System and method for dimensioning objects using stereoscopic imaging

• US 8,284,988 B2
• Filed: 05/13/2009
• Issued: 10/09/2012
• Est. Priority Date: 05/13/2009
• Status: Expired due to Fees

• Current Assignee: Applied Vision Corporation (Antares Vision S.p.A.)
• Original Assignee: Applied Vision Corporation (Antares Vision S.p.A.)
• Inventors: Sones, Richard A., Brumbaugh, Kris, Kress, Michael Leo
• Primary Examiner(s): DULANEY, KATHLEEN YUAN
• Application Number:
  US12/464,924
• Publication Number:
  US 20100290665A1
• Time in Patent Office: 1,245 Days
• Field of Search: 382/154, 382/101, 356/601, 356/625, 235/454, 235/440
• US Class Current: 382/101
• CPC Class Codes: G01B 11/024 by means of diode-array scanning
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/20224 Image subtraction
• CPC Class Codes: G06T 2207/30108 Industrial image inspection
• CPC Class Codes: G06T 7/62 of area, perimeter, diameter or volume
• CPC Class Codes: G06V 10/147 Details of sensors, e.g. sensor lenses fingerprint or palmprint sensors G06V40/13; vascular sensors G06V40/145; eye sensors G06V40/19
• CPC Class Codes: G06V 20/64 Three-dimensional objects

Abstract

A method and configuration to estimate the dimensions of a cuboid. The configuration includes two image acquisition units offset from each other with at least one of the units positioned at a defined acquisition height above a background surface. Image processing techniques are used to extract a perimeter of a top surface of the cuboid, placed on the background surface, from pairs of acquired images. A height estimation technique is used to calculate an absolute height of the cuboid. The absolute height of the cuboid is used, along with the extracted perimeter of the top surface of the cuboid, to calculate an absolute length and an absolute width of the cuboid. The height, length, and width may be used to calculate an estimated volume of the cuboid.

Claims

1. An image acquisition and processing configuration to estimate the dimensions of a package, said configuration comprising:

a primary image acquisition unit positioned at a primary acquisition location;

a secondary image acquisition unit positioned at a secondary acquisition location which is offset from said primary acquisition location by a defined offset distance;

a platform having a substantially horizontal top surface positioned substantially directly beneath said primary image acquisition unit such that said primary image acquisition unit is at a defined image acquisition height above said top surface of said platform; and

a vision engine operatively connected to said image acquisition units and operable to;

trigger said image acquisition units to acquire background images of said top surface of said platform and package images of a top surface of a package placed on said top surface of said platform,

receive said acquired images from said image acquisition units, and

process said received images to;

generate a primary subtraction image and a secondary subtraction image,

determine a spatial image shift between at least one spatially correlated common feature of said primary subtraction image and said secondary subtraction image, and

determine an absolute height of said package using at least said spatial image shift and said image acquisition height.

2. The configuration of claim 1 wherein said platform comprises a scale operable to weigh said package placed on said top surface of said platform.

3. The configuration of claim 1 further comprising a scale having said platform resting thereon and operable to weigh said package placed on said top surface of said platform.

4. The configuration of claim 1 wherein each of said image acquisition units comprises a camera.

5. The configuration of claim 1 further comprising at least one illuminator positioned to illuminate said top surface of said platform and said top surface of said package placed on said platform, wherein said at least one illuminator is operatively connected to said vision engine and is configured to be turned on by said vision engine.

6. The configuration of claim 5 wherein said at least one illuminator and said image acquisition units operate in an infrared range of wavelengths.

7. The configuration of claim 5 wherein said at least one illuminator and said image acquisition units operate in an ultraviolet range of wavelengths.

8. The configuration of claim 5 wherein said at least one illuminator and said image acquisition units operate in a visible range of wavelengths.

9. The configuration of claim 5 further comprising a linear polarizer operatively connected to said at least one illuminator.

10. The configuration of claim 9 further comprising a cross-polarizer operatively connected to said primary image acquisition unit.

11. The configuration of claim 9 further comprising a cross-polarizer operatively connected to said secondary image acquisition unit.

12. The configuration of claim 1 wherein said configuration is configured to accommodate cuboid-shaped packages ranging in dimensions between 2 inches by 2 inches by one inch and 36 inches by 24 inches by 26 inches.

13. The configuration of claim 1 wherein said vision engine is operable to process said received images by:

correcting each of said received images for optical distortion to form a corrected primary background image, a corrected secondary background image, a corrected primary package image, and a corrected secondary package image;

performing edge enhancement and edge extraction on each of said corrected images to form a primary background edge image, a secondary background edge image, a primary package edge image, and a secondary package edge image;

subtracting said primary background edge image from said primary package edge image to form said primary subtraction image;

subtracting said secondary background edge image from said secondary package edge image to form said secondary subtraction image;

finding a best-fit rectangle within said primary subtraction image to extract a primary rectangle representing said top surface of said package;

finding a best-fit rectangle within said secondary subtraction image to extract a secondary rectangle representing said top surface of said package;

spatially correlating at least one common feature of said primary rectangle and said secondary rectangle to determine said at least one spatially correlated common feature of said primary subtraction image and said secondary subtraction image;

calculating said spatial image shift between said primary rectangle and said secondary rectangle using said at least one spatially correlated common feature;

calculating said absolute height of said package by applying a height estimation technique using at least said calculated spatial image shift and said image acquisition height; and

calculating an absolute length and an absolute width of said package using said calculated absolute height of said package and at least one of said primary rectangle and said secondary rectangle.

14. The configuration of claim 13 wherein said vision engine is further operable to calculate an estimated volume of said package using said absolute length, said absolute width, and said absolute height.

15. The configuration of claim 13 wherein said vision engine is further operable to binarize said primary subtraction image and said secondary subtraction image before finding said best-fit rectangles.

16. The configuration of claim 1 further comprising an optical bandpass filter operatively connected to said primary image acquisition unit to reject ambient light.

17. The configuration of claim 1 further comprising an optical bandpass filter operatively connected to said secondary image acquisition unit to reject ambient light.