Patent Publication Number: US-11047672-B2

Title: System for optically dimensioning

Description:
CROSS-REFERENCE TO PRIORITY APPLICATION 
     This application claims the benefit of U.S. Provisional Patent Application Ser. No. 62/477,543, for Three-Dimensional Camera Precision Booster (filed Mar. 28, 2017), via 35 U.S.C. § 119. U.S. Provisional Patent Application Ser. No. 62/477,543 is hereby incorporated by reference in its entirety. 
    
    
     FIELD OF THE INVENTION 
     The present invention relates to systems that use optical 3D depth-sensing technology to measure dimensions of an object and, more particularly, to such a 3D optical dimensioner that includes a camera and pattern projector. 
     BACKGROUND 
     It is believed to be known for a 3D optical dimensioner, which includes a pattern projector and a camera, to use one type of algorithm to dimension an object&#39;s height, and a different type of algorithm to dimension the object&#39;s width and length. The height is typically obtained by quantifying the distance between two detected layers (e.g., planar surfaces), namely a lower layer that is an environmental ground plane taken as a “reference layer” during initial setup of the optical dimensioner, and an upper layer that is the top surface (e.g., planar top surface) of the object identified during normal operation (e.g., after initial setup) of the optical dimensioner. In contrast, for each of the length and width dimensions, the dimension is typically obtained by quantifying the distance between edges of the object that are identified during normal operation. The precision and accuracy of the determined length and width dimensions may be lower than the precision and accuracy of the determined height. 
     Therefore, a need exists for improving the precision and accuracy of the determined length and width dimensions. 
     SUMMARY 
     Accordingly, one aspect of this disclosure is the provision of an optical dimensioner that seeks to provide improved precision and accuracy for at least one of length and width dimensions. 
     In an example, a system for determining dimensions can comprise a camera having a field of view; a projector configured to project a pattern into the field of view; a structural setting configured to receive the object in a predetermined position in the field of view; at least one sensor configured to detect that the object is in the predetermined position; and a processor configured to, at least partially in response to the at least one sensor detecting that the object is in the predetermined position, at least enable the camera to obtain at least one image of the object while the projector is projecting the pattern onto the object in the field of view, wherein the processor is configured to determine, based at least partially upon the at least one image, dimensions of the object. 
     The at least one sensor can comprise a contact sensor. The structural setting can comprise first and second upright surfaces configured to simultaneously engage respective portions of the object while the object is in the predetermined position. The second upright surface of the structural setting can extend in a crosswise direction relative to the first upright surface of the structural setting. 
     The structural setting can comprise a corner configured to receive a corner of the object. The corner of the structural setting can be at least partially defined by the first and second upright surfaces of the structural setting extending convergently toward one another. The corner can be a right-angled receptacle configured to receive at least a portion of the object. The right-angled receptacle can be at least partially defined by the first and second upright surfaces of the structural setting extending convergently toward one another. 
     The structural setting can comprise a third surface configured to engage a portion of the object while the first and second upright surfaces of the structural setting are respectively engaging the respective portions of the object. The third surface of the structural setting can extend in a crosswise direction relative to both of the first and second upright surfaces of the structural setting. 
     As another example, a system for determining dimensions can comprise a structural setting configured to receive an object in a predetermined position, the structural setting comprising first and second surfaces configured to simultaneously engage respective portions of the object while the object is in the predetermined position, wherein the second surface of the structural setting extends in a crosswise direction relative to the first surface of the structural setting; a projector configured to project at least one pattern onto each of the object while the object is in the predetermined position, and the first and second surfaces of the structural setting; a camera configured to obtain one or more images including the at least one pattern on the first and second surfaces of the structural setting, and at least one image including the at least one pattern on the object while the object is in the predetermined position; and a processor configured to determine dimensions of the object based upon at least both the at least one image and the one or more images, comprising the processor being configured to determine positional information for the first surface of the structural setting based upon the one or more images, determine positional information for the second surface of the structural setting based upon the one or more images, determine positional information for a first portion of the object based upon the at least one image, determine positional information for a second portion of the object based upon the at least one image, determine a distance based upon at least one difference between the positional information for the first surface of the structural setting and the positional information for first portion of the object, and determine a distance based upon at least one difference between the positional information for the second surface of the structural setting and the positional information for second portion of the object. 
     As a further example, a method for determining dimensions of an object can comprise projecting, by a projector, at least one pattern onto an object while the object in a predetermined position with respect to a structural setting, the structural setting comprising a first surface engaging a portion of the object while the object is in the predetermined position, and a second surface engaging another portion of the object while the object is in the predetermined position, the second surface extending in a crosswise direction relative to the first surface; obtaining, by a camera, one or more images, the one or more images comprising at least one image including the at least one pattern on the object while the object is in the predetermined position; and determining, by a processor, dimensions of the object, comprising the processor determining positional information for the first surface of the structural setting based upon the one or more images, determining positional information for the second surface of the structural setting based upon the one or more images, determining positional information for a first portion of the object based upon the at least one image, determining positional information for a second portion of the object based upon the at least one image, determining a dimension based upon at least one difference between the positional information for first surface of the structural setting and the positional information for first portion of the object, and determining a dimension based upon at least one difference between the positional information for second surface of the structural setting and the positional information for second portion of the object. 
     The method can further include detecting, with at least one sensor, presence of the object in the predetermined position. The obtaining of the one or more images can be at least partially responsive to the detecting the presence of the object in the predetermined position. 
     The foregoing summary provides a few brief examples and is not exhaustive, and the present invention is not limited to the foregoing examples. The foregoing examples, as well as other examples, are further explained in the following detailed description with reference to accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The drawings are schematic, and features depicted therein may not be drawn to scale. The drawings are provided as examples. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the examples depicted in the drawings. 
         FIG. 1  is a pictorial view of a system for optically dimensioning a physical object, in accordance with an embodiment of this disclosure. 
         FIG. 2  is a top plan view of portions of the system of  FIG. 1 . 
         FIG. 3  is an isolated, exploded view of a representative upright panel of a structural setting of the system of  FIG. 1 . 
         FIG. 4  is an isolated pictorial view of an object or package suitable for being optically dimensioned by the system of  FIG. 1 . 
         FIG. 5  is a pictorial view of the package of  FIG. 4  in a predetermined position within a corner of the structural setting of  FIGS. 1 and 2 , in accordance with the first embodiment. 
         FIG. 6  is a top view of the configuration of  FIG. 5 . 
         FIG. 7  is like  FIG. 6 , except that the package is not in the predetermined position. 
         FIG. 8  is like  FIG. 7 , except for depicting another example of the package not being in the predetermined position. 
         FIG. 9  is like  FIG. 6 , except that the package is triangular in a top plan view. 
         FIG. 10  is like  FIG. 6 , except that the package is irregular in shape in a top plan view. 
         FIG. 11  is like  FIG. 6 , except that the package is round in a top plan view. 
     
    
    
     DETAILED DESCRIPTION 
     Examples of embodiments are disclosed in the following. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. For example, features disclosed as part of one embodiment can be used in the context of another embodiment to yield a further embodiment. 
     Referring to  FIG. 1 , an optical dimensioning system  10  of a first embodiment of this disclosure includes a 3D camera assembly  12  facing toward a receptacle or inner corner  14  that is defined by a structural setting  16 . In the first embodiment, the corner  14  (e.g., right-angled receptacle or right-angled inner corner) is configured to at least partially receive at least one object (e.g., packages  70  in  FIGS. 4-11 ) that are to be imaged by the camera assembly  12 . The system  10  includes at least one computing device  18  operatively associated with the camera assembly  12  for optically dimensioning one or more objects that are at least partially positioned in the corner  14 , as will be discussed in greater detail below. 
     The structural setting  16  can include panels  21 - 23  respectively having surfaces  31 ,  32 ,  33  that define the inner corner  14 . As will be discussed in greater detail below, one or more of (e.g., each of) the setting surfaces  31 - 33  can be taken as a “reference layer” (e.g., during an initial setup of the system  10 ). Thereafter, one or more of the reference layers respectively corresponding to the setting surfaces  31 - 33  can be used (e.g., during normal operation following the initial setup) in the process of dimensioning an object  70  ( FIGS. 4-11 ) that is at least partially positioned in the setting corner  14 . As will also be discussed in greater detail below, the optical dimensioning performed by the system  10  can be responsive to at least one sensor (e.g., contact detector  62  in  FIG. 3 ) detecting that the object  70  being dimensioned is in a predetermined position (e.g., in the setting corner  14 ). 
     In the example of  FIG. 1 , the camera assembly  12  can be mounted to a pole, or can be supported by other suitable structure(s), so that the camera assembly is positioned above both the lower support panel  21  and the object  70  ( FIGS. 4-11 ) being dimensioned. The computer  18  can include at least one of each of a processor  40 , memory  42 , data storage device  44 , equipment interface  46 , network interface  48 , user interface  50 , and any other suitable features. The computer  18 , or more specifically the equipment interface(s)  46  thereof or associated therewith, can be in communication with the camera assembly  12  and contact sensor(s)  62  ( FIG. 3 ) of each upright panel  22 ,  23  by way of respective communication paths  52 . The one or more user interfaces  50  are configured to allow a user to enter commands and information into the computer  18 , and to allow the computer to output information to the user. For example, the input-type user interfaces  50  can include a keyboard, a cursor control device (e.g., a mouse), a microphone, touch functionality (e.g., capacitive or other sensors that are configured to detect physical contact), and/or any other suitable devices. As additional examples, the output-type user interfaces  50  can include a display device (e.g., a monitor or projector), speakers, a printer and/or any other suitable devices. 
       FIG. 2  is a top view of the structural setting  16  and the camera assembly  12 . The system  10  ( FIG. 1 ) includes an optical dimensioner, which comprises the camera assembly  12  and processor  40  (e.g., the processor executing software), configured to use 3D depth sensing technology to measure dimensions of an object  70  ( FIGS. 4-11 ). In the first embodiment, the camera assembly  12  includes a elongate housing having opposite ends, a pattern projector  54  mounted in the housing at a position proximate one of the ends, and at least one camera  56  mounted in the housing at a position proximate the other end of the housing. The pattern projector  54  can be configured to use structured infrared light to create a laser pattern  58  that is simultaneously projected onto each of the setting surfaces  31 - 33 . A portion of the projected pattern  58  and a portion of a field of view  60  of the camera  56  are schematically depicted in  FIG. 2 . The camera  56  can be an infrared camera that captures an image of the infrared pattern  58  projected onto each of the setting surfaces  31 - 33 . In the first embodiment, each of the setting surfaces  31 - 33  can be colored white in a manner that seeks to enhance detection of the laser pattern  58  thereon by the camera  56 . Suitable camera assemblies  12  are believed to be available from Honeywell International Inc. (e.g., AutoCube) and Mantis Vision Ltd. 
       FIG. 3  is an isolated, exploded view of a representative one of the upright panels  22 ,  23 , in accordance with the first embodiment. As shown in  FIG. 3 , each of the upright panels  22 ,  23  can include a planar (e.g., substantially planar) contact detection apparatus  62  (e.g., at least one contact sensor) mounted between, and typically in opposing face-to-face contact with each of, a planar (e.g., substantially planar) outer substrate  64  and a substantially planner inner  66  substrate. The outer substrate  64  can be self-supporting, and can be formed of plastic, wood, metal and/or other suitable materials. The inner substrates  66  respectively include the right and left upright setting surfaces  32 ,  33 . Each inner substrate  66  can be in the form of a white mat and/or other suitable layer(s) that can optionally be covered with a clear plastic sheet. In the first embodiment, each of the setting surfaces  31 - 33  can be white, planar (e.g., substantially planar), and extend in a crosswise direction with respect to the other two of the setting surfaces  31 - 33 . More specifically for the first embodiment, each of the setting surfaces  31 - 33  can extend perpendicularly (e.g., substantially perpendicularly) with respect to the other two of the setting surfaces  31 - 33 . Notwithstanding, differently configured setting panels  21 - 23  and setting surfaces  31 - 33  are within the scope of this disclosure. 
     In the first embodiment, the contact detection apparatus, or detectors  62 , are configured to detect physical contacts against their associated upright surface  32 ,  33 , and identify the positions of the physical contacts. The location of the physical contact can be identified by coordinates of a two-dimensional array. Accordingly, the detectors  62  are schematically representative of at least one contact sensor configured to detect an object  70  and its location, in response to physical contact (e.g., indirect physical contact) between the object and the detector. 
     Each of the detectors  62  can be a resistive contact detection apparatus at least generally of the type incorporated into touchscreens (e.g., touch-sensitive electronic visual display screens), or the like. For example, the layer of the contact detection apparatus  62  that is in opposing face-to-face contact with the inner substrate  66 , as well as the inner substrate and any plastic sheet thereon, are typically elastically deformable in response to contact. As another example, it is believed that each of the detectors  62  may be a capacitive contact detection apparatus of the type incorporated into touchscreens (e.g., touch-sensitive electronic visual display screens), or the like. Each of the detectors  62  typically includes a circuit/controller  68  that communicates with (e.g., outputs to) the computer  18  ( FIG. 1 ). As another example, it is believed that the detectors  62  may be configured to be and/or be replaced with one or more proximity sensors configured to detect object positions indicative of contacts against the upright setting surfaces  32 ,  33 . 
     In accordance with the first embodiment, an overall method of using the system  10  ( FIG. 1 ) to dimension an object  70  can include a method of initially setting up the system  10  (“initial setup”), followed by a method of serially repeatedly operating the system after the initial setup (“post-setup”) to dimension numerous objects or packages  70  in series. 
     Referring to  FIG. 2 , as part of the initial setup, the camera assembly  12  and setting  16  are typically fixedly arranged with respect to one another. In this fixed arrangement, the pattern  58  is typically simultaneously projected into the setting corner  14  and upon at least a large percentage of each of the setting surfaces  31 - 33 , and the setting corner  14  and each of the setting surfaces  31 - 33  are in the field of view  60 . The pattern  58  and field of view  60  can originate at a face of the camera assembly  12 , and a straight imaginary line  69  can extend perpendicular from the center of the camera assembly&#39;s face to the point (e.g., to proximate the point) where the setting surfaces  31 - 33  intersect, and so that a forty five degree angle (e.g., about or substantially forty five degree angle) is defined between the straight imaginary line and each of the setting surfaces  31 - 33 . In the first embodiment, the camera assembly  12  and setting  16  remain in these positions relative to one another throughout both the remainder of the initial setup of the system  10  and throughout the associated post-setup operation of the system. 
     Continuing with the reminder of the initial setup, or the like, the system  10  ( FIG. 1 ) can be operated, under control of the processor  40  (e.g., at least one processor executing software), to obtain positional information for each of the setting surfaces  31 - 33 , for example as described in the following. The method includes the projector  54  projecting the pattern  58  (e.g., at least one pattern) onto the setting surfaces  31 - 33 , and obtaining, by the camera  56 , one or more images including the at least one pattern  58  on the setting surfaces  31 - 33 . The one or more images can comprise a 3D image, range image and/or any other suitable type of image including features from which 3D information can be derived. The system  10  can be operated, under control of the processor  40  (e.g., at least one processor executing software), to determine positional information for the setting surfaces  31 - 33 , or portions thereof, based upon the one or more captured images. 
     As will be discussed in greater detail below, the positional information for each of the setting surfaces  31 - 33  can be used as a “reference layer” in determining dimensions of an object  70 ; therefore, such positional information can be referred to as reference positional information. The system  10  can be operated, under control of the processor  40  ( FIG. 1 ), so that for each of the setting surfaces  31 - 33 , the corresponding reference positional information can describe, or be in the form of, a 3D model of at least a portion of the surface, so as to define a planar (e.g., substantially planar) reference layer that corresponds to at least a portion of the setting surface. As will be discussed in greater detail below, each reference layer can be used, for example as a reference surface, in dimensioning an object  70 . Under control of the processor  40 , the reference positional information (e.g., data defining 3D models, reference layers, or the like) for the setting surfaces  31 - 33  can be saved in computer data storage  44  for use in post-setup operation of the system, as will be discussed in grater detail below. 
     The system  10  can be used, for example and referring to  FIG. 4 , to dimension an object  70  in the form of a rectangular (e.g., substantially rectangular) package  70  having planar (substantially planar) front, right, left, rear, top, bottom surfaces  71 ,  72 ,  73 ,  74 ,  75 ,  76 .  FIG. 5  depicts the package  70  in a predetermined position in the setting  16 , in accordance with an example. In  FIG. 5 , the package  70  is positioned at least partially in the setting corner  14  ( FIGS. 1 and 2 ). More specifically, in the configuration depicted in  FIGS. 5 and 6 , a corner of the package  70  is positioned in (e.g., fully mated into) the setting corner  14 , so that planar (e.g., substantially planar) surfaces  73 ,  74 ,  76  ( FIG. 4 ) of the package are respectively parallel to (e.g., substantially parallel to) and in opposing face-to-face contact with the setting surfaces  31 - 33 . 
     The system  10  of the first embodiment is configured so that, for the configuration depicted in  FIGS. 5 and 6 , the contact detector  62  ( FIG. 3 ) of the left upright panel  22  (“left contact detector”) outputs a signal in response to, and for the duration of, the contact between the left setting surface  32  and the left package surface  73 ; and the contact detector  62  of the right upright panel  23  (“right contact detector”) outputs a signal in response to, and for the duration of, the contact between the right setting surface  33  and the rear package surface  74 . 
     The processor  40  ( FIG. 1 ) can be aware of the contact-indicating signals for the left and right detectors  62 . In response to the processor  40  simultaneously being aware of the contact-indicating signals from both the right and left contact detectors  62 , the processor can at least partially initiate optical dimensioning operations of the system  10 . For example, the processor  40  can responsively automatically initiate (e.g., after operation of a count-down timer) a process of optically dimensioning the package  70 , or the processor can responsively automatically cause a respective user interface device  50  ( FIG. 1 ) to present to a user the option of initiating the dimensioning process by way of predetermined user input (e.g., the user selecting an indication of an option to proceed with the process, or the like). At least partially reiterating from above, the processor  40  can be configured to, at least partially in response to the at least one sensor (e.g., the right and left contact detectors  62 ) detecting that the object  70  is in the predetermined position, at least enable the camera assembly  12  to obtain at least one image of the object while the projector  54  is projecting the pattern  58  onto the object in the field of view  60  of the camera  56 . For example, the processor  40  can restrict operability of (e.g., prevent operation of) the camera assembly  12  until the object  70  is in the predetermined position. 
     At least partially reiterating from above, the system  10  can be configured so that the contact detectors  62  ( FIG. 3 ) and processor  40  ( FIG. 1 ) are cooperatively operative in a manner that seeks to make sure that the object or package  70  is in contact with both upright surfaces  32 ,  33  before allowing dimensioning of the package  70 . Typically gravity will ensure that the object or package  70  is in contact with the horizontal support surface  31 . 
     An example of a post-setup method performed by the system  10 , under control of the processor  40  (e.g., the processor executing software), is described in the following, in accordance with the first embodiment. The method includes the projector  54  projecting the pattern  58  (e.g., at least one pattern) onto the package  70  while the structural setting  16  is in receipt of the package so that the package is the predetermined position as described above with reference to  FIGS. 5 and 6 . The method also includes obtaining, by the camera  56 , at least one image including the at least one pattern  58  on the package  70  (e.g., on the package front, right and top surface  71 ,  72 ,  75 ) while the package is in the predetermined position. The at least one image can comprise a 3D image, range image and/or any other suitable type of image including features from which 3D information can be derived. The system  10  can be operated, under control of the processor  40  (e.g., at least one processor executing software), to determine positional information for the package&#39;s front, right and top surfaces  71 ,  72 ,  75 , or portions thereof, based upon the at least one 3D image. This positional information may be referred to as “object positional information.” For example, for each of the package front, right and top surfaces  71 ,  72 ,  75 , the corresponding object positional information can describe, or be in the form of, a 3D model of at least a portion of the surface, so as to define a planar (e.g., substantially planar) “object layer” that corresponds to at least a portion of the surface. 
     Then, the system  10  can be operated, under control of the processor  40  (e.g., at least one processor executing software), to determine dimensions of the package  70 . This can include retrieving the reference positional information for the setting surfaces  31 - 33  from computer data storage  44 . Referring to  FIGS. 4 and 5 , a distance (e.g., length dimension of the packable  70 ) can be determined based upon at least one difference between the positional information for the right upright setting surface  33  and the positional information for the package front surface  71 . This determining can comprise determining a distance along at least one line extending perpendicularly between the right upright setting surface&#39;s reference layer and the package front surface&#39;s object layer. Similarly, a distance (e.g., width dimension of the package  70 ) can be determined based upon at least one difference between the positional information for the left upright setting surface  32  and the positional information for the package right surface  72 . This determining can comprise determining a distance along at least one line extending perpendicularly between the left upright setting surface&#39;s reference layer and the package right surface&#39;s object layer. Similarly, a distance (e.g., height dimension of the package  70 ) can be determined based upon at least one difference between the positional information for the lower (e.g., horizontal) setting surface  31  and the positional information for the package top surface  75 . This determining can comprise determining a distance along at least one line extending perpendicularly between the lower (e.g., horizontal) setting surface&#39;s reference layer and the package top surface&#39;s object layer. For example, the processor  40  ( FIG. 1 ) can, responsive to the determination of the dimensions, output the dimensions or other related values (e.g., a value calculated by the processor using the dimensions) to one or more interface devices  50  ( FIG. 1 ) and/or to other locations, for example by way of one or more of the network interfaces  48  ( FIG. 1 ), or the like. 
     At least partially reiterating from above, the system  10  ( FIG. 1 ) can be operative under control of the processor  40  ( FIG. 1 ) to use the 3D camera capabilities (e.g. the processor  40  executing software to process images from the camera assembly  12 ) to detect the setting surfaces  31 - 33 , and obtain and store their positional information, typically without the object or package  70  being present; then use the 3D camera capabilities to detect the object&#39;s or package&#39;s front, right and top surfaces  71 ,  72 ,  75  and obtain their positional information while the object or package is in the predetermined position; compute the differences respectively between the setting surfaces  31 - 33  (e.g., their positional information) and the package&#39;s front, right and top surfaces  71 ,  72 ,  75  (e.g., their positional information), wherein those differences represent optically measured dimensions of the object or package; and output the dimensions and/or other information that may be at least partially based upon the dimensions. 
     Reiterating from above with reference to  FIGS. 5 and 6 , the processor  40  ( FIG. 1 ) can be responsive to simultaneous occurrence of the contact-indicating signals from both the right and left detectors  62  to at least partially initiate optical dimensioning operations of the system  10 . For example, the processor  40  can be responsive to there being contact-indicating signal(s) from only one of the right and left detectors  62 , for example as a result of the configurations depicted in  FIGS. 7 and 8 , respectively, by not allowing, or otherwise restricting, optical dimensioning operations of the system  10 . As another example, the processor  40  can be responsive to there being contact-indicating signal(s) from only one of the right and left detectors  62 , for example due to the configurations depicted in  FIGS. 7 and 8 , respectively, by providing output to one or more interface devices  50  ( FIG. 1 ). This output can be provided to a user, for example, visual and/or audibly, as a warning and/or instructions for placing the object or package  70  in the predetermined position, or the like. 
     In accordance with the first embodiment, rather than the object or package  70  being rectangular, the package can define other shapes. As a few examples, the package  70  can be triangular as depicted in  FIG. 9 , irregular in shape as depicted in  FIG. 10 , or round as depicted in  FIG. 11 . In this regard, the system  10  can be configured to determine, under control of the processor  40  ( FIG. 1 ), that the length and width of the package  70  are not defined by rectangular surfaces. For example, the system  10  can be operative under control of the processor  40  to use the 3D camera capabilities (e.g. the processor  40  executing software to process images from the camera assembly  12 ) to sort orthogonal from non-orthogonal objects. 
     In response to the system  10  determining that the length and width of the package  70  are not defined by rectangular surfaces, the system  10  can operate, under control of the processor  40 , to determine dimensions of the irregular or round package  70  without using the positional information for the right upright setting surface  33  (e.g., without using the right upright setting surface&#39;s reference layer) and without using the positional information for the left upright setting surface  32  (e.g., without using left upright setting surface&#39;s reference layer). For example, in response to the system  10  determining that the length and width of the package  70  are not defined by rectangular surfaces, the system  10  can operate, under control of the processor  40 , to determine dimensions of the irregular or round package  70  by using the positional information for the lower (e.g., horizontal) setting surface  31  and the positional information for the package top surface  75 , and by using positional information for detected edges of the object or package. Suitable equipment for optically dimensioning using positional information for detected edges is believed to be available from Honeywell International Inc. (e.g., AutoCube) and Mantis Vision Ltd. 
     A second embodiment of this disclosure can be like the first embodiment, except for variations noted and variations that will be apparent to those of ordinary skill in the art. In accordance with the second embodiment, the system  10  can be configured so that the contact detectors  62  ( FIG. 3 ) and processor  40  ( FIG. 1 ) are cooperative as discussed above for the first embodiment, but the dimensioning can be carried out in any suitable manner, for example using optical dimensioning equipment available from Honeywell International Inc. (e.g., AutoCube) and Mantis Vision Ltd. 
     Throughout the Detailed Description section of this disclosure, terms such as “substantially,” “about,” “proximate,” and the like, have been used for the purpose of providing a range of examples. It is believed that those of ordinary skill in the art will readily understand that, in different implementations of the features of this disclosure, different engineering tolerances, precision, and/or accuracy may be applicable. Accordingly, it is believed that those of ordinary skill will readily understand the usage herein of the terms such as “substantially,” “about,” “proximate,” and the like. 
     To supplement the present disclosure, this application incorporates entirely by reference the following patents, and patent application publications: U.S. Patent Publication No. 2002/0082802; U.S. Patent Publication No. 2012/0063672; U.S. Pat. No. 5,841,541; International Publication No. WO 2015/023483; U.S. Pat. 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     In the above description and/or figure, examples of embodiments have been disclosed. The present invention is not limited to such exemplary embodiments. Unless otherwise noted, specific terms have been used in a generic and descriptive sense and not for purposes of limitation. The use of the term “and/or” includes any and all combinations of one or more of the associated listed items.