METHOD AND APPARATUS FOR SUPPORT SURFACE EDGE DETECTION
First Claim
1. A method of detecting an edge of a support surface by an imaging controller, comprising:
- obtaining a plurality of depth measurements captured by a depth sensor and corresponding to an area containing the support surface;
selecting, by the imaging controller, a candidate set of the depth measurements based on at least one of (i) an expected proximity of the edge of the support surface to the depth sensor, and (ii) an expected orientation of the edge of the support surface relative to the depth sensor;
fitting, by the imaging controller, a guide element to the candidate set of depth measurements; and
detecting, by the imaging controller, an output set of the depth measurements corresponding to the edge from the candidate set of depth measurements according to a proximity between each candidate depth measurement and the guide element.
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Abstract
A method of detecting an edge of a support surface by an imaging controller includes: obtaining a plurality of depth measurements captured by a depth sensor and corresponding to an area containing the support surface; selecting, by the imaging controller, a candidate set of the depth measurements based on at least one of (i) an expected proximity of the edge of the support surface to the depth sensor, and (ii) an expected orientation of the edge of the support surface relative to the depth sensor; fitting, by the imaging controller, a guide element to the candidate set of depth measurements; and detecting, by the imaging controller, an output set of the depth measurements corresponding to the edge from the candidate set of depth measurements according to a proximity between each candidate depth measurement and the guide element.
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Citations
23 Claims
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1. A method of detecting an edge of a support surface by an imaging controller, comprising:
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obtaining a plurality of depth measurements captured by a depth sensor and corresponding to an area containing the support surface; selecting, by the imaging controller, a candidate set of the depth measurements based on at least one of (i) an expected proximity of the edge of the support surface to the depth sensor, and (ii) an expected orientation of the edge of the support surface relative to the depth sensor; fitting, by the imaging controller, a guide element to the candidate set of depth measurements; and detecting, by the imaging controller, an output set of the depth measurements corresponding to the edge from the candidate set of depth measurements according to a proximity between each candidate depth measurement and the guide element. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A computing device for detecting an edge of a support surface, comprising:
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a memory; and an 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 support surface; a selector configured to select a candidate set of the depth measurements based on at least one of (i) an expected proximity of the edge of the support surface to the depth sensor, and (ii) an expected orientation of the edge of the support surface relative to the depth sensor; a guide generator configured to fit a guide element to the candidate set of depth measurements; and an output detector configured to detect an output set of the depth measurements corresponding to the edge from the candidate set of depth measurements according to a proximity between each candidate depth measurement and the guide element. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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Specification