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METHOD AND APPARATUS FOR SUPPORT SURFACE EDGE DETECTION

  • US 20190073554A1
  • Filed: 09/07/2017
  • Published: 03/07/2019
  • Est. Priority Date: 09/07/2017
  • Status: Active Grant
First Claim
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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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