최소 단어 이상 선택하여야 합니다.
최대 10 단어까지만 선택 가능합니다.
다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
NTIS 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
DataON 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Edison 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Kafe 바로가기국가/구분 | United States(US) Patent 등록 |
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국제특허분류(IPC7판) |
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출원번호 | US-0179327 (2016-06-10) |
등록번호 | US-9940721 (2018-04-10) |
발명자 / 주소 |
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출원인 / 주소 |
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대리인 / 주소 |
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인용정보 | 피인용 횟수 : 0 인용 특허 : 372 |
A package dimensioner is disclosed. A change in the pose of the package dimensioner is detected by background modeling the area of a measurement platform and then determining if a number of points in a scene are different in distance from the background model. Change in the pose can also be detected
A package dimensioner is disclosed. A change in the pose of the package dimensioner is detected by background modeling the area of a measurement platform and then determining if a number of points in a scene are different in distance from the background model. Change in the pose can also be detected by comparing a count of support points in a 3D container generated from images taken in a training process with a count of support points in a subsequent images and determining how many support points are different.
1. A method, comprising: initializing a dimensioning system by: at a range camera, capturing one or more initial reference images of a measurement platform and surrounding area;at a processor: generating a reference depth map from each initial reference image;generating and storing to a memory a bac
1. A method, comprising: initializing a dimensioning system by: at a range camera, capturing one or more initial reference images of a measurement platform and surrounding area;at a processor: generating a reference depth map from each initial reference image;generating and storing to a memory a background model from the reference depth maps;testing the dimensioning system for a scene change by: at the range camera, capturing a subsequent image of the measurement platform and surrounding area;at the processor: generating a current depth map from the subsequent image;comparing each pixel of the current depth map with a corresponding pixel of the background model; andcounting a number of pixels Pv of the current depth map that differ absolutely from the background model by more than the prescribed threshold THRESH1, and if the number of pixels Pv is greater than a threshold THRESH2, determining that a significant change in the image has occurred. 2. The method according to claim 1, where the testing is carried out on a periodic basis. 3. The method according to claim 1, further comprising executing a dimensioning process to measure the dimensions of an object on the measurement platform. 4. The method according to claim 3, where the testing is carried out whenever a prescribed period of inactivity in measuring dimensions of an object on the measurement platform. 5. The method according to claim 3, where the testing is carried out prior to each measurement of dimensions of an object on the measurement platform. 6. The method according to claim 1, further comprising generating an alert upon determining that a significant scene change has occurred. 7. The method according to claim 1, further comprising upon determining that a significant scene change has occurred, repeating the initializing. 8. A dimensioning system, comprising: a measurement platform;a range camera mounted so as to capture an image of the measurement platform and surrounding area;a processor programmed to carry out the following actions:initialize the dimensioning system by: receiving one or more initial reference images of the measurement platform and surrounding area from the range camera;generating and storing to a memory a background model from the one or more captured initial reference images;test the dimensioning system for a scene change by: receiving a subsequent image of the platform area from the range camera;generating a current depth map from the subsequent image;comparing each pixel of the current depth map with a corresponding pixel of the background model; andcounting a number of pixels Pv of the current depth map that differ absolutely from the background model by more than the prescribed threshold THRESH1, and if the number of pixels Pv is greater than a threshold THRESH2, determining that a significant change in the image has occurred. 9. The system according to claim 8, where the testing is carried out on a periodic basis. 10. The system according to claim 8, further comprising the processor executing a dimensioning process to measure dimensions of an object on the measurement platform. 11. The system according to claim 10, where the testing is carried out whenever a prescribed period of inactivity in measuring dimensions of an object on the measurement platform. 12. The system according to claim 10, where the testing is carried out prior to each measurement of dimensions of an object on the measurement platform. 13. The system according to claim 8, further comprising the processor generating an alert upon determining that a significant scene change has occurred. 14. The system according to claim 8, further comprising upon determining that a significant scene change has occurred, the processor repeating the initializing. 15. A method, comprising: initializing a dimensioning system by: at a range camera, capturing an initial reference image of a platform and surrounding area;at a processor, generating a three-dimensional container around the platform and storing the container to memory; andat the processor, determining a count of support points in the container from the initial reference image;testing the dimensioning system for a scene change by: at the range camera, capturing a subsequent image of the measurement platform and surrounding area;at the processor: counting support points in the subsequent image that are in the container;comparing the count of support points in the container in the subsequent image with the count of support points in the container in the initial reference image;based on the comparison, determining if a prescribed difference in the counts is present; andupon determining that a prescribed difference in the counts exists establishing that a significant scene change has occurred. 16. The method according to claim 15, where the testing is carried out on a periodic basis. 17. The method according to claim 15, further comprising executing a dimensioning process to measure dimensions of an object on the platform. 18. The method according to claim 17, where the testing is carried out whenever a prescribed period of inactivity in measuring dimensions of an object on the measurement platform. 19. The method according to claim 17, where the testing is carried out prior to each measurement of dimensions of an object on the measurement platform. 20. The method according to claim 17, further comprising generating an alert upon determining that a significant scene change has occurred. 21. The method according to claim 17, where the container comprises a right prism with a base approximating a convex polygon, where the base is parallel to a congruent convex polygon that bounds the measurement platform, and where the prism's height equals twice a maximum support distance. 22. The method according to claim 15, where the container comprises a right cylinder with a circular base, where the base is parallel to a congruent circle that bounds the measurement platform, and where the cylinder's height equals twice the maximum support distance. 23. The method according to claim 15, comprising: when a significant scene change is deemed to have occurred, searching the scene for the measurement platform at a location coplanar therewith. 24. The method according to claim 15, further comprising upon establishing that a significant scene change has occurred, repeating the initializing. 25. A dimensioning system, comprising: a measurement platform;a range camera mounted so as to capture an image of the measurement platform and surrounding area;a processor programmed to carry out the following actions: initialize the dimensioning system by: receiving an initial reference image of a platform area from the range camera;generating a three-dimensional container around the measurement platform and storing the container to memory; anddetermining a count of support points in the container from the initial reference image;test the dimensioning system for a scene change by: receiving a subsequent image of the measurement platform and surrounding area from the range camera;counting support points in the subsequent image that are in the container;comparing the count of support points in the container in the subsequent image with the count of support points in the container in the initial reference image;based on the comparison, determining if a prescribed difference in the counts of support points is present; andupon determining that a prescribed difference in the counts exists establishing that a significant scene change has occurred. 26. The system according to claim 25, where the testing is carried out on a periodic basis. 27. The system according to claim 25, further comprising the processor executing a dimensioning process to measure dimensions of an object on the measurement platform. 28. The system according to claim 27, where the testing is carried out whenever a prescribed period of inactivity in measuring dimensions of an object on the measurement platform. 29. The system according to claim 27, where the testing is carried out prior to each measurement of dimensions of an object on the measurement platform. 30. The system according to claim 25, further comprising the processor generating an alert upon determining that a significant scene change has occurred. 31. The system according to claim 25, where the container comprises a right prism with a base approximating a convex polygon, where the base is parallel to a congruent convex polygon that bounds the measurement platform, and where the prism's height equals twice the maximum support distance. 32. The system according to claim 25, where the container comprises a right cylinder with a circular base, where the base is parallel to a congruent circle that bounds the measurement platform, and where the cylinder's height equals twice the maximum support distance. 33. The system according to claim 25, further comprising when a significant scene change is deemed to have occurred, the processor searching the scene for the measurement platform at a location coplanar therewith. 34. The system according to claim 25, further comprising the processor repeating the initializing upon establishing that a significant scene change has occurred.
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