Volume dimensioning systems and methods

• US 9,779,546 B2
• Filed: 05/04/2012
• Issued: 10/03/2017
• Est. Priority Date: 05/04/2012
• Status: Active Grant

• Current Assignee: Intermec IP Corporation (Honeywell International Inc.)
• Original Assignee: Intermec IP Corporation (Honeywell International Inc.)
• Inventors: Hunt, Jeffrey Mark, Jennings, Edward J., Wojack, Nancy, Houle, Scott Xavier
• Primary Examiner(s): Cobb, Michael J
• Application Number:
  US13/464,799
• Publication Number:
  US 20130293539A1
• Time in Patent Office: 1,978 Days
• Field of Search: None
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G06T 17/20 Finite element generation, e.g. wire-frame surface description, tesselation

Abstract

Systems and methods for volume dimensioning packages are provided. A method of operating a volume dimensioning system may include the receipt of image data of an area at least a first three-dimensional object to be dimensioned from a first point of view as captured using at least one image sensor. The system can determine from the received image data a number of features in three dimensions of the first three-dimensional object. Based at least on part on the determined features of the first three-dimensional object, the system can fit a first three-dimensional packaging wireframe model about the first three-dimensional object. The system can display of an image of the first three-dimensional packaging wireframe model fitted about an image of the first three-dimensional object on a display device.

Claims

1. A method of operation of a volume dimensioning system, the method comprising:

receiving, from at least one image sensor, image data, depth map data, and intensity image data of an area from a first point of view by at least one non-transitory processor-readable medium, the area including at least a first three-dimensional object to be dimensioned and a first three-dimensional void, wherein the first three-dimensional void is a visible interior space of a partially or completely empty container;

determining, in three dimensional space, from the received image data, depth map data, and intensity image data a number of features in three dimensions of the first three-dimensional object and the first three-dimensional void by at least one processor communicatively coupled to the at least one non-transitory processor-readable medium;

based at least in part on the features of the first three-dimensional void, fitting a first three-dimensional receiving wireframe model within the first three-dimensional void by the at least one processor;

receiving at least one user input via at least one user interface, the user input indicative of a geometric primitive of the first three-dimensional object;

based at least in part on the user input and the features of the first three-dimensional object, fitting a first three-dimensional packaging wireframe model about the first three-dimensional object by the at least one processor;

determining, in three dimensional space, at least one of an available receiving dimension and an available receiving volume encompassed by the first three dimensional receiving wireframe model;

determining, in three dimensional space, a number of corresponding dimensions of the first three-dimensional object based upon the first three-dimensional packaging wireframe model fitted to the first three-dimensional object, by the at least one processor;

based at least in part on the corresponding dimensions of the first three-dimensional object, specialized shipping requirements associated with the three-dimensional object, and the at least one of the available receiving dimension and available receiving volume, determine at least one of a position and an orientation for the three-dimensional object within the first three-dimensional void; and

causing a displaying of an image of the first three-dimensional packaging wireframe model fitted about an image of the first three-dimensional object and within the first three-dimensional void on a display.

2. The method of claim 1, further comprising:

receiving at least one additional user input via the at least one user interface, the additional user input indicative of a change in a position of at least a portion of the displayed image of the first three-dimensional packaging wireframe model relative to the displayed image of the first three-dimensional object; and

causing a displaying of an updated image of the first three-dimensional packaging wireframe model fitted about the image of the first three-dimensional object on the display.

3. The method of claim 1, further comprising:

receiving at least one additional user input via the at least one user interface, the user input indicative of a change in a position of at least a portion of the displayed image of the three-dimensional packaging wireframe model relative to the displayed image of the first three-dimensional object;

based at least in part on the received additional user input, fitting a second three-dimensional packaging wireframe model about the first three-dimensional object by the at least one processor, the second three-dimensional packaging wireframe model having a different geometrical shape than the first three-dimensional wireframe model; and

causing a displaying of an image of the second three-dimensional packaging wireframe model fitted about the image of the first three-dimensional object on the display.

4. The method of claim 1, further comprising:

receiving at least one additional user input via the at least one user interface, the user input indicative of an identification of a second three-dimensional object, the second three-dimensional object different from the first three-dimensional object;

based at least in part on the received additional user input, fitting a second three-dimensional packaging wireframe model about the second three-dimensional object by the at least one processor; and

causing a displaying of an image of the second three-dimensional packaging wireframe model fitted about the image of the second three-dimensional object on the display.

5. The method of claim 4 wherein the at least one processor causes the concurrent displaying of the image of the first three-dimensional packaging wireframe model fitted about the image of the first three-dimensional object on the display and the image of the second three-dimensional packaging wireframe model fitted about the image of the second three-dimensional object on the display.

6. The method of claim 1, further comprising:

receiving at least one additional user input via the at least one user interface user interface, the additional user input indicative of an identification of at least one portion of the first three-dimensional object;

based at least in part on the received additional user input, fitting one three-dimensional packaging wireframe model about a first portion of the first three-dimensional object by the at least one processor;

based at least in part on the received additional user input, fitting one three-dimensional packaging wireframe model about a second portion of the first three-dimensional object by the at least one processor; and

causing a concurrent displaying of an image of the three-dimensional wireframe models respectively fitted about the image of the first and the second portions of the first three-dimensional object on the display.

7. The method of claim 1 wherein the at least one processor causes the displaying of the image of the first three-dimensional packaging wireframe model fitted about the image of the first three-dimensional object on the display to rotate about an axis.

8. The method of claim 7, further comprising:

receiving image data of the area from a second point of view by at least one non-transitory processor-readable medium from at least one image sensor, the second point of view different from the first point of view;

determining from the received image data at least one additional feature in three dimensions of the first three-dimensional object by at least one processor;

based on the additional features of the first three-dimensional object, at least one of adjusting the first three-dimensional packaging wireframe model or fitting a second three-dimensional packaging wireframe model about the first three-dimensional object by the at least one processor; and

causing a displaying of an image of at least one of the adjusted first three-dimensional packaging wireframe model or the second three-dimensional packaging wireframe model fitted about the image of the first three-dimensional object on the display.

9. The method of claim 1, further comprising:

selecting the first three-dimensional object from a plurality of three-dimensional objects represented in the image data by at least one processor, based at least in part on the user input indicative of the geometric primitive of the first three-dimensional object.

10. The method of claim 9 wherein selecting the first three-dimensional object from a plurality of three-dimensional objects represented in the image data based at least in part on the user input indicative of the geometric primitive of the first three-dimensional object includes determining which of the three-dimensional objects has a geometric primitive that most closely matches the geometric primitive indicated by the received user input.

11. The method of claim 1, further comprising:

receiving at least one additional user input via the at least one user interface, the additional user input indicative of an acceptance of the first three-dimensional packaging wireframe model; and

performing at least a volumetric calculation using a number of dimensions of the selected three-dimensional packaging wireframe model.

12. The method of claim 1, further comprising:

receiving at least one additional user input via the at least one user interface, the additional user input indicative of a rejection of the first three-dimensional packaging wireframe model; and

in response to the received additional user input, fitting a second three-dimensional packaging wireframe model about the first three-dimensional object by the at least one processor, the second three-dimensional packaging wireframe model having a different geometric primitive than the first three-dimensional wireframe model; and

causing a displaying of an image of the second three-dimensional packaging wireframe model fitted about the image of the first three-dimensional object on the display.

13. The method of claim 1, further comprising:

receiving at least one additional user input via the at least one user interface, the additional user input indicative of a second three-dimensional packaging wireframe model, the second three-dimensional packaging wireframe model having a different geometric primitive than the first three-dimensional wireframe model;

in response to the received user input, fitting the second three-dimensional packaging wireframe model about the first three-dimensional object by the at least one processor; and

causing a displaying of an image of the second three-dimensional packaging wireframe model fitted about the image of the first three-dimensional object on the display by the at least one processor.

14. The method of claim 13, further comprising:

causing by the at least one processor a displaying of a plurality of user selectable icons, each corresponding to a respective one of a plurality of three-dimensional packaging wireframe model and selectable by a user to be fitted to the first three-dimensional object.

15. The method of claim 1, further comprising:

receiving at least one additional user input via the at least one user interface, the additional user input indicative of a region of interest of the displayed image of the first three-dimensional object; and

in response to the received additional user input, causing by the at least one processor a displaying of an enlarged image of a portion of the first three-dimensional object corresponding to the region of interest by the display.

16. The method of claim 15, further comprising:

causing by the at least one processor a displaying of a plurality of user selectable icons, each corresponding to a respective one of a plurality of three-dimensional packaging wireframe model and selectable by a user to be fitted to the first three-dimensional object.

17. A volume dimensioning system, comprising:

at least one image sensor communicably coupled to at least one non-transitory processor-readable medium and transmitting image data, depth map data, and intensity image data to said non-transitory processor-readable medium;

at least one processor communicably coupled to the at least one non-transitory processor-readable medium;

a machine executable instruction set stored within at least one non-transitory processor-readable medium, that when executed by the at least one processor causes the at least one processor to;

read image data, depth map data, and intensity image data from the at least one non-transitory processor-readable medium, the image data, depth map data, and intensity image data associated with a first point of view of an area sensed by the at least one image sensor, the area including at least a first three-dimensional object to be dimensioned and a first three-dimensional void, wherein the first three-dimensional void being a visible interior space of a partially or completely empty container;

determine, in three dimensional space, from the received image data, depth map data, and intensity image data a number of features in three dimensions of the first three-dimensional object and the first three-dimensional void;

based at least in part on the determined features of the first three-dimensional void, fit a first three-dimensional receiving wireframe model within the first three-dimensional void by the at least one processor;

based at least in part on the determined features of the first three-dimensional object, and responsive to a user input received by the at least one processor indicative of a geometric primitive of the first three-dimensional object, fit, in three dimensional space, a first three-dimensional packaging wireframe model about the first three-dimensional object;

determine at least one of an available receiving dimension and an available receiving volume encompassed by the first three dimensional receiving wireframe model;

determine volumetric data for the first three-dimensional object based upon the first three-dimensional packaging wireframe model fitted to the first three-dimensional object;

based at least in part on the volumetric data for the three-dimensional object, specialized shipping requirements associated with the three-dimensional object, and the at least one of the available receiving dimension and the available receiving volume, determine at least one of a position and an orientation for the three-dimensional object within the first three-dimensional void; and

cause a display of an image of the first three-dimensional packaging wireframe model fitted about an image of the first three-dimensional object and within the first three-dimensional void on a display device.

18. The volume dimensioning system of claim 17 wherein the machine executable instruction set further comprises instructions, that when executed by the at least one processor cause the at least one processor to:

select from a number of defined geometric primitives that define respective volumes and sizing at least one dimension of the selected geometric primitive based on a corresponding dimension of the first three-dimensional object such that the first three-dimensional object is completely encompassed by the selected and sized geometric primitive;

produce a wireframe model of the first three-dimensional object; and

cause a concurrent display of the wireframe model of the first three-dimensional object along with the first three-dimensional packaging wireframe model.

19. The volume dimensioning system of claim 17, the machine executable instruction set stored within at least one nontransitory processor-readable medium further comprising instructions, that when executed by the at least one processor cause the at least one processor to:

responsive to a user input received by the at least one processor, change a position of at least a portion of the displayed image of the first three-dimensional packaging wireframe model relative to the displayed image of the first three-dimensional object; and

cause a display of an updated image of the first three-dimensional packaging wireframe model fitted about the image of the first three-dimensional object on the display device.

20. The volume dimensioning system of claim 17, the machine executable instruction set stored within at least one nontransitory processor-readable medium further comprising instructions, that when executed by the at least one processor cause the at least one processor to:

responsive to a user input received by the at least one processor, change a position of at least a portion of the displayed image of the first three-dimensional packaging wireframe model relative to the displayed image of the first three-dimensional object;

responsive to a user input received by the at least one processor, fit a second three-dimensional packaging wireframe model about the first three-dimensional object, the second three-dimensional packaging wireframe model having a different geometrical shape than the first three-dimensional wireframe model; and

cause a display of an image of the second three-dimensional packaging wireframe model fitted about the image of the first three-dimensional object on the display device.

21. The volume dimensioning system of claim 17, the machine executable instruction set stored within at least one nontransitory processor-readable medium further comprising instructions, that when executed by the at least one processor cause the at least one processor to:

responsive to a user input received by the at least one processor, the user input indicative of an identification of a second three-dimensional object different from the first three-dimensional object, fit a second three-dimensional packaging wireframe model about the second three-dimensional object; and

cause a display of an image of the second three-dimensional packaging wireframe model fitted about the image of the second three-dimensional object on the display.

22. The volume dimensioning system of claim 17, the machine executable instruction set stored within at least one nontransitory processor-readable medium further comprising instructions, that when executed by the at least one processor cause the at least one processor to:

responsive to a user input received by the at least one processor, the user input indicative of an identification of at least one portion of the first three-dimensional object, fit a three-dimensional packaging wireframe model about a first portion of the first three-dimensional object;

responsive to a user input received by the at least one processor, the user input indicative of an identification of at least one portion of the first three-dimensional object, fit a three-dimensional packaging wireframe model about a second portion of the first three-dimensional object; and

cause a display of an image of the three-dimensional wireframe models fitted about the image of the first and the second portions of the first three-dimensional object on the display device.

23. The volume dimensioning system of claim 17, the machine executable instruction set stored within at least one nontransitory processor-readable medium further comprising instructions, that when executed by the at least one processor cause the at least one processor to:

responsive to a user input received by the at least one processor, the user input indicative of a second three-dimensional packaging wireframe model having a different geometric primitive than the first three-dimensional wireframe model, fit the second three-dimensional packaging wireframe model about the first three-dimensional object by the at least one processor; and

cause a display of an image of the second three-dimensional packaging wireframe model fitted about the image of the first three-dimensional object on the display.

24. The volume dimensioning system of claim 17, the machine executable instruction set stored within at least one non-transitory processor-readable medium further comprising instructions, that when executed by the at least one processor cause the at least one processor to:

cause a display of a plurality of user selectable icons on the display device, each user selectable icon corresponding to a respective one of a plurality of three-dimensional packaging wireframe models and selectable by a user to be fitted to the first three-dimensional object.

25. A method of operation of a volume dimensioning system, the method comprising:

receiving image data, depth map data, and intensity image data of an area from a first point of view by at least one non-transitory processor-readable medium from at least one image sensor, the area including at least a first three-dimensional object to be dimensioned and a first three-dimensional void, wherein the first three-dimensional void is a visible interior space of a partially or completely empty container;

determining, in three dimensional space, from the received image data, depth map data, and intensity image data a number of features of the first three-dimensional object and the first three-dimensional void by at least one processor communicatively coupled to the at least one non-transitory processor-readable medium;

based at least in part on the features of the first three-dimensional void, fitting a first three-dimensional receiving wireframe model within the first three-dimensional void by the at least one processor;

based at least in part on the features of the first three-dimensional object, identifying a first portion and at least a second portion of the first three-dimensional object by the at least one processor;

receiving at least one user input via at least one user interface, the user input indicative of at least one geometric primitive of the first three-dimensional object or a portion thereof;

based on the user input and the features of the first three-dimensional object, fitting, in three dimensional space, a first three-dimensional packaging wireframe model about the first portion of the first three-dimensional object by the at least one processor;

based on the user input and the features of the first three-dimensional object, fitting, in three dimensional space, a second three-dimensional packaging wireframe model about the second portion of the first three-dimensional object by the at least one processor;

determining, in three dimensional space, at least one of an available receiving dimension and an available receiving volume encompassed by the first three dimensional receiving wireframe model;

determining, in three dimensional space, a number of corresponding dimensions of the first three-dimensional object based upon the first three-dimensional packaging wireframe model fitted to the first three-dimensional object, by the at least one processor;

based at least in part on the corresponding dimensions of the first three-dimensional object, specialized shipping requirements associated with the three-dimensional object, and the at least one of the available receiving dimension and available receiving volume, determine at least one of a position and an orientation for the three-dimensional object within the first three-dimensional void; and

causing a concurrent displaying of an image of the first and the second three-dimensional wireframe models respectively fitted about the image of the first and the second portions of the first three-dimensional object and/or within the first three-dimensional void on a display.

26. The method of claim 25, further comprising:

receiving at least one additional user input via the at least one user interface, the additional user input indicative of a change in a position of at least a portion of the displayed image of at least one of the first three-dimensional packaging wireframe model or the second three-dimensional packaging wireframe model relative to the displayed image of the first and second portions of the first three-dimensional object, respectively; and

causing a displaying of an updated image of the first and second three-dimensional packaging wireframe models fitted about the image of the first and second portions of the first three-dimensional object on the display.

27. The method of claim 25, further comprising:

receiving at least one additional user input via the at least one user interface, the user input indicative of a change in a position of at least a portion of the displayed image of at least one of the first three-dimensional packaging wireframe model or the second three-dimensional packaging wireframe model relative to the displayed image of the first three-dimensional object;

based at least in part on the received additional user input, fitting a replacement three-dimensional packaging wireframe model about at least one of the first or second portions of the first three-dimensional object by the at least one processor, the replacement three-dimensional packaging wireframe model having a different geometric primitive than the first or second three-dimensional wireframe model that it replaces; and

causing a displaying of an image of at least the replacement three-dimensional packaging wireframe model fitted about the image of the first three-dimensional object on the display.

28. The method of claim 25 wherein the at least one processor causes the displaying of the image of the first and the second three-dimensional packaging wireframe model fitted about the image of the first three-dimensional object on the display to rotate about an axis.

29. The method of claim 28, further comprising:

receiving image data of the area from a second point of view by at least one nontransitory processor-readable medium from at least one image sensor, the second point of view different from the first point of view;

determining from the received image data at least one additional corresponding dimension in three dimensions of the first three-dimensional object by at least one processor;

based on the determined corresponding dimension of the first three-dimensional object, performing at least one of adjusting the first or second three-dimensional packaging wireframe model or fitting a third three-dimensional packaging wireframe model about at least a portion of the first three-dimensional object not discernible from the first point of view by the at least one processor; and

causing a displaying of an image of at least one of the adjusted first or second three-dimensional packaging wireframe model or the first, second, and third three-dimensional packaging wireframe models fitted about the image of the first three-dimensional object on the display.

30. The method of claim 25

wherein fitting a second three-dimensional packaging wireframe model about the second portion of the first three-dimensional object by the at least one processor includes:

selecting the second three-dimensional packaging wireframe model from the number of defined geometric primitives that define respective volumes and sizing at least one dimension of the selected geometric primitive based on a corresponding dimension of the second portion of the first three-dimensional object such that the second portion of the first three-dimensional object is completely encompassed by the selected and sized geometric primitive.

31. The method of claim 30, further comprising:

producing a wireframe model of the first three-dimensional object; and

causing a concurrently displaying of the wireframe model of the first three-dimensional object along with the first and second three-dimensional packaging wireframe models by the display.

32. The method of claim 25, further comprising:

selecting the first three-dimensional object from a plurality of three-dimensional objects represented in the image data by at least one processor, based at least in part on the user input indicative of the geometric primitive of at least a portion of the first three-dimensional object.

33. The method of claim 32 wherein selecting the first three-dimensional object from a plurality of three-dimensional objects represented in the image data by at least one processor, based at least in part on the user input indicative of the geometric primitive of at least a portion of the first three-dimensional object includes determining which of the three-dimensional objects contains a portion having a geometric primitive that most closely matches the geometric primitive indicated by the received user input.

34. The method of claim 25, further comprising:

receiving at least one additional user input via the at least one user interface, the additional user input indicative of an acceptance of the first three-dimensional packaging wireframe model and the second three-dimensional packaging wireframe model; and

performing at least a volumetric calculation using a number of dimensions of the selected first and second three-dimensional packaging wireframe models.

35. The method of claim 25, further comprising:

receiving at least one additional user input via the at least one user interface, the additional user input indicative of a rejection of at least one of the first three-dimensional packaging wireframe model or the second three-dimensional packaging wireframe model; and

in response to the received additional user input, fitting a replacement three-dimensional packaging wireframe model about the first or second portion of the first three-dimensional object by the at least one processor, the replacement three-dimensional packaging wireframe model having a different geometric primitive than the first or second three-dimensional wireframe model that it replaces; and

causing a displaying of an image of the replacement three-dimensional packaging wireframe model fitted about at least a portion of the image of the first three-dimensional object on the display.

36. The method of claim 25, further comprising:

receiving at least one additional user input via the at least one user interface, the additional user input indicative of a replacement three-dimensional packaging wireframe model, the replacement three-dimensional packaging wireframe model having a different geometric primitive than at least one of the first three-dimensional wireframe model and the second three-dimensional wireframe model;

in response to the received additional user input, fitting the replacement three-dimensional packaging wireframe model about either the first or second portion of the first three-dimensional object by the at least one processor; and

causing a displaying of an image of the replacement three-dimensional packaging wireframe model fitted about the image of the first three-dimensional object on the display by the at least one processor.

37. The method of claim 36, further comprising:

causing by the at least one processor a displaying of a plurality of user selectable options, each user selectable option corresponding to a respective one of a plurality of three-dimensional packaging wireframe model and selectable by a user to be fitted to either the first or second portion of the first three-dimensional object.

38. A volume dimensioning system, comprising:

an image sensor communicably coupled to a nontransitory processor-readable medium;

a processor communicably coupled to the nontransitory processor-readable medium; and

a machine executable instruction set stored within the nontransitory processor-readable medium, that when executed by the processor causes the processor to;

read data comprising image data, depth map data, and intensity image data from the nontransitory processor-readable medium, the data associated with a first point of view of an area sensed by the image sensor, the area including three-dimensional object to be dimensioned and a three-dimensional void, wherein the three dimensional void is a visible interior space of a partially or completely empty container;

determine, in three dimensional space, from the received data a number of features of the three-dimensional object and the three-dimensional void;

based on the features of the three-dimensional object, identify a first portion and a second portion of the first three-dimensional object;

based on the features of the first three-dimensional object, and responsive to a user input received by the processor indicative of at least one geometric primitive of the first three-dimensional object or a portion thereof, fit, in three dimensional space, a first three-dimensional packaging wireframe model about the first portion of the three-dimensional object and

a second three-dimensional packaging wireframe model about the second portion of the first three-dimensional object;

determine at least one of an available receiving dimension and an available receiving volume encompassed by the three dimensional receiving wireframe model;

determine volumetric data for the three-dimensional object based upon the first and second three-dimensional packaging wireframe models fitted to the first three-dimensional object;

based on the volumetric data for the three-dimensional object, specialized shipping requirements associated with the three-dimensional object, and the at least one of the available receiving dimension and the available receiving volume, determine at least one of a position and an orientation for the three-dimensional object within the first three-dimensional void; and

cause a concurrent display of an image of the first and the second three-dimensional wireframe models fitted about the image of the first and the second portions of the first three-dimensional object and within the first three-dimensional void on a display device.

39. The method of claim 38 wherein the first three-dimensional wireframe model is a first geometric primitive;

and

wherein the second three-dimensional wireframe model is a second geometric primitive.