Methods and systems for high precision locationing with depth values
First Claim
1. A method comprising:
- receiving multiple depth values read by multiple depth sensors positioned on a freight-moving vehicle and oriented towards an overhead surface disposed above the freight-moving vehicle, wherein different portions of the overhead surface are positioned at different heights above a floor surface and above the multiple depth sensors, wherein each of the multiple depth values is representative of a distance between a respective one of the depth sensors and a respective different portion of the overhead surface;
determining a position and orientation of the freight-moving vehicle at least in part by querying a lookup table by mapping the received multiple depth values to respective heights of the respective different portions of the overhead surface that correspond, in the lookup table, to known positions of the different portions of the overhead surface;
outputting the determined position and orientation of the freight-moving vehicle, anddimensioning a freight carried by the freight-moving vehicle based at least in part on the determined position and orientation of the freight-moving vehicle.
1 Assignment
0 Petitions
Accused Products
Abstract
Described herein are methods and systems for high-precision locationing with depth values. One embodiment takes the form of a method that includes: receiving multiple depth values that correspond respectively to depth readings from multiple depth sensors positioned on a freight-moving vehicle and oriented towards an overhead surface, wherein different portions of the overhead surface are positioned at different heights above a floor surface, determining a position and orientation of the freight-moving vehicle at least in part by querying a lookup table using the received multiple depth values, wherein the lookup table maps respective heights of the respective different portions of the overhead surface to known positions of the different portions of the overhead surface; and outputting the determined position and orientation of the freight-moving vehicle.
-
Citations
20 Claims
-
1. A method comprising:
-
receiving multiple depth values read by multiple depth sensors positioned on a freight-moving vehicle and oriented towards an overhead surface disposed above the freight-moving vehicle, wherein different portions of the overhead surface are positioned at different heights above a floor surface and above the multiple depth sensors, wherein each of the multiple depth values is representative of a distance between a respective one of the depth sensors and a respective different portion of the overhead surface; determining a position and orientation of the freight-moving vehicle at least in part by querying a lookup table by mapping the received multiple depth values to respective heights of the respective different portions of the overhead surface that correspond, in the lookup table, to known positions of the different portions of the overhead surface; outputting the determined position and orientation of the freight-moving vehicle, and dimensioning a freight carried by the freight-moving vehicle based at least in part on the determined position and orientation of the freight-moving vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. A system comprising:
-
an overhead surface comprising a plurality of different portions of varying heights; a plurality of depth sensors positioned on a freight-moving vehicle, oriented towards the overhead surface disposed above the freight-moving vehicle, and configured to measure respective depths to respective different portions of the overhead surface; and a processor configured to; receive respective depth values read by respective depth sensors in the plurality of depth sensors; determine a position and orientation of the freight-moving vehicle at least in part by querying a lookup table by mapping the received multiple depth values to respective heights of respective different portions of the overhead surface that correspond, in the lookup table, to known positions of the different portions of the overhead surface; output the determined position and orientation of the freight-moving vehicle, and dimension a freight carried by the freight-moving vehicle based at least in part on the determined position and orientation of the freight-moving vehicle. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
-
-
20. A system comprising:
-
an overhead grid comprising a plurality of depth elements of varying heights; at least three depth sensors positioned on a freight-moving vehicle and oriented towards the overhead grid disposed above the freight-moving vehicle, the at least three depth sensors configured to measure a respective depth to a respective depth element positioned above the respective depth sensor, and a processor configured to; receive respective depth values read by the at least three depth sensors; determine a position and orientation of the freight-moving vehicle at least in part by querying a database by mapping the received respective depth values to respective heights of respective depth elements in the overhead grid that correspond, in the database, to known Cartesian positions of the depth elements in the overhead grid; determine a collective geometric shape of (i) freight being carried by the freight-moving vehicle and (ii) at least a portion of the freight-moving vehicle; isolate a geometric shape of the freight at least in part by segmenting the geometric shape of the at least a portion of the freight-moving vehicle from the collective geometric shape based at least in part on the determined position and orientation of the freight-moving vehicle, output the isolated geometric shape of the freight, and dimension the freight carried by the freight-moving vehicle based at least in part on the determined position and orientation of the freight-moving vehicle and the isolated geometric shape of the freight.
-
Specification