Identifying, evaluating and selecting possible pallet board lines in an image scene
First Claim
1. A method for determining which of a plurality of possible lines is most likely to be an actual line passing through a possible corner of a pallet comprising:
- providing a Ro image comprising pixels valued to generally correspond to an orthogonal distance from an origin point in the Ro image to one or more possible lines in a corresponding grey scale image;
providing, using a computer, a location in the Ro image corresponding to a possible pallet corner;
defining, using said computer, a plurality of possible lines passing through the possible pallet corner, each of the possible lines being respectively oriented at one angle within a range of angles to an axis of the Ro image; and
determining, using said computer, which of the plurality of possible lines is most likely to be the actual line passing through the possible pallet corner.
1 Assignment
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Accused Products
Abstract
A method is provided for determining which of a plurality of possible lines is most likely to be an actual line passing through a possible corner of a pallet. The method may comprise: providing a Ro image comprising pixels valued to generally correspond to an orthogonal distance from an origin point in the Ro image to one or more possible lines in a corresponding grey scale image; providing, using a computer, a location in the Ro image corresponding to a possible pallet corner; defining, using the computer, a plurality of possible lines passing through the possible pallet corner, each of the possible lines being respectively oriented at one angle within a range of angles to an axis of the Ro image; and determining, using the computer, which of the plurality of possible lines is most likely to be the actual line passing through the possible pallet corner.
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Citations
27 Claims
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1. A method for determining which of a plurality of possible lines is most likely to be an actual line passing through a possible corner of a pallet comprising:
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providing a Ro image comprising pixels valued to generally correspond to an orthogonal distance from an origin point in the Ro image to one or more possible lines in a corresponding grey scale image; providing, using a computer, a location in the Ro image corresponding to a possible pallet corner; defining, using said computer, a plurality of possible lines passing through the possible pallet corner, each of the possible lines being respectively oriented at one angle within a range of angles to an axis of the Ro image; and determining, using said computer, which of the plurality of possible lines is most likely to be the actual line passing through the possible pallet corner. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for determining which of a plurality of possible lines is most likely to be an actual line passing through a possible corner of a pallet comprising:
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a computer configured to acquire a Ro image comprising pixels valued to generally correspond to an orthogonal distance from an origin point in the Ro image to one or more possible lines in a corresponding grey scale image; said computer configured to provide a location in the Ro image corresponding to a possible pallet corner; said computer further configured to define a plurality of possible lines passing through the possible pallet corner, each of the possible lines being respectively oriented at one angle within a range of angles to an axis of the Ro image; and said computer further configured to determine which of the plurality of possible lines is most likely to be an actual line passing through the possible pallet corner. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A computer program product for determining which of a plurality of possible lines is most likely to be an actual line passing through a possible corner of a pallet, comprising:
a non-transitory computer readable storage medium having computer readable program code embodied therewith, the computer readable program code comprising; computer readable program code configured to acquire a Ro image comprising pixels valued to generally correspond to an orthogonal distance from an origin point in the Ro image to one or more possible lines in a corresponding grey scale image; computer readable program code configured to provide a location in the Ro image corresponding to a possible pallet corner; computer readable program code configured to define a plurality of possible lines passing through the possible pallet corner, each of the possible lines being respectively oriented at one angle within a range of angles to an axis of the Ro image; and computer readable program code configured to determine which of the plurality of possible lines is most likely to be an actual line passing through the possible pallet corner. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27)
Specification