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Image-stitching for dimensioning

  • US 10,402,956 B2
  • Filed: 09/25/2018
  • Issued: 09/03/2019
  • Est. Priority Date: 10/10/2014
  • Status: Active Grant
First Claim
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1. A method, comprising:

  • projecting, using a pattern projector, a light pattern into a field-of-view of a range camera of a dimensioning system, the field-of-view comprising a portion of an object;

    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, wherein the range image is created by determining a range value for each point of light in the projected light pattern to generate a point-cloud image and interpolating range values between points of light in the point-cloud image;

    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;

    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;

    gathering information as a 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;

    combining the plurality of range images to create a composite range-image by image-stitching the plurality of range images using the information gathered as the spatial relationship between the range camera and the object is changed; and

    dimensioning the object using the composite range-image, wherein dimensioning the object using the composite range-image comprises creating a minimum bounding box that surrounds the object; and

    returning the dimensions of the minimum bounding box as dimensions of the object.

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