CONTROLLING TRUCK FORKS BASED ON IDENTIFYING AND TRACKING MULTIPLE OBJECTS IN AN IMAGE SCENE
First Claim
1. A method for controlling forks of a vehicle, comprising:
- while the forks of the vehicle are moving vertically, acquiring a series of images of a scene of a physical environment in which a plurality of pallets are visible;
identifying in each image, by a computer system, one or more scored candidate objects, each potentially corresponding to a respective one of the plurality of pallets;
for each of the one or more scored candidate objects, tracking, by the computer system, a respective location in each of at least two images of the series;
determining for each of the one or more scored candidate objects a respective, associated height in the physical environment, wherein the respective, associated height for each particular one of the scored candidate objects is based on the respective locations in the each of the at least two images for that particular one scored candidate object; and
stopping, by the computer system, the forks of the vehicle at a height in the physical environment based on the height of a specific one of the scored candidate objects.
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Accused Products
Abstract
A method is provided for controlling forks of a vehicle. The method may comprise: while the forks of the vehicle are moving vertically, acquiring a series of images of a scene of a physical environment in which a plurality of pallets are visible; identifying in each image, by a computer system, one or more scored candidate objects, each potentially corresponding to a respective one of the plurality of pallets; for each of the one or more scored candidate objects, tracking, by the computer system, a respective location in each of at least two images of the series; determining for each of the one or more scored candidate objects a respective, associated height in the physical environment; and stopping, by the computer system, the forks of the vehicle at a height in the physical environment based on the height of a specific one of the scored candidate objects.
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Citations
63 Claims
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1. A method for controlling forks of a vehicle, comprising:
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while the forks of the vehicle are moving vertically, acquiring a series of images of a scene of a physical environment in which a plurality of pallets are visible; identifying in each image, by a computer system, one or more scored candidate objects, each potentially corresponding to a respective one of the plurality of pallets; for each of the one or more scored candidate objects, tracking, by the computer system, a respective location in each of at least two images of the series; determining for each of the one or more scored candidate objects a respective, associated height in the physical environment, wherein the respective, associated height for each particular one of the scored candidate objects is based on the respective locations in the each of the at least two images for that particular one scored candidate object; and stopping, by the computer system, the forks of the vehicle at a height in the physical environment based on the height of a specific one of the scored candidate objects. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A system for controlling forks of a vehicle, comprising:
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an imaging acquisition component configured to, while the forks of the vehicle are moving vertically, acquire a series of images of a scene of a physical environment in which a plurality of pallets are visible; an image analyzer configured to identify in each image one or more scored candidate objects, each potentially corresponding to a respective one of the plurality of pallets; an object tracking component configured to track a respective location in each of at least two images of the series for each of the one or more scored candidate objects; an image processing component configured to determine for each of the one or more scored candidate objects a respective, associated height in the physical environment, wherein the respective, associated height for each particular one of the scored candidate objects is based on the respective locations in the each of the at least two images for that particular one scored candidate object; and a fork controller configured to stop the forks of the vehicle at a height in the physical environment based on the height of a specific one of the scored candidate objects. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42)
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43. A computer program product for controlling forks of a vehicle, comprising:
a computer readable storage medium having computer readable program code embodied therewith, the computer readable program code comprising; computer readable program code configured to, while the forks of the vehicle are moving vertically, acquire a series of images of a scene of a physical environment in which a plurality of pallets are visible; computer readable program code configured to identify in each image one or more scored candidate objects, each potentially corresponding to a respective one of the plurality of pallets; computer readable program code configured to, for each of the one or more scored candidate objects, track a respective location in each of at least two images of the series; computer readable program code configured to determine for each of the one or more scored candidate objects a respective, associated height in the physical environment, wherein the respective, associated height for each particular one of the scored candidate objects is based on the respective locations in the each of the at least two images for that particular one scored candidate object; and computer readable program code configured to stop the forks of the vehicle at a height in the physical environment based on the height of a specific one of the scored candidate objects. - View Dependent Claims (44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63)
Specification