Methods, systems and apparatus for segmenting objects
First Claim
1. A method of dimensioning items, comprising:
- receiving, at a controller, from one or more sensors, a three-dimensional (3D) representation of a scene that includes an object represented by a 3D model;
determining, at the controller, an orientation of a 2D image in the 3D representation by matching the 2D image with a corresponding region of the 3D representation;
determining, at the controller, a first portion of the 3D representation that corresponds to a subset of the 3D model of the object from;
the orientation of the 2D image in the 3D representation; and
predetermined matching data representative of a matching of the 2D image with a respective corresponding region of the 3D model, each of the 3D model, the 2D image, and the predetermined matching data stored in a memory accessible to the controller;
segmenting, at the controller, the first portion of the 3D representation from a second portion of the 3D representation, wherein the segmenting the first portion of the 3D representation from the second portion of the 3D representation includes removing the first portion of the 3D representation that corresponds to the subset of the 3D model; and
dimensioning one or more items represented by the second portion of the 3D representation that remains after the first portion of the 3D representation that corresponds to the 3D model is removed.
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Abstract
Methods, systems and apparatus for segmenting objects are provided. A controller: receives, from one or more sensors, a 3D representation of a scene that includes an object represented by a 3D model; determines an orientation of a 2D image in the 3D representation by matching the 2D image with a corresponding region of the 3D representation; determines a first portion of the 3D representation that corresponds to a subset of the 3D model of the object from: the orientation of the 2D image in the 3D representation; and predetermined matching data representative of a matching of the 2D image with a respective corresponding region of the 3D model, each of the 3D model, the 2D image, and the predetermined matching data stored in a memory accessible to the controller; segments the first portion of the 3D representation from a second portion of the 3D representation.
134 Citations
16 Claims
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1. A method of dimensioning items, comprising:
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receiving, at a controller, from one or more sensors, a three-dimensional (3D) representation of a scene that includes an object represented by a 3D model; determining, at the controller, an orientation of a 2D image in the 3D representation by matching the 2D image with a corresponding region of the 3D representation; determining, at the controller, a first portion of the 3D representation that corresponds to a subset of the 3D model of the object from; the orientation of the 2D image in the 3D representation; and predetermined matching data representative of a matching of the 2D image with a respective corresponding region of the 3D model, each of the 3D model, the 2D image, and the predetermined matching data stored in a memory accessible to the controller; segmenting, at the controller, the first portion of the 3D representation from a second portion of the 3D representation, wherein the segmenting the first portion of the 3D representation from the second portion of the 3D representation includes removing the first portion of the 3D representation that corresponds to the subset of the 3D model; and dimensioning one or more items represented by the second portion of the 3D representation that remains after the first portion of the 3D representation that corresponds to the 3D model is removed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A device for dimensioning items, comprising:
a controller, and a communication interface, the controller configured to; receive, using the communication interface, from one or more sensors, a three-dimensional (3D) representation of a scene that includes an object represented by a 3D model; determine an orientation of a 2D image in the 3D representation by matching the 2D image with a corresponding region of the 3D representation; determine a first portion of the 3D representation that corresponds to a subset of the 3D model of the object from; the orientation of the 2D image in the 3D representation; and predetermined matching data representative of a matching of the 2D image with a respective corresponding region of the 3D model, each of the 3D model, the 2D image, and the predetermined matching data stored in a memory accessible to the controller; segment the first portion of the 3D representation from a second portion of the 3D representation by removing the first portion of the 3D representation that corresponds to the subset of the 3D model; and dimension one or more items represented by the second portion of the 3D representation that remains after the first portion of the 3D representation that corresponds to the 3D model is removed. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A non-transitory computer-readable medium storing a computer program, wherein execution of the computer program causes a machine to perform operations comprising:
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receiving, at a controller, from one or more sensors, a three-dimensional (3D) representation of a scene that includes an object represented by a 3D model; determining, at the controller, an orientation of a 2D image in the 3D representation by matching the 2D image with a corresponding region of the 3D representation; determining, at the controller, a first portion of the 3D representation that corresponds to a subset of the 3D model of the object from;
the orientation of the 2D image in the 3D representation; and
predetermined matching data representative of a matching of the 2D image with a respective corresponding region of the 3D model, each of the 3D model, the 2D image, and the predetermined matching data stored in a memory accessible to the controller;segmenting, at the controller, the first portion of the 3D representation from a second portion of the 3D representation by removing the first portion of the 3D representation that corresponds to the subset of the 3D model; and dimensioning one or more items represented by the second portion of the 3D representation that remains after the first portion of the 3D representation that corresponds to the 3D model is removed.
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Specification