Image-stitching for dimensioning

• US 10,134,120 B2
• Filed: 09/30/2015
• Issued: 11/20/2018
• Est. Priority Date: 10/10/2014
• Status: Active Grant

• Current Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Original Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Inventors: Jovanovski, Brian L., Li, Jingquan
• Primary Examiner(s): Perungavoor, Sathyanaraya V
• Assistant Examiner(s): Young, Patricia I
• Application Number:
  US14/870,488
• Publication Number:
  US 20160104274A1
• Time in Patent Office: 1,147 Days
• CPC Class Codes: B65G 1/1371 with data records
• CPC Class Codes: B65G 1/1375 the orders being assembled on a commissioning stacker-crane or truck
• CPC Class Codes: G01B 11/2522 the position of the object changing and being recorded
• CPC Class Codes: G05B 19/402 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/31319 Use data groups as inventory control value, adapt inventory need to new data
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 5/50 using two or more images, e.g. averaging or subtraction
• CPC Class Codes: H04N 13/204 using stereoscopic image cameras stereoscopic photography G03B35/00
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 13/282 for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture

Abstract

Dimensioning systems may automate or assist with determining the physical dimensions of an object without the need for a manual measurement. A 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 a range image, which contains 3D information corresponding to the object. Then, using the range image, the dimensioning system may calculate the dimensions of the object. In some cases, a single range image does not contain 3D data sufficient for dimensioning the object. To mitigate or solve this problem, the present invention embraces capturing a plurality of range images from different perspectives, and then combining the range images (e.g., using image-stitching) to form a composite range-image, which can be used to determine the object'"'"'s dimensions.

Claims

1. A method for dimensioning an object, the method comprising:

having a portion of an object in a field-of-view of a range camera of the dimensioning system;

projecting, using a pattern projector, a light pattern into the field-of-view;

capturing, using the range camera of the dimensioning system, a range image of the field-of-view, wherein each pixel of the range image represents a distance from the range camera to a respective point in the range camera'"'"'s field-of-view;

moving the dimensioning system and/or the object so that there is relative movement between the dimensioning system and the object, and the range camera'"'"'s field-of-view contains a different portion of the object, wherein the moving of the dimensioning system and/or the object is automatic;

repeating the capturing and the moving until a plurality of range images have been captured, wherein in each range image of the plurality of range images, each pixel of the range image represents a distance from the range camera to a respective point in the range camera'"'"'s field-of-view;

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:

capturing, using the range camera, an image of the field-of-view, the image comprising a reflected light-pattern; and

generating 3D data from the image of the reflected light-pattern.

3. The method according to claim 2, wherein the plurality of range images collectively comprise 3D data for dimensioning the object.

4. The method according to claim 3, wherein the 3D data for dimensioning comprises 3D data from all surfaces of the object.

5. The method according to claim 3, wherein the 3D data for dimensioning comprises 3D data from a surface of the object without any gaps in the reflected light-pattern.

6. The method according to claim 1, wherein the dimensioning system is handheld.

7. The method according to claim 1, wherein the moving either the dimensioning system or the object comprises generating messages to guide a user to perform the movement, and the messages are selected from the group consisting of audio messages and visual messages.

8. The method according to claim 7, wherein the messages comprise instructions for the user to take action, and the instructions for the user to take action are selected from the group consisting of instructions 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 (iii) cease moving the dimensioning system or the object.

9. The method according to claim 1, wherein the combining the plurality of range images to create a composite range-image, comprises:

image-stitching the plurality of range images.

10. The method according to claim 9, wherein the image-stitching comprises simultaneous localization and mapping (SLAM).

11. A dimensioning system, comprising:

a pattern projector configured to project a light pattern onto an object;

a range camera having a field of view and configured to (i) capture an image of a reflected light-pattern in the field of view, (ii) generate 3D data from the reflected light-pattern, and (iii) create a range image using the 3D data, wherein each pixel of the range image represents a distance from the range camera to a respective point in the range camera'"'"'s field-of-view;

at least one device configured to automatically move the dimensioning system and/or the object so that there is relative movement between the dimensioning system and the object, and the range camera'"'"'s field-of-view contains a different portion of the object; and

a processor communicatively coupled to the pattern projector and the range camera, wherein the processor is configured by software to;

(i) trigger the range camera to capture a plurality of range images, wherein in each range image of the plurality of range images, each pixel of the range image represents a distance from the range camera to a respective point in the range camera'"'"'s field-of-view,

(ii) combine the plurality of range images into a composite range-image, and

(iv) calculate the dimensions of the object using the composite range-image.

12. The dimensioning system according to claim 11, wherein the plurality of range images are captured as the spatial relationship between the dimensioning system and the object is changed.

13. The dimensioning system according to claim 12, wherein (i) each range image in the plurality of range images comprises 3D data from a portion of the object, and (ii) the composite range-image comprises 3D data from the object as a whole.

14. The dimensioning system according to claim 13, wherein the processor is further configured by software to:

gather information as the spatial relationship between the range camera and the object is changed, and the information is selected from the group consisting of tracking information and mapping information.

15. The dimensioning system according to claim 14, wherein to combine the plurality of range images into a composite range-image, the processor is configured by software to:

image-stitch the plurality of range images using the information.

16. The dimensioning system according to claim 15, wherein range images in the plurality of range images have partially overlapping fields of view.

17. The dimensioning system according to claim 14, wherein the processor is further configured to:

use the information to generate messages to help a user change the spatial relationship between the range camera and the object.

18. The dimensioning system according to claim 17, wherein the messages comprise instructions to take action, and the instructions to take action are selected from the group consisting of instructions 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 (iii) cease moving the dimensioning system or the object.

19. The dimensioning system according to claim 11, wherein the dimensioning system is handheld.