CA3005452C - Procedes et systemes d'estimation de remplissage de conteneur - Google Patents

Procedes et systemes d'estimation de remplissage de conteneur Download PDF

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Publication number
CA3005452C
CA3005452C CA3005452A CA3005452A CA3005452C CA 3005452 C CA3005452 C CA 3005452C CA 3005452 A CA3005452 A CA 3005452A CA 3005452 A CA3005452 A CA 3005452A CA 3005452 C CA3005452 C CA 3005452C
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CA
Canada
Prior art keywords
grid
container
shipping container
depth
point cloud
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CA3005452A
Other languages
English (en)
Other versions
CA3005452A1 (fr
Inventor
Yan Zhang
Jay J. Williams
Kevin J. O'connell
Cuneyt M. Taskiran
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Symbol Technologies LLC
Original Assignee
Symbol Technologies LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US14/944,860 external-priority patent/US9940730B2/en
Priority claimed from US14/978,367 external-priority patent/US10713610B2/en
Application filed by Symbol Technologies LLC filed Critical Symbol Technologies LLC
Publication of CA3005452A1 publication Critical patent/CA3005452A1/fr
Application granted granted Critical
Publication of CA3005452C publication Critical patent/CA3005452C/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F17/00—Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/77—Retouching; Inpainting; Scratch removal
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20021—Dividing image into blocks, subimages or windows
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20036—Morphological image processing

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Quality & Reliability (AREA)
  • Geometry (AREA)
  • Fluid Mechanics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Measurement Of Levels Of Liquids Or Fluent Solid Materials (AREA)
  • Image Analysis (AREA)

Abstract

L'invention concerne un procédé et un appareil permettant de recevoir une trame de profondeur en provenance d'un capteur de profondeur orienté vers une extrémité ouverte d'un conteneur d'expédition, la trame de profondeur comprenant une pluralité d'éléments de grille ayant chacun une valeur de profondeur respective, à identifier une ou plusieurs occlusions dans la trame de profondeur, à corriger ladite occlusion dans la trame de profondeur à l'aide d'une ou plusieurs trames de profondeur proches temporellement, et à délivrer la trame de profondeur corrigée pour l'estimation de remplissage.
CA3005452A 2015-11-18 2016-11-10 Procedes et systemes d'estimation de remplissage de conteneur Active CA3005452C (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US14/944,860 2015-11-18
US14/944,860 US9940730B2 (en) 2015-11-18 2015-11-18 Methods and systems for automatic fullness estimation of containers
US14/978,367 2015-12-22
US14/978,367 US10713610B2 (en) 2015-12-22 2015-12-22 Methods and systems for occlusion detection and data correction for container-fullness estimation
PCT/US2016/061279 WO2017087244A1 (fr) 2015-11-18 2016-11-10 Procédés et systèmes d'estimation de remplissage de conteneur

Publications (2)

Publication Number Publication Date
CA3005452A1 CA3005452A1 (fr) 2017-05-26
CA3005452C true CA3005452C (fr) 2020-07-14

Family

ID=57389569

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3005452A Active CA3005452C (fr) 2015-11-18 2016-11-10 Procedes et systemes d'estimation de remplissage de conteneur

Country Status (6)

Country Link
CA (1) CA3005452C (fr)
DE (1) DE112016005287T5 (fr)
GB (1) GB2558507B (fr)
MX (1) MX2018006105A (fr)
PL (2) PL426752A1 (fr)
WO (1) WO2017087244A1 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10628772B2 (en) * 2017-12-22 2020-04-21 Symbol Technologies, Llc Computing package wall density in commercial trailer loading
US10657666B2 (en) * 2017-12-22 2020-05-19 Symbol Technologies, Llc Systems and methods for determining commercial trailer fullness
US10690533B2 (en) * 2017-12-29 2020-06-23 Symbol Technologies, Llc Illumination pattern system and methods for 3D-time of flight systems
US11010915B2 (en) 2019-07-11 2021-05-18 Zebra Technologies Corporation Three-dimensional (3D) depth imaging systems and methods for dynamic container auto-configuration
CN111442814B (zh) * 2020-05-13 2022-01-18 武汉市异方体科技有限公司 一种非接触式测量异形物体排水体积的装置
CN116034396A (zh) * 2020-09-08 2023-04-28 松下知识产权经营株式会社 填充率测量方法、信息处理装置及程序
CN112874927B (zh) * 2021-02-03 2023-07-07 四川物联亿达科技有限公司 物流包装箱箱型推荐方法
CN113657191A (zh) * 2021-07-26 2021-11-16 浙江大华技术股份有限公司 堆积物识别方法、装置和电子装置
DE102021127789A1 (de) 2021-10-26 2023-04-27 Zf Cv Systems Global Gmbh Verfahren zur Erfassung von Ladegut

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8009871B2 (en) * 2005-02-08 2011-08-30 Microsoft Corporation Method and system to segment depth images and to detect shapes in three-dimensionally acquired data
EP2302564A1 (fr) * 2009-09-23 2011-03-30 Iee International Electronics & Engineering S.A. Génération dynamique d'images de référence en temps réel pour système d'imagerie à plage
US9514522B2 (en) * 2012-08-24 2016-12-06 Microsoft Technology Licensing, Llc Depth data processing and compression
US20140372182A1 (en) * 2013-06-17 2014-12-18 Motorola Solutions, Inc. Real-time trailer utilization measurement

Also Published As

Publication number Publication date
PL239620B1 (pl) 2021-12-20
WO2017087244A1 (fr) 2017-05-26
DE112016005287T5 (de) 2018-08-02
PL426752A1 (pl) 2019-03-25
PL430920A1 (pl) 2019-11-04
GB201807994D0 (en) 2018-07-04
MX2018006105A (es) 2018-08-24
GB2558507A (en) 2018-07-11
GB2558507B (en) 2022-04-20
CA3005452A1 (fr) 2017-05-26

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