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Identifying and locating possible lines corresponding to pallet structure in an image

  • US 8,995,743 B2
  • Filed: 10/16/2012
  • Issued: 03/31/2015
  • Est. Priority Date: 10/19/2011
  • Status: Active Grant
First Claim
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1. A computer-implemented method for finding a Ro image providing data corresponding to possible orthogonal distances to possible lines on a pallet in an image comprising:

  • acquiring a grey scale image including one or more pallets;

    determining, using a computer, a horizontal gradient image by convolving the grey scale image and a first convolution kernel;

    determining, using the computer, a vertical gradient image by convolving the grey scale image and a second convolution kernel; and

    based on the horizontal gradient image and the vertical gradient image, determining, using the computer, respective pixel values of a first Ro image providing data corresponding to a possible orthogonal distance from an origin point of the grey scale image to one or more possible lines on one or more possible pallets in the grey scale image.

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