Source: https://patents.google.com/patent/GB2531928A/en
Timestamp: 2019-02-18 17:55:57
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Matched Legal Cases: ['Application No. 13', 'Application No. 29', 'Application No. 29', 'Application No. 29', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 29', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 29', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 29', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 29', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 29', 'Application No. 14', 'Application No. 14', 'Application No. 29', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 29', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 29', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 29', 'Application No. 29', 'Application No. 14', 'Application No. 14', 'Application No. 29', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 29', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14', 'Application No. 14']

GB2531928A - Image-stitching for dimensioning - Google Patents
Image-stitching for dimensioning Download PDF
GB2531928A
GB2531928A GB1517843.7A GB201517843A GB2531928A GB 2531928 A GB2531928 A GB 2531928A GB 201517843 A GB201517843 A GB 201517843A GB 2531928 A GB2531928 A GB 2531928A
GB1517843.7A
GB201517843D0 (en
GB2531928B (en
L Jovanovski Brian
2015-09-30 Priority to US14/870,488 priority patent/US10134120B2/en
2015-10-08 Application filed by Hand Held Products Inc filed Critical Hand Held Products Inc
2015-10-08 Priority claimed from GB1817189.2A external-priority patent/GB2564794A/en
2015-11-25 Publication of GB201517843D0 publication Critical patent/GB201517843D0/en
2016-05-04 Publication of GB2531928A publication Critical patent/GB2531928A/en
2018-12-12 Publication of GB2531928B publication Critical patent/GB2531928B/en
A method of determining the physical dimensions of an object 6, the method comprising: capturing, using a dimensioning system 10, a range image; moving 12, 13 either the dimensioning system or the object; and capturing further range images covering different portions of the object. The range images are then combined (e.g., using image-stitching) to form a composite range-image, which can be used to measure the object's size. The dimensioning system may project a light pattern onto the object, capture an image of the reflected pattern, and observe changes in the imaged pattern to obtain the depth image. The dimensioning system or the object may be moved automatically or messages may be provided to guide a user to move them.
[0001] This application claims the benefit of U.S. Patent Application Ser. No. 62/062,175 for System and Methods for Dimensioning, (filed October 10, 2014), which is hereby incorporated by reference in its entirety.
[0016] The dimensioning system's processor is configured by software to trigger the range camera to capture a plurality of range images and combine Lhe plurality of captured range images to form a composite range-image. Then, using the composite range-image, the processor calculates the dimensions of the object.
[0019] Figure 1 schematically depicts a block diagram of a dimensioning system according to an embodiment of the present invention.
[0020] Figure 2 graphically depicts the principle of sensing three dimensions using a spatially offset pattern projector and range camera according to an embodiment of the present invention.
[0021] Figure 3 graphically depicts an implementation of a dimensioning system's pattern projector according to an embodiment of the present invention.
[0022] Figure 4 graphically depicts the movement of either the dimensioning system and/or the object according to an embodiment of the present invention.
[0023] Figure 5a graphically depicts a plurality of images, wherein each constituent image contains a portion of an object.
[0024] Figure 5b graphically depicts a composite image of the object formed by image-stitching the constituent images shown in Figure 5a.
[0025] Figure 6 graphically depicts a flow diagram illustrating a method for dimensioning an object according to an embodiment of the present invention.
[0027] An exemplary dimensioning system is shown in Figure (Fig.) 1. The dimensioning system 10 includes a pattern projector 1 that is configured to project a light (e.g., infrared light) pattern into a field-of-view 2. The light pattern typically comprises points of light arranged in a pattern (i.e., point cloud). The points of light may be (i) sized identically or differently and (ii) may be arranged in some order or pseudo-randomly. The pattern projector may create the light pattern using a light source (e.g., laser, LED, etc.), a pattern creator (e.g., a mask, a diffractive optical element, etc.), and one or more lenses.
[0028] The dimensioning system 10 also includes a range camera 3 configured to capture an image of the projected light pattern that is reflected from the range camera's field-ofview 4. The field-of-view of the range camera 4 and the field-of-view of the pattern projector 2 should overlap but may not necessarily have identical shapes/sizes. The range camera 3 includes one or more lenses to form a real image of the field-of-view 4 onto an image sensor. Light filtering (e.g., infrared filter) may be also be used to help detect the reflected pattern by removing stray light and/or ambient light. An image sensor (e.g., CMOS sensor, CCD sensor, etc.) is used to create a digital image of the light pattern. The range camera may also include the necessary processing (e.g. DSP, FPGA, ASIC, etc.) to obtain 3D data from the light pattern image.
[0029] As shown in Fig. 2, the pattern projector 1 and the range camera 3 are spatially offset (e.g., stereoscopically arranged). The spatial offset 8 allows for changes in the range 5 of an object 6 to be detected as an image offset 7 on the range camera's image sensor. The spatial offset 8 may be adjusted to change the image offset 7 to change the resolution at which range differences 5 may be detected. In this way, image offsets in the point-cloud pattern may be converted into 3D data for objects within the dimensioning system's field-ofview.
[0032] Accurate dimensioning requires high-quality Images of the reflected pattern (i.e., point-cloud images). A high quality point-cloud image is one in which the points of light in the pattern are visible on a plurality of the object's surfaces. Low quality point-cloud images may result from a variety of circumstances. For example, the imaged pattern may not be visible one or more surfaces (e.g., surfaces that are blocked from the pattern projector) or fall outside the fieldof-view of either the pattern projector and/or the range camera. In another example, the light pattern may be partially visible on a surface and/or lack sufficient pattern density (i.e., the number of visible points of light on the surface). In yet another example, the lighting (e.g., glare, shadows) in the object's environment and/or the object's reflectivity (e.g., dark objects) may adversely affect the visibility of the light pattern.
[0036] Range images may be captured during the movement and then combined to form a composite range-image. The composite range-image has 3D data from more points on the object. For example, all sides of an object may be sampled during Lhe moving process to obtain 3D data from the entire object. Further, gaps in the pattern (i.e., missing areas in the pattern) may be filled in using this technique.
[0037] In one possible embodiment, the movement of the dimensioning system and/or the object is automatic and does not require user participation. In this embodiment, the dimensioning system may be coupled to movement devices (e.g., actuators, motors, etc.) that adjust the spatial relationship between the dimensioning system and the object. In one example, the object 6 may be placed in a measurement area and the dimensioning system 10 may be moved around the object 12 to collect range images from various perspectives as shown in Fig 4. In another example, a fixed dimensioning system may collect range images as an object 6 is rotated (e.g., on a motorized turntable) 13 as shown in Fig. 4. In these cases, position information may be obtained from the movement device and used to help combine the range images.
[0038] In another possible embodiment, the movement of the dimensioning system and/or the object is performed by a user. Here messages (e.g., audio, visual, etc.) may be generated by the dimensioning system's processor and conveyed to a user interface (e.g., screen, indicator lights, speaker, etc.). The user may follow the instructions provided by the messages to move the dimensioning-system/ object. The instructions may include messages to help a user know (i) how far to move the dimensioning-system/object, (ii) how fast to move the dimensioning-system/object, (iii) to move the dimensioning system/object to a particular location, and (iv) how long to continue moving the dimensioning-system/object (e.g., when to stop moving). For example, the dimensioning system may be handheld and the user may move the dimensioning system to change perspective. In this case, the dimensioning system may be configured to gather tracking information (e.g., sense its position and orientation within the environment) to help combine the range images.
[0042] The process and results of image-stitching are illustrated in Fig. 5a and Fig. 5b. As shown in Fig. 5a, four constituent images 14a, 14b, 14c, 14d of an object 6 are captured. Each of the four images contains a different portion of the object 6. Fig 5b illustrates the result of image-stitching the four constituent images. The composite image 15 contains the entire object 6.
[0044] Figure 6 graphically depicts a flow diagram illustrating a method for dimensioning an object using image-stitching. The method begins with positioning 20 a dimensioning system so that at least a portion on an object is contained within the dimensioning system's point-of-view and capturing 30 a range image. The dimensioning system and/or the object is then moved 60 so that another portion of the object is within the field-of-view and another range image is captured 30. This process of moving and capturing is repeated until a plurality of range images is captured 40. The number of range images in the plurality of range images may be a predetermined number or may be determined based on the motion of the dimensioning system/object. The plurality of range images are then combined 70 to form a composite range-image, and the composite range-image is used to dimension 90 the object.
[0047] To supplement the present disclosure, this application incorporates entirely by reference the following commonly assigned patents, patent application publications, and patent applications: U.S. Patent No. 6,832,725; U.S. Patent No. 7,128,266; U.S. Patent No. 7,159,783; U.S. Patent No. 7,413,127; U.S. Patent No. 7,726,575; U.S. Patent No. 8,294,969; U.S. Patent No. 8,317,105; U.S. Patent No. 8,322,622; U.S. Patent No. 8,366,005; U.S. Patent No. 8,371,507; U.S. Patent No. 8,376,233; U.S. Patent No. 8,381,979; U.S. Patent No. 8,390,909; U.S. Patent No. 8,408,464; U.S. Patent No. 8,408,468; U.S. Patent No. 8,408,469; U.S. Patent No. 8,424,768; U.S. Patent No. 8,448,863; U.S. Patent No. 8,457,013; U.S. Patent No. 8,459,557; U.S. Patent No. 8,469,272; U.S. Patent No. 8,474,712; U.S. Patent No. 8,479,992; U.S. Patent No. 8,490,877; U.S. Patent No. 8,517,271; U.S. Patent No. 8,523,076; U.S. Patent No. 8,528,818; U.S. Patent No. 8,544,737; U.S. Patent No. 8,548,242; U.S. Patent No. 8,548,420; 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[0048] 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.
CLAIMS1. A method for dimensioning an object, the method comprising: positioning a dimensioning system so that at least a portion of an object is contained in the dimensioning system's field-of-view; capturing, using the dimensioning system, a range image of the field-of-view; moving either the dimensioning system or the object so that the dimensioning system's field-of-view contains a different portion of the object; repeating the capturing and the moving until a plurality of range images have been captured; combining the plurality of range images to create a composite range-image; and dimensioning the object using the composite range-image.
2. The method according to claim 1, wherein the capturing, using the dimensioning system, a range image of the field-of-view comprises: projecting, using a pattern projector, a light pattern into the field-of-view; capturing, using a range camera, an image of the fieldof-view, the image comprising a reflected light-pattern; and generating 3D data from the image of the reflected light-pattern.
S. The method according to claim 3, wherein the 3D data sufficient for dimensioning comprises 3D data from a surface of the object without any gaps in the reflected light-pattern.
8. The method according to claim 7, wherein the audio and/or visual messages comprise instructions for the user to (i) move the dimensioning system or the object in a particular direction, (ii) move the dimensioning system or the object at a particular speed, and/or (1 i) cease moving the dimensioning system or the object.
14. The dimensioning system according to claim 13, wherein (i) each range image in the plurality of range images comprises 3D data from a portion of the object, and (i i) the composite range-image comprises 3D data from the entire object.
21. A method substantially as hereinbefore described with reference to and/or as illustrated in any one or more of the Figures.
22. A dimensioning system as hereinbefore described with reference to and/or as illustrated in any one or more of the Figures.
GB1517843.7A 2014-10-10 2015-10-08 Image-stitching for dimensioning Active GB2531928B (en)
US14/870,488 US10134120B2 (en) 2014-10-10 2015-09-30 Image-stitching for dimensioning
GB1817189.2A GB2564794A (en) 2014-10-10 2015-10-08 Image-stitching for dimensioning
GB201517843D0 GB201517843D0 (en) 2015-11-25
GB2531928A true GB2531928A (en) 2016-05-04
GB2531928B GB2531928B (en) 2018-12-12
ID=55130788
GB1517843.7A Active GB2531928B (en) 2014-10-10 2015-10-08 Image-stitching for dimensioning
GB (1) GB2531928B (en)
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WO2016020038A1 (en) * 2014-08-08 2016-02-11 Cargometer Gmbh Device and method for determining the volume of an object moved by an industrial truck
2015-10-08 GB GB1517843.7A patent/GB2531928B/en active Active
GB201517843D0 (en) 2015-11-25
GB2531928B (en) 2018-12-12