VOLUME DIMENSIONING SYSTEM AND METHOD EMPLOYING TIME-OF-FLIGHT CAMERA
First Claim
1. A dimensioning system, comprising:
- an illumination subsystem operable for successively emitting sequences of spatial patterns of illumination toward a target object, each of the sequences comprising an initial spatial illumination pattern and a refined spatial illumination pattern subsequent to the initial spatial illumination pattern, wherein the refined spatial illumination pattern is spatially different than the initial spatial illumination pattern;
a sensor positioned for detecting illumination returning from the target object; and
a control subsystem communicatively coupled to the sensor and the illumination subsystem, wherein the control subsystem is operable for;
determining an approximate boundary of a portion of the target object based on the detected illumination;
determining a refined spatial illumination pattern based on the determined approximate boundary;
causing the illumination subsystem to emit the determined refined spatial illumination pattern; and
determining an approximate volume of the target object based on illumination returned from the target object when illuminated by the refined spatial illumination pattern.
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Accused Products
Abstract
Volume dimensioning employs techniques to reduce multipath reflection or return of illumination, and hence distortion. Volume dimensioning for any given target object includes a sequence of one or more illuminations and respective detections of returned illumination. A sequence typically includes illumination with at least one initial spatial illumination pattern and with one or more refined spatial illumination patterns. Refined spatial illumination patterns are generated based on previous illumination in order to reduce distortion. The number of refined spatial illumination patterns in a sequence may be fixed, or may vary based on results of prior illumination(s) in the sequence. Refined spatial illumination patterns may avoid illuminating background areas that contribute to distortion. Sometimes, illumination with the initial spatial illumination pattern may produce sufficiently acceptable results, and refined spatial illumination patterns in the sequence omitted.
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Citations
22 Claims
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1. A dimensioning system, comprising:
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an illumination subsystem operable for successively emitting sequences of spatial patterns of illumination toward a target object, each of the sequences comprising an initial spatial illumination pattern and a refined spatial illumination pattern subsequent to the initial spatial illumination pattern, wherein the refined spatial illumination pattern is spatially different than the initial spatial illumination pattern; a sensor positioned for detecting illumination returning from the target object; and a control subsystem communicatively coupled to the sensor and the illumination subsystem, wherein the control subsystem is operable for; determining an approximate boundary of a portion of the target object based on the detected illumination; determining a refined spatial illumination pattern based on the determined approximate boundary; causing the illumination subsystem to emit the determined refined spatial illumination pattern; and determining an approximate volume of the target object based on illumination returned from the target object when illuminated by the refined spatial illumination pattern. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method, comprising:
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emitting, with an illumination subsystem, an initial spatial illumination pattern of modulated illumination toward a target object, wherein the illumination subsystem is operable for successively emitting sequences of spatial patterns of modulated illumination, each of the sequences comprising the initial spatial illumination pattern and a refined spatial illumination pattern of modulated illumination subsequent to the initial spatial illumination pattern, wherein the refined spatial illumination pattern is spatially different than the initial spatial illumination pattern; detecting, with a sensor, illumination returning from the target object; determining, with a control subsystem, an approximate boundary of a portion of the target object based on the detected illumination; determining, with the control subsystem, the refined spatial illumination pattern based on the determined approximate boundary; causing the illumination subsystem to emit the determined refined spatial illumination pattern; and determining, with the control subsystem, an approximate volume of the target object based on illumination returned from the target object when illuminated by the determined refined spatial illumination pattern. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A dimensioning system, comprising:
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an illumination subsystem operable for successively emitting sequences of spatial patterns of modulated illumination toward a target object, each of the sequences comprising an initial spatial illumination pattern of modulated illumination and a refined spatial illumination pattern of modulated illumination subsequent to the initial spatial illumination pattern, wherein the refined spatial illumination pattern is spatially different than the initial spatial illumination pattern; a two-dimensional image sensor positioned for detecting illumination returning from the target object and generating image information corresponding to the detected illumination; and a control subsystem communicatively coupled to the image sensor operable for; receiving the image information from the two-dimensional image sensor; identifying edge features in the received image information corresponding to physical edges of the target object; determining, based on the identified edge features, a refined spatial illumination pattern to reduce multipath reflection; causing the illumination subsystem to emit the determined refined spatial illumination pattern; and determining an approximate volume of the target object based on illumination returned from the target object when illuminated by the refined spatial illumination pattern. - View Dependent Claims (20, 21, 22)
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Specification