Handheld dimensioning system with feedback

• US 9,752,864 B2
• Filed: 10/21/2014
• Issued: 09/05/2017
• Est. Priority Date: 10/21/2014
• Status: Active Grant

• Current Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Original Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Inventors: Laffargue, Franck, Hunt, Jeffrey
• Primary Examiner(s): LY, TOAN C
• Application Number:
  US14/519,195
• Publication Number:
  US 20160109220A1
• Time in Patent Office: 1,050 Days
• Field of Search: 23547201
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G01B 11/024 by means of diode-array scanning
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G06T 17/20 Finite element generation, e.g. wire-frame surface description, tesselation
• CPC Class Codes: G06T 2207/10024 Color image
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/62 of area, perimeter, diameter or volume
• CPC Class Codes: G06V 20/64 Three-dimensional objects
• CPC Class Codes: H04N 13/257 Colour aspects
• CPC Class Codes: H04N 13/271 wherein the generated image signals comprise depth maps or disparity maps
• CPC Class Codes: H04N 2013/0077 Colour aspects

Abstract

A handheld dimensioning system that analyzes a depth map for null-data pixels to provide feedback is disclosed. Null-data pixels correspond to missing range data and having too many in a depth map may lead to dimensioning errors. Providing feedback based on the number of null-data pixels helps a user understand and adapt to different dimensioning conditions, promotes accuracy, and facilitates handheld applications.

Claims

1. A method for obtaining a dimension measurement using a handheld dimensioner, the method comprising:

receiving, using a processor, range data from a dimensioning subsystem;

creating, using the processor, a depth map from the range data;

determining, using the processor, a null-data pixel-count from the depth map, the null-data pixel-count comprising a sum total of null-data pixels; and

computing, using the processor, a dimension measurement if the null-data pixel-count is at or below a threshold count, or

generating, using the processor, an error feedback if the null-data pixel-count is above the threshold count.

2. The method according to claim 1, wherein the depth map comprises a digital image of the handheld-dimensioner'"'"'s field-of-view, wherein the digital-image'"'"'s pixel values correspond to the distance between the handheld dimensioner and an object or objects in the field-of-view.

3. The method according to claim 2, wherein the depth map'"'"'s null-data pixels comprise a single pixel value, the single pixel value indicating that a range measurement for a pixel was not possible.

4. The method according to claim 1, comprising generating, using the processor, a confidence feedback if the depth-map'"'"'s null-data pixel-count is below the threshold count.

5. The method according to claim 4, wherein the confidence feedback comprises a visible image of the handheld-dimensioner'"'"'s field-of-view and a wireframe rendering of an object, the wireframe rendering displayed with the visible image.

6. The method according to claim 4, wherein the confidence feedback comprises an indication of a confidence value, the confidence value corresponding to the null-data pixel count.

7. The method according to claim 4, wherein the confidence feedback comprises an indication of the dimension measurement'"'"'s conformance to a standard.

8. The method according to claim 1, comprising generating, using the processor, a user-guidance feedback if the null-data pixel-count is above the threshold count.

9. The method according to claim 8, wherein the user-guidance feedback comprises information to facilitate the adjustment of a measurement geometry.

10. The method according to claim 8, wherein the user-guidance feedback comprises information to facilitate the adjustment of lighting.

11. The method according to claim 8, comprising repeating the receiving, creating, determining, and generating until the depth map'"'"'s null-data pixel-count is at or below the threshold count then computing, using the processor, a dimension measurement.

12. The method according to claim 1, wherein the error feedback comprises an indication that the handheld dimensioner cannot produce a dimension measurement.

13. The method according to claim 1, wherein the error feedback comprises an indication that the object or objects are positioned with at least one object surface that is not visible to the handheld dimensioner.

14. The method according to claim 1, wherein the error feedback comprises an indication that the object color is too dark or that the lighting is insufficient.

15. A handheld dimensioning system configured to provide error feedback, the dimensioning system comprising:

a dimensioning subsystem comprising at least one image sensor for capturing range data of an object or objects within a field-of-view; and

a control subsystem communicatively coupled to the at least one image sensor, the control subsystem comprising at least one processor and at least one non-transitory storage medium for storing information and processor-executable instructions, wherein the processor-executable instructions configure the processor to;

(i) receive range data from the dimensioning subsystem, (ii) create a depth map from the range data, (iii) process the depth map to obtain a depth-map quality, and (iv) generate an error feedback if the depth-map quality is below a minimum-quality threshold;

wherein the depth-map quality comprises a sum of the number of pixels in the depth map having insufficient information to determine depth.

16. The handheld dimensioning system according to claim 15, wherein the dimensioning subsystem comprises a pattern projector, the pattern projector projecting a light pattern on the object or objects in the field-of-view.

17. The handheld dimensioning system according to claim 15, wherein the error feedback comprises user guidance information to facilitate the repositioning of the handheld dimensioner to capture range data having an improved depth-map quality.

18. The handheld dimensioning system according to claim 15, wherein the error feedback comprises information indicating that no dimension measurement is possible.

19. The handheld dimensioning system according to claim 15, wherein the error feedback comprises information indicating that a dimension measurement does not conform to a standard.