Pallet detection using units of physical length
US9990535B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 27, 2016 |
| Grant date | Jun 5, 2018 |
| Priority date | — |
| Expiry date | Jun 26, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
An image of a physical environment is acquired that comprises a plurality of pixels, each pixel including a two-dimensional pixel location in the image plane and a depth value corresponding to a distance between a region of the physical environment and the image plane. For each pixel, the two dimensional pixel location and the depth value is converted into a corresponding three-dimensional point in the physical environment defined by three coordinate components, each of which has a value in physical units of measurement. A set of edge points is determined within the plurality of three-dimensional points based, at least in part, on the z coordinate component of the plurality of points and a distance map is generated comprising a matrix of cells. For each cell of the distance map, a distance value is assigned representing a distance between the cell and the closest edge point to that cell.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.