth image of a field of view with the three dimensional depth sensor;
determining distances from the indicia reading terminal to major surfaces in the depth image having areas greater than a predetermined threshold to create a depth map of the first depth image;
calculating optimal focal distances from the autofocusing lens assembly to each of the major surfaces;
capturing a first image with the two dimensional image sensor when the autofocusing lens assembly is focused at one of the optimal focal distances;
decoding an indicia in the captured first image; and
comparing the area of the major surface having the decodable indicia with an expected area value encoded in the decodable indicia.