Method, system and apparatus for correcting translucency artifacts in data representing a support structure
First Claim
1. A method in an imaging controller of correcting translucency artifacts in data representing one or more objects disposed on a shelf, comprising:
- obtaining a plurality of depth measurements captured by a depth sensor and corresponding to an area containing the shelf;
obtaining (i) a definition of a plane containing edges of the shelf, (ii) a location in the plane of an upper shelf edge, and (iii) a location in the plane of a lower shelf edge adjacent to the upper shelf edge;
generating a depth map containing, for each of a plurality of positions in the plane, a nearest object depth;
detecting an upper object boundary in the depth map between the upper and lower shelf edges;
generating a corrected depth map by updating each nearest object depth between the upper object boundary and the lower shelf edge to contain a depth of the upper object boundary; and
storing the corrected depth map.
1 Assignment
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Accused Products
Abstract
A method in an imaging controller of correcting translucency artifacts in data representing one or more objects disposed on a shelf includes: obtaining a plurality of depth measurements captured by a depth sensor and corresponding to an area containing the shelf; obtaining (i) a definition of a plane containing edges of the shelf, (ii) a location in the plane of an upper shelf edge, and (iii) a location in the plane of a lower shelf edge adjacent to the upper shelf edge; generating a depth map containing, for each of a plurality of positions in the plane, a nearest object depth; detecting an upper object boundary in the depth map between the upper and lower support surface edges; updating each nearest object depth between the upper object boundary and the lower shelf edge to contain a depth of the upper object boundary; and storing the corrected depth map.
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Citations
20 Claims
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1. A method in an imaging controller of correcting translucency artifacts in data representing one or more objects disposed on a shelf, comprising:
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obtaining a plurality of depth measurements captured by a depth sensor and corresponding to an area containing the shelf; obtaining (i) a definition of a plane containing edges of the shelf, (ii) a location in the plane of an upper shelf edge, and (iii) a location in the plane of a lower shelf edge adjacent to the upper shelf edge; generating a depth map containing, for each of a plurality of positions in the plane, a nearest object depth; detecting an upper object boundary in the depth map between the upper and lower shelf edges; generating a corrected depth map by updating each nearest object depth between the upper object boundary and the lower shelf edge to contain a depth of the upper object boundary; and storing the corrected depth map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A computing device for correcting translucency artifacts in data representing one or more objects disposed on a shelf, comprising:
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a memory; and an imaging controller connected to the memory, the imaging controller including; a preprocessor configured to obtain a plurality of depth measurements captured by a depth sensor and corresponding to an area containing the shelf; the preprocessor further configured to obtain (i) a definition of a plane containing edges of the shelf, (ii) a location in the plane of an upper shelf edge, and (iii) a location in the plane of a lower shelf edge adjacent to the upper shelf edge; a map generator configured to generate a depth map containing, for each of a plurality of positions in the plane, a nearest object depth; a corrector configured to detect an upper object boundary in the depth map between the upper and lower shelf edges; and the corrector further configured to generate a corrected depth map by updating each nearest object depth between the upper object boundary and the lower shelf edge to contain a depth of the upper object boundary; and the imaging controller further configured to store the corrected depth map in the memory. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification