CN107038399A - 用于标记读取的图像变换 - Google Patents

用于标记读取的图像变换 Download PDF

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CN107038399A
CN107038399A CN201610961505.3A CN201610961505A CN107038399A CN 107038399 A CN107038399 A CN 107038399A CN 201610961505 A CN201610961505 A CN 201610961505A CN 107038399 A CN107038399 A CN 107038399A
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S.麦克克罗斯基
R.A.罗伊德
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Hand Held Products Inc
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Abstract

用于标记读取的图像变换。获得好的图像对于对读取标记而言是重要的。然而，常常，对象没有与标记读取器的数字成像器良好地对准。该未对准可能导致其中标记可能由于透视而看起来畸变的图像。该透视畸变使得标记读取困难。一般地，可以使用物理对象的真实大小、形状和/或朝向的知识来校正被成像的对象的透视畸变。本发明包含使用尺寸量定系统来获得对提供该知识而言必要的3D信息。然后，使用该知识将标记的畸变的图像变换成标记的不具有畸变的经校正的图像。该经校正的图像然后可以被处理以读取无畸变的标记。

Description

用于标记读取的图像变换
技术领域
本发明涉及标记读取，并且更具体地涉及从图像读取标记，其中标记看起来（appear）畸变。
背景技术
标记读取器（即，条形码扫描仪、条形码读取器等）是对被做记号（例如，印刷、贴标签、写）在对象上以（ⅰ）帮助执行功能（例如 ，计算运送（shipping）、计算成本等）和/或（ⅱ）提供关于对象（例如，型号、序号等）的信息的标记（即，1D-条形码、2D-条形码、字符、签名等）进行解码和解释的设备。
虽然各种类型的标记读取器存在，但是成像标记读取器常常由于其通用性而是优选的。这些设备可以是手持的（例如，移动计算设备、枪式扫描仪等）或固定的安装的（例如，柜台中的（in-counter）扫描仪）。成像标记读取器使用数字成像器来捕捉一个或多个标记的数字图像。数字图像然后可以被处理以读取（例如，识别、解码、扫描等）在图像中发现的一个或多个标记。
获得好的图像对于对标记进行解码而言是重要的。然而，常常，对象没有与标记读取器的数字成像器良好地对准。这对于手持扫描仪而言尤其正确。该未对准可能导致其中标记（例如，条形码）可能由于透视（perspective）（即，透视畸变）而看起来畸变的图像。该透视畸变使得标记读取困难。
已经公开了可以从二维（2D）图像移除透视畸变以便改善2D条形码识别（例如，由此通过引用被完全地结合的美国专利7,780,084）。由美国专利7,780,084公开的系统和方法依靠2D条形码的知识（例如，特征大小/形状）来移除畸变。然而，对所期望的大小/形状的该预知然而限制了这些系统和方法的通用性。因此存在对用于标记读取的从图像移除畸变的较通用的系统和方法的需要。
发明内容
因此，在一个方面中，本发明包含一种用于读取标记的方法。在方法中，使用数字成像器来捕捉对象的图像，并且使用尺寸量定系统来获得与对象对应的三维（3D）信息。然后在图像中选择包含对象的至少一部分的图像-感兴趣区域（即，图像-ROI）。接下来，使用与对象在图像-ROI内的部分对应的3D信息来创建的理想-感兴趣区域（理想-ROI）。图像-ROI内的图像然后被变换成理想-ROI内的经校正的图像，并且如果可以在经校正的图像中发现标记，则读取标记。
在方法的示例性实施例中，如果不能在经校正的图像中发现标记，则选择新的图像-ROI并且重复创建理想-ROI和将图像-ROI中的图像变换成理想-ROI中的经校正的图像的方法步骤。如果在新校正的图像中发现标记，则读取标记。过程继续直到标记被发现或直到（对数字成像器可见的）对象的所有部分已经被搜索。
在方法的另一示例性实施例中，如果在经校正的图像中发现附加标记，则附加标记也被读取。
在方法的另一示例性实施例中，在图像中选择图像-ROI包括检测图像中的标记并且在图像中选择仅包括标记的区域。
在方法的另一示例性实施例中，在图像中选择图像-ROI包括使用3D信息检测对象上的表面，并且然后选择图像的仅包括表面的区域。
在方法的另一示例性实施例中，理想-ROI的尺寸（dimension）与对象的被包含在图像-ROI中的部分的物理尺寸对应。使用3D信息来确定这些物理尺寸。
在方法的另一示例性实施例中，与对象在图像-ROI内的部分对应的3D信息包括对象的被包含在图像-ROI中的部分的物理曲率（curvature）。
在方法的另一示例性实施例中，与对象在图像-ROI内的部分对应的3D信息包括对象的被包含在图像-ROI中的部分的表面-粗糙度和/或表面-特征。
在方法的另一示例性实施例中，与对象在图像-ROI内的部分对应的3D信息包括对象的被包含在图像-ROI中的部分的物理位置。该物理位置与数字成像器的数字传感器有关。
在方法的另一示例性实施例中，将图像在图像-ROI内的部分变换成理想-ROI内的经校正的图像包括计算图像-ROI与理想-ROI之间的单应性。
在另一方面中，本发明包含一种用于使用3D信息从图像移除透视畸变的方法。在方法中，数字成像器被用来捕捉场景（scene）的图像。另外，尺寸量定系统被用来获得与场景对应的3D信息。在被捕捉的图像中选择图像-ROI并且与场景在图像-ROI内的部分对应的3D信息被用来创建理想-ROI。场景在图像-ROI内的部分然后被变换成理想-ROI内的经校正的图像。该变换从图像移除透视畸变。
在方法的示例性实施例中，获得3D信息包括标识在场景的图像中的对象。然后，选取特定对象并且按照其形状对特定对象分类。基于形状，获得与特定对象对应的3D信息。在一个可能的实施例中，该形状分类被用来创建理想-ROI。在另一可能的实施例中，该形状分类被用来（从多个可能的变换）选择用于将图像变换成经校正的图像的变换。
在另一方面中，本发明包含一种标记-读取系统。标记-读取系统包括用于搜集关于场景的3D信息的尺寸量定系统；用于捕捉场景的图像的数字成像器；以及被通信地耦合到尺寸量定系统和数字成像器的处理器。通过软件将处理器配置成校正畸变的标记并且然后读取经校正的标记。具体地，这通过在图像内选择包含畸变的标记的图像-ROI来实现。然后使用与场景在图像-ROI内的部分对应的3D信息将图像在图像-ROI内的部分变换成经校正的图像。经校正的图像包含无畸变的标记，其然后被读取。
在示例性实施例中，标记-读取系统的尺寸量定系统包括图案投影仪。图案投影仪被配置成投影红外（IR）光的被传输的图案。尺寸量定系统还包括距离照相机（rangecamera）。距离照相机被配置成捕捉红外光的被反射的图案的图像。被反射的图案是在被传输的图案从场景反射回到距离照相机时形成的图案。在一个可能的实施例中，图案投影仪和距离照相机被立体地（stereoscopically）安置使得被传输的图案和被反射的图案之间的空间差异确定距离。
在另一示例性实施例中，标记-读取系统的数字成像器是成像标记读取器。
在标记-读取系统的另一示例性实施例中，尺寸量定系统、数字成像器和处理器被包含在手持外壳中。
在另一示例性实施例中，标记-读取系统的数字成像器是用于对可见光成像的照相机。
在以下详细描述内和其附图中进一步解释了前述说明性概要以及本发明的其他示例性目的和/或优点及实现其的方式。
附图说明
图1以图形方式描绘了导致透视畸变的示例性数字成像器和示例性平面对象的布置。
图2以图形方式描绘了导致透视畸变的示例性数字成像器和示例性圆对象的布置。
图3以图形方式描绘了根据本发明的实施例的示例性标记-读取系统。
图4以图形方式描绘了根据本发明的实施例的使用被立体地布置的图案投影仪和距离照相机感测三维的原理。
图5描绘了图示根据本发明的实施例的用于读取标记的方法的流程图。
图6以图形方式图示了根据本发明的实施例的使用3D信息将具有畸变的图像到不具有畸变的经校正的图像中的变换。
图7描绘了图示根据本发明的实施例的用于使用三维（3D）信息从图像移除透视畸变的方法的流程图。
图8以图形方式图示了根据本发明的实现的使用数字成像器和尺寸量定系统对图像和3D信息的获取。
具体实施方式
为了标记的准确读取，高度期望的是被成像的标记紧密匹配物理标记。令人遗憾的是，在某些情况下，被成像的标记由于标记与标记读取器的数字成像器之间的物理关系而看起来畸变。本发明包含获得3D信息来表征该物理关系，并且然后使用该3D信息来创建可以被较准确地读取的标记的无畸变的图像。
当标记读取器的光轴（即，与标记读取器的图像传感器垂直的轴）被安置成与标记几乎正交时，被成像的标记与物理标记良好地对应。然而，随着该透视被改变，被成像的标记由于透视（即，透视畸变）而变得畸变。图1和图2图示了可以导致透视畸变的两个布置。
在图1（即，图1）中，平面对象1远离标记读取器（即，扫描仪）倾斜，使得扫描仪3的光轴与平面对象的表面（即，表面法线4）形成角度。该对象的表面上的标记可能看起来畸变。具体地，较接近扫描仪的标记的位置可能看起来较大并且舒展开，而进一步在远处的表面上的标记的部分可能看起来较小并且靠拢。
对象的形状也可以引起透视畸变。在图2中，非平面（即，圆）对象5被成像。这里，如果标记的位置远离扫描仪倾斜，则在圆表面上的标记可能是畸变的。畸变还可以由其他不规则形状上的标记、粗糙表面上的标记（例如，有皱纹的或剥落的标签）或具有表面特征（例如，凹槽、隆起等）的表面上的标记而产生。
为了移除透视畸变，算法可以将畸变的图像变换成经校正的图像。该变换可以涉及创建具有被指定的大小/形状（例如，被指定的宽高比）的目标图像。例如，在畸变的图像中，矩形条形码可能看起来非矩形。在该情况下的目标图像将是与物理条形码的真实大小/形状对应的矩形图像。如先前提及的那样，条形码的大小/形状的知识可以帮助创建目标图像。然而，该信息不总是已知的。代之以，本发明包含搜集关于对象和/或其与标记读取器的物理关系的3D信息以便提供用于创建目标图像和然后将来自畸变的图像的像素映射到目标图像中以形成经校正的图像的必要信息。
可以使用尺寸量定系统来获取3D信息。尺寸量定系统通常感测三维（3D）中的对象的形状/大小并且使用该3D信息来计算对对象的尺寸（例如，体积、面积、长、宽、高等）的估计。该3D信息还可以包括对象关于扫描仪的物理位置/朝向。3D信息还可以帮助确定在对象的表面上的感兴趣区域的大小/形状。例如，感兴趣区域可以仅包括特定标记（或标记的集合）或者感兴趣区域可以包括对象的整个侧面。
由尺寸量定系统使用的一个可能的感测技术涉及将光图案（即，图案）投影到视野中。在视野内的对象将在反射时使光图案的外观畸变。尺寸量定系统可以捕捉被反射的光-图案的图像并且分析在被捕捉的图像中的图案畸变以计算与视野（即，场景）中的对象（或多个对象）对应的3D信息。
在图3中示出了示例性尺寸量定系统。尺寸量定系统10包括图案投影仪11，其被配置成将光（例如，红外光）图案投影到视野12中并且到对象15上。光图案通常包括被布置在图案（即，点云）中的光点。光点可以被（ⅰ）相同地或不同地定大小并且（ⅱ）可以被以某些顺序或伪随机地布置。图案投影仪可以使用光源（例如，激光器、LED等）、图案创建器（例如，障板、衍射光学元件等）和一个或多个透镜来创建光图案。
尺寸量定系统10还包括距离照相机13，其被配置成捕捉从距离照相机13的视野14反射的被投影的光图案的图像。距离照相机的视野14和图案投影仪的视野12应该重叠但可能不一应具有相同的形状/大小。距离照相机13包括一个或多个透镜来将视野14的实像形成到图像传感器上。光滤波（例如，红外滤波器）也可以被用来通过移除杂散光和/或环境光来帮助检测被反射的图案。图像传感器（例如，CMOS传感器、CCD传感器等）被用来创建光图案的数字图像。距离照相机还可以包括必要的处理（例如DSP、FPGA、ASIC等）以从光图案图像获得3D信息。
如在图4中示出的那样，图案投影仪11和距离照相机13可以被布置有空间上的偏移（即，被立体地布置）。空间偏移16虑及对象15的距离18中的改变被检测为距离照相机的图像传感器上的图像偏移17。可以调整空间偏移16以改变图像偏移17并且从而改变距离差异18可以以其被检测的分辨率。这样，点云图案中的图像偏移可以被转换成与尺寸量定系统的视野内的对象对应的3D信息。
3D信息可以包括针对点云图像中的每个光点的距离值。进一步地，点云图像中的光点之间的距离值可以被插入以创建所谓的距离图像。距离图像是灰度图像，其中图像中的每个像素值与在尺寸量定系统和视野中的点之间的被估计的距离对应。距离照相机可以输出以点云图像或距离图像的形式的3D信息。
可以使用在尺寸量定系统的处理器19上运行的软件算法来分析距离图像以检测对象、确定对象之间的物理关系和/或确定对象的尺寸。在某些情况下，这些算法可以包括创建最小边界盒（MVBB）的步骤，其是包围对象（例如，不规则成形的对象）或对象的集合（例如，货板上的多个盒）的盒的计算机模型。在该情况下，3D信息可以包括MVBB的尺寸、MVBB的相对位置和/或MVBB的相对朝向。用于创建3D信息（例如，确定对象的尺寸）的特定方法可能涉及按照对象的形状对其分类和然后基于该分类选取软件算法。
如在图3中示出的那样，尺寸量定系统10可以与数字成像器20（例如，成像标记读取器、数字照相机等）组合。数字成像器包括图像传感器（例如，CCD、CMOS等）以将光水平转换成电子信号水平。数字成像器还包括成像透镜（或多个透镜），其在图像传感器上形成数字成像器的视野（即，场景）22的图像。通常，数字成像器20包括处理器以将来自图像传感器的电子信号转换成数字图像，虽然该功能也可以由标记读取系统21的处理器19处理。
数字成像器的视野22与尺寸量定系统的视野重叠，并且将数字成像器20和尺寸量定系统10组合在固定的位置关系内（例如，在外壳内）以便控制每个关于另一个的位置/朝向可能是有利的。进一步地，将3D信息与被捕捉的图像相关可能在尺寸量定系统和数字成像器的透视对准时变得较容易。
在图3中示出了包括尺寸量定系统10、数字成像器20和处理器19的标记-读取系统21。如在图1和图2中示出的那样，标记-读取系统21可以由用户的手25手持和安置。在该系统中，影响尺寸量定系统和数字成像器的数据收集的固有变量（例如，距离照相机设置、数字成像器设置）可以由处理器19控制，而影响数据收集（例如，尺寸量定系统和数字成像器的位置）的非固有变量可以由外壳控制。应注意的是，图案投影仪、距离照相机和数字成像器的布置可能与在图3中图示的特定布置不同。例如，图案投影仪11和距离照相机13可以由数字成像器20分离。该布置可以被用来增加空间偏移16以改善深度感测（例如，准确度）。
在图5中示出了用于读取标记的示例性方法。分别使用数字成像器和尺寸量定系统来获取对象的图像30和与对象对应的3D信息35。这里，数字成像器和尺寸量定系统可以被组合到如先前描述的和在图3中示出的标记-读取系统中。
在被捕捉的图像40中选择图像-感兴趣区域（即，图像-ROI）。可以以多种方式获得该图像-ROI。例如，图像可以被处理以检测标记的存在。如果标记被发现，则图像的仅包括该标记的区域可以被选择作为图像-ROI。在另一示例中，如果对象上的表面被检测到（例如，在图像中和/或在3D信息中），则整个表面被选择作为图像-ROI。
图像-ROI可能由于对象和数字成像器的非理想布置而从其物理（即，理想）形状/大小畸变，所述非理想布置诸如在图1中示出的那样。使用图像-ROI和通过尺寸量定系统获得的3D信息，理想-感兴趣区域（即，理想-ROI）可以被创建45。理想-ROI与如果图像-ROI被使用对象和数字成像器的理想布置捕捉则图像-ROI将具有的大小/形状对应。理想-ROI定义了如先前提及的目标图像的大小/形状。
目标图像初始是理想-ROI内的空图像（即，具有零值的像素）。通过将畸变的图像中的像素映射到目标图像而将图像-ROI中的图像变换成理想-ROI中的经校正的图像50。该映射可以涉及创建畸变的图像中的像素和目标图像的像素之间的函数关系（例如，单应性）。另外，有时在直接映射不可用的情况下，插入被用来形成目标图像中的像素。
在图6中以图形方式图示了该变换（即，变形）。这里，示出了在图像-ROI 51内的畸变的标记的图像。图像-ROI的尺寸表示如通过数字成像器的图像传感器看到的标记的长（l'）和宽（w'）。使用3D信息，具有图像-ROI的图像可以被变换成理想-ROI 52内的经校正的图像。理想-ROI具有长（l）和宽（w），其对应于（但可能不恰好等于）实际标记的物理长和宽。经校正的图像的朝向通常与畸变的图像相同。例如，如在图6中示出的那样，图像-ROI拐点（A、B、C、D）的相对位置通常在变换期间不改变。
接下来在图5中示出的方法中，针对标记搜索经校正的图像55。例如，当对象的侧面被选择作为图像-ROI而没有对其是否包含标记的注意时，其可能不包含标记。如果标记被发现，则标记被读取（即，识别和解码）60。如果没有标记被发现，则可以搜索对象的另一部分。例如，如果对象的第一侧面结果是没有标记，则对象的第二侧面可以被选择作为图像-ROI。可以针对标记变换和搜索图像在该第二图像-ROI中的部分。该过程可以继续直到（在数字成像器的视野内的）对象的所有侧面已经被搜索65或直到标记被发现55和读取60。在某些情况下，经校正的图像可能具有多于一个标记。在这些情况下，附加标记也可以被读取70。
本发明还包含一种用于使用3D信息从图像移除透视畸变的方法。在图7中示出了图示该方法的流程图。这里，使用数字成像器捕捉场景（即，视野）的图像60。另外，使用尺寸量定系统捕捉与场景对应的3D信息65。
在图8中示出了捕捉过程的图示。这里，对象15位于场景内。包括尺寸量定系统10和数字成像器20的系统被安置成从场景获取图像和3D信息。在示例性实施例中，尺寸量定系统将图案投影到包括对象的视野12、14中。被反射的图案（即，如在点图案中示出的那样）24由尺寸量定系统（即，距离照相机）成像并且被处理以获得关于场景（即，包括对象15）的3D信息。数字成像器还获取也包括对象15的视野22的图像。
如在图7中示出的那样，在3D信息和图像被捕捉之后，在图像70内选择图像-ROI。图像-ROI通常包括对象的需要被可视化而没有畸变的任何部分。例如，在图8中，在对象15的一个侧面上示出了2D条形码23。图像-ROI可以被选择成包括图像的包含该2D条形码23的部分。替代地，图像-ROI可以被选择成包括对象的具有标记的整个侧面。
返回到图7，与所选图像-ROI对应的3D信息然后被获得75并且被用来帮助创建理想-ROI 80。在一个可能的实施例中，获得3D信息包括标识在场景的图像中的对象66和选取特定对象67。然后按照该特定对象的形状（例如，矩形、圆柱形等）对其分类68。按照对象的形状对其分类可能有助于确定特定对象的3D信息（例如，尺寸）69（或对象的部分的3D信息（例如，尺寸）），由于被用来获得3D信息的特定算法可能取决于对象的形状。
与场景（例如，对象）在图像-ROI内的部分对应的3D信息然后可以被用来创建理想-ROI 80。图像-ROI中的图像（即，畸变的图像）然后可以被变换成理想-ROI中的经校正的图像（即，无畸变的图像）85。在一个可能的实施例中，理想-ROI的创建和/或被用来移除透视畸变的变换可能取决于对象的形状。例如，可以基于对象的形状从多个变换95选择90被用来使图像-ROI变形的特定变换。
为了补充本公开，本申请通过引用整体地合并了以下被共同转让的专利、专利申请公开以及专利申请：
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美国设计专利号D730,357；
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美国设计专利号D733,112；
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美国专利申请公开号2014/0034734；
美国专利申请公开号2014/0036848；
美国专利申请公开号2014/0039693；
美国专利申请公开号2014/0042814；
美国专利申请公开号2014/0049120；
美国专利申请公开号2014/0049635；
美国专利申请公开号2014/0061306；
美国专利申请公开号2014/0063289；
美国专利申请公开号2014/0066136；
美国专利申请公开号2014/0067692；
美国专利申请公开号2014/0070005；
美国专利申请公开号2014/0071840；
美国专利申请公开号2014/0074746；
美国专利申请公开号2014/0076974；
美国专利申请公开号2014/0078341；
美国专利申请公开号2014/0078345；
美国专利申请公开号2014/0097249；
美国专利申请公开号2014/0098792；
美国专利申请公开号2014/0100813；
美国专利申请公开号2014/0103115；
美国专利申请公开号2014/0104413；
美国专利申请公开号2014/0104414；
美国专利申请公开号2014/0104416；
美国专利申请公开号2014/0104451；
美国专利申请公开号2014/0106594；
美国专利申请公开号2014/0106725；
美国专利申请公开号2014/0108010；
美国专利申请公开号2014/0108402；
美国专利申请公开号2014/0110485；
美国专利申请公开号2014/0114530；
美国专利申请公开号2014/0124577；
美国专利申请公开号2014/0124579；
美国专利申请公开号2014/0125842；
美国专利申请公开号2014/0125853；
美国专利申请公开号2014/0125999；
美国专利申请公开号2014/0129378；
美国专利申请公开号2014/0131438；
美国专利申请公开号2014/0131441；
美国专利申请公开号2014/0131443；
美国专利申请公开号2014/0131444；
美国专利申请公开号2014/0131445；
美国专利申请公开号2014/0131448；
美国专利申请公开号2014/0133379；
美国专利申请公开号2014/0136208；
美国专利申请公开号2014/0140585；
美国专利申请公开号2014/0151453；
美国专利申请公开号2014/0152882；
美国专利申请公开号2014/0158770；
美国专利申请公开号2014/0159869；
美国专利申请公开号2014/0166755；
美国专利申请公开号2014/0166759；
美国专利申请公开号2014/0168787；
美国专利申请公开号2014/0175165；
美国专利申请公开号2014/0175172；
美国专利申请公开号2014/0191644；
美国专利申请公开号2014/0191913；
美国专利申请公开号2014/0197238；
美国专利申请公开号2014/0197239；
美国专利申请公开号2014/0197304；
美国专利申请公开号2014/0214631；
美国专利申请公开号2014/0217166；
美国专利申请公开号2014/0217180；
美国专利申请公开号2014/0231500；
美国专利申请公开号2014/0232930；
美国专利申请公开号2014/0247315；
美国专利申请公开号2014/0263493；
美国专利申请公开号2014/0263645；
美国专利申请公开号2014/0267609；
美国专利申请公开号2014/0270196；
美国专利申请公开号2014/0270229；
美国专利申请公开号2014/0278387；
美国专利申请公开号2014/0278391；
美国专利申请公开号2014/0282210；
美国专利申请公开号2014/0284384；
美国专利申请公开号2014/0288933；
美国专利申请公开号2014/0297058；
美国专利申请公开号2014/0299665；
美国专利申请公开号2014/0312121；
美国专利申请公开号2014/0319220；
美国专利申请公开号2014/0319221；
美国专利申请公开号2014/0326787；
美国专利申请公开号2014/0332590；
美国专利申请公开号2014/0344943；
美国专利申请公开号2014/0346233；
美国专利申请公开号2014/0351317；
美国专利申请公开号2014/0353373；
美国专利申请公开号2014/0361073；
美国专利申请公开号2014/0361082；
美国专利申请公开号2014/0362184；
美国专利申请公开号2014/0363015；
美国专利申请公开号2014/0369511；
美国专利申请公开号2014/0374483；
美国专利申请公开号2014/0374485；
美国专利申请公开号2015/0001301；
美国专利申请公开号2015/0001304；
美国专利申请公开号2015/0003673；
美国专利申请公开号2015/0009338；
美国专利申请公开号2015/0009610；
美国专利申请公开号2015/0014416；
美国专利申请公开号2015/0021397；
美国专利申请公开号2015/0028102；
美国专利申请公开号2015/0028103；
美国专利申请公开号2015/0028104；
美国专利申请公开号2015/0029002；
美国专利申请公开号2015/0032709；
美国专利申请公开号2015/0039309；
美国专利申请公开号2015/0039878；
美国专利申请公开号2015/0040378；
美国专利申请公开号2015/0048168；
美国专利申请公开号2015/0049347；
美国专利申请公开号2015/0051992；
美国专利申请公开号2015/0053766；
美国专利申请公开号2015/0053768；
美国专利申请公开号2015/0053769；
美国专利申请公开号2015/0060544；
美国专利申请公开号2015/0062366；
美国专利申请公开号2015/0063215；
美国专利申请公开号2015/0063676；
美国专利申请公开号2015/0069130；
美国专利申请公开号2015/0071819；
美国专利申请公开号2015/0083800；
美国专利申请公开号2015/0086114；
美国专利申请公开号2015/0088522；
美国专利申请公开号2015/0096872；
美国专利申请公开号2015/0099557；
美国专利申请公开号2015/0100196；
美国专利申请公开号2015/0102109；
美国专利申请公开号2015/0115035；
美国专利申请公开号2015/0127791；
美国专利申请公开号2015/0128116；
美国专利申请公开号2015/0129659；
美国专利申请公开号2015/0133047；
美国专利申请公开号2015/0134470；
美国专利申请公开号2015/0136851；
美国专利申请公开号2015/0136854；
美国专利申请公开号2015/0142492；
美国专利申请公开号2015/0144692；
美国专利申请公开号2015/0144698；
美国专利申请公开号2015/0144701；
美国专利申请公开号2015/0149946；
美国专利申请公开号2015/0161429；
美国专利申请公开号2015/0169925；
美国专利申请公开号2015/0169929；
美国专利申请公开号2015/0178523；
美国专利申请公开号2015/0178534；
美国专利申请公开号2015/0178535；
美国专利申请公开号2015/0178536；
美国专利申请公开号2015/0178537；
美国专利申请公开号2015/0181093；
美国专利申请公开号2015/0181109；
美国专利申请号13/367,978，针对（Feng等人）于2012年2月7日提交的Laser Scanning Module Employing an Elastomeric U-Hinge Based Laser Scanning Assembly；
美国专利申请号29/458,405，针对（Fitch等人）于2013年6月19日提交的Electronic Device；
美国专利申请号29/459,620，针对（London等人）于2013年7月2日提交的Electronic Device Enclosure；
美国专利申请号29/468,118，针对（Oberpriller等人）于2013年9月26日提交的Electronic Device Case；
美国专利申请号14/150,393，针对（Colavito等人）于2014年1月8日提交的Indicia- reader Having Unitary Construction Scanner；
美国专利申请号14/200,405，针对（Feng等人）于2014年3月7日提交的Indicia Reader for Size-Limited Applications；
美国专利申请号14/231,898，针对（Van Horn等人）于2014年4月1日提交的Hand- Mounted Indicia-Reading Device with Finger Motion Triggering；
美国专利申请号29/486,759，针对（Oberpriller等人）于2014年4月2日提交的ImagingTerminal；
美国专利申请号14/257,364，针对（Showering)于 2014年4月21日提交的Docking System and Method Using Near Field Communication；
美国专利申请号14/264,173，针对（Ackley等人）于2014年4月29日提交的Autofocus Lens System for Indicia Readers；
美国专利申请号14/277,337，针对（Jovanovski等人）于2014年5月14日提交的 MULTIPURPOSE OPTICAL READER；
美国专利申请号14/283,282，针对（Liu等人）于2014年5月21日提交的TERMINAL HAVING ILLUMINATION AND FOCUS CONTROL；
美国专利申请号14/327,827，针对（Hejl）于2014年7月10日提交的MOBILE-PHONEADAPTER FOR ELECTRONIC TRANSACTIONS；
美国专利申请号14/334,934，针对（Hejl）于2014年7月18日提交的SYSTEM AND METHODFOR INDICIA VERIFICATION；
美国专利申请号14/339,708，针对（Xian等人）于2014年7月24日提交的LASERSCANNING CODE SYMBOL READING SYSTEM；
美国专利申请号14/340,627，针对（Rueblinger等人）于2014年7月25日提交的AXIALLYREINFORCED FLEXIBLE SCAN ELEMENT；
美国专利申请号14/446,391，针对（Good等人）于2014年7月30日提交的MULTIFUNCTIONPOINT OF SALE APPARATUS WITH OPTICAL SIGNATURE CAPTURE；
美国专利申请号14/452,697，针对（Todeschini）于2014年8月6日提交的INTERACTIVEINDICIA READER；
美国专利申请号14/453,019，针对（Li等人）于2014年8月6日提交的DIMENSIONINGSYSTEM WITH GUIDED ALIGNMENT；
美国专利申请号14/462,801，针对（Todeschini等人）于2014年8月19日提交的MOBILECOMPUTING DEVICE WITH DATA COGNITION SOFTWARE；
美国专利申请号14/483,056，针对（McCloskey等人）于2014年9月10日提交的VARIABLEDEPTH OF FIELD BARCODE SCANNER；
美国专利申请号14/513,808，针对（Singel等人）于2014年10月14日提交的IDENTIFYING INVENTORY ITEMS IN A STORAGE FACILITY；
美国专利申请号14/519,195，针对（Laffargue等人）于2014年10月21日提交的HANDHELD DIMENSIONING SYSTEM WITH FEEDBACK；
美国专利申请号14/519,179，针对（Thuries等人）于2014年10月21日提交的DIMENSIONING SYSTEM WITH MULTIPATH INTERFERENCE MITIGATION；
美国专利申请号14/519,211，针对（Ackley等人）于2014年10月21日提交的SYSTEM ANDMETHOD FOR DIMENSIONING；
美国专利申请号14/519,233，针对（Laffargue等人）于2014年10月21日提交的HANDHELD DIMENSIONER WITH DATA-QUALITY INDICATION；
美国专利申请号14/519,249，针对（Ackley等人）于2014年10月21日提交的HANDHELDDIMENSIONING SYSTEM WITH MEASUREMENT-CONFORMANCE FEEDBACK；
美国专利申请号14/527,191，针对（Braho等人）于2014年10月29日提交的METHOD ANDSYSTEM FOR RECOGNIZING SPEECH USING WILDCARDS IN AN EXPECTED RESPONSE；
美国专利申请号14/529,563，针对（Schoon等人）于2014年10月31日提交的ADAPTABLEINTERFACE FOR A MOBILE COMPUTING DEVICE；
美国专利申请号14/529,857，针对（Todeschini等人）于2014年10月31日提交的BARCODE READER WITH SECURITY FEATURES；
美国专利申请号14/398,542，针对（Bian等人）于2014年11月3日提交的PORTABLEELECTRONIC DEVICES HAVING A SEPARATE LOCATION TRIGGER UNIT FOR USE INCONTROLLING AN APPLICATION UNIT；
美国专利申请号14/531,154，针对（Miller等人）于2014年11月3日提交的DIRECTINGAN INSPECTOR THROUGH AN INSPECTION；
美国专利申请号14/533,319，针对（Todeschini）于2014年11月5日提交的BARCODESCANNING SYSTEM USING WEARABLE DEVICE WITH EMBEDDED CAMERA；
美国专利申请号14/535,764，针对（Braho等人）于2014年11月7日提交的CONCATENATEDEXPECTED RESPONSES FOR SPEECH RECOGNITION；
美国专利申请号14/568,305，针对（Todeschini）于2014年12月12日提交的AUTO-CONTRAST VIEWFINDER FOR AN INDICIA READER；
美国专利申请号14/573,022，针对（Goldsmith）于2014年12月17日提交的DYNAMICDIAGNOSTIC INDICATOR GENERATION；
美国专利申请号14/578,627，针对（Ackley等人）于2014年12月22日提交的SAFETYSYSTEM AND METHOD；
美国专利申请号14/580,262，针对（Bowles）于2014年12月23日提交的MEDIA GATE FORTHERMAL TRANSFER PRINTERS；
美国专利申请号14/590,024，针对（Payne）于2015年1月6日提交的SHELVING ANDPACKAGE LOCATING SYSTEMS FOR DELIVERY VEHICLES；
美国专利申请号14/596,757，针对（Ackley）于2015年1月14日提交的SYSTEM ANDMETHOD FOR DETECTING BARCODE PRINTING ERRORS；
美国专利申请号14/416,147，针对（Chen等人）于2015年1月21日提交的OPTICALREADING APPARATUS HAVING VARIABLE SETTINGS；
美国专利申请号14/614,706，针对（Oberpriller等人）于2015年2月5日提交的DEVICEFOR SUPPORTING AN ELECTRONIC TOOL ON A USER'S HAND；
美国专利申请号14/614,796，针对（Morton等人）于2015年2月5日提交的CARGOAPPORTIONMENT TECHNIQUES；
美国专利申请号29/516,892，针对（Bidwell等人）于2015年2月6日提交的TABLECOMPUTER；
美国专利申请号14/619,093，针对（Pecorari）于2015年2月11日提交的METHODS FORTRAINING A SPEECH RECOGNITION SYSTEM；
美国专利申请号14/628,708，针对（Todeschini）于2015年2月23日提交的DEVICE,SYSTEM, AND METHOD FOR DETERMINING THE STATUS OF CHECKOUT LANES；
美国专利申请号14/630,841，针对（Gomez等人）于2015年2月25日提交的TERMINALINCLUDING IMAGING ASSEMBLY；
美国专利申请号14/635,346，针对（Sevier）于2015年3月2日提交的SYSTEM ANDMETHOD FOR RELIABLE STORE-AND-FORWARD DATA HANDLING BY ENCODED INFORMATIONREADING TERMINALS；
美国专利申请号29/519,017，针对（Zhou等人）于2015年3月2日提交的SCANNER；
美国专利申请号14/405,278，针对（Zhu等人）于2015年3月9日提交的DESIGN PATTERNFOR SECURE STORE；
美国专利申请号14/660,970，针对（Kearney等人）于2015年3月18日提交的DECODABLEINDICIA READING TERMINAL WITH COMBINED ILLUMINATION；
美国专利申请号14/661,013，针对（Soule等人）于2015年3月18日提交的REPROGRAMMING SYSTEM AND METHOD FOR DEVICES INCLUDING PROGRAMMING SYMBOL；
美国专利申请号14/662,922，针对（Van Horn等人）于2015年3月19日提交的MULTIFUNCTION POINT OF SALE SYSTEM；
美国专利申请号14/663,638，针对（Davis等人）于2015年3月20日提交的VEHICLEMOUNT COMPUTER WITH CONFIGURABLE IGNITION SWITCH BEHAVIOR；
美国专利申请号14/664,063，针对（Todeschini）于2015年3月20日提交的METHOD ANDAPPLICATION FOR SCANNING A BARCODE WITH A SMART DEVICE WHILE CONTINUOUSLYRUNNING AND DISPLAYING AN APPLICATION ON THE SMART DEVICE DISPLAY；
美国专利申请号14/669,280，针对（Funyak等人）于2015年3月26日提交的TRANSFORMING COMPONENTS OF A WEB PAGE TO VOICE PROMPTS；
美国专利申请号14/674,329，针对（Bidwell）于2015年3月31日提交的AIMER FORBARCODE SCANNING；
美国专利申请号14/676,109，针对（Huck）于2015年4月1日提交的INDICIA READER；
美国专利申请号14/676,327，针对（Yeakley等人）于2015年4月1日提交的DEVICEMANAGEMENT PROXY FOR SECURE DEVICES；
美国专利申请号14/676,898，针对（Showering）于2015年4月2日提交的NAVIGATIONSYSTEM CONFIGURED TO INTEGRATE MOTION SENSING DEVICE INPUTS；
美国专利申请号14/679,275，针对（Laffargue等人）于2015年4月6日提交的DIMENSIONING SYSTEM CALIBRATION SYSTEMS AND METHODS；
美国专利申请号29/523,098，针对（Bidwell等人）于2015年4月7日提交的HANDLE FORA TABLET COMPUTER；
美国专利申请号14/682,615，针对（Murawski等人）于2015年4月9日提交的SYSTEM ANDMETHOD FOR POWER MANAGEMENT OF MOBILE DEVICES；
美国专利申请号14/686,822，针对（Qu等人）于2015年4月15日提交的MULTIPLEPLATFORM SUPPORT SYSTEM AND METHOD；
美国专利申请号14/687,289，针对（Kohtz等人）于2015年4月15日提交的SYSTEM FORCOMMUNICATION VIA A PERIPHERAL HUB；
美国专利申请号29/524,186，针对（Zhou等人）于2015年4月17日提交的SCANNER；
美国专利申请号14/695,364，针对（Sewell等人）于2015年4月24日提交的MEDICATIONMANAGEMENT SYSTEM；
美国专利申请号14/695,923，针对（Kubler等人）于2015年4月24日提交的SECUREUNATTENDED NETWORK AUTHENTICATION；
美国专利申请号29/525,068，针对（Schulte等人）于2015年4月27日提交的TABLETCOMPUTER WITH REMOVABLE SCANNING DEVICE；
美国专利申请号14/699,436，针对（Nahill等人）于2015年4月29日提交的SYMBOLREADING SYSTEM HAVING PREDICTIVE DIAGNOSTICS；
美国专利申请号14/702,110，针对（Todeschini等人）于2015年5月1日提交的SYSTEMAND METHOD FOR REGULATING BARCODE DATA INJECTION INTO A RUNNING APPLICATIONON A SMART DEVICE；
美国专利申请号14/702,979，针对（Young等人）于2015年5月4日提交的TRACKINGBATTERY CONDITIONS；
美国专利申请号14/704,050，针对（Charpentier等人）于2015年5月5日提交的INTERMEDIATE LINEAR POSITIONING；
美国专利申请号14/705,012，针对（Fitch等人）于2015年5月6日提交的HANDS-FREEHUMAN MACHINE INTERFACE RESPONSIVE TO A DRIVER OF A VEHICLE；
美国专利申请号14/705,407，针对（Hussey等人）于2015年5月6日提交的METHOD ANDSYSTEM TO PROTECT SOFTWARE-BASED NETWORK-CONNECTED DEVICES FROM ADVANCEDPERSISTENT THREAT；
美国专利申请号14/707,037，针对（Chamberlin）于2015年5月8日提交的SYSTEM ANDMETHOD FOR DISPLAY OF INFORMATION USING A VEHICLE-MOUNT COMPUTER；
美国专利申请号14/707,123，针对（Pape）于2015年5月8日提交的APPLICATIONINDEPENDENT DEX/UCS INTERFACE；
美国专利申请号14/707,492，针对（Smith等人）于2015年5月8日提交的METHOD ANDAPPARATUS FOR READING OPTICAL INDICIA USING A PLURALITY OF DATA SOURCES；
美国专利申请号14/710,666，针对（Smith）于2015年5月13日提交的PRE-PAID USAGESYSTEM FOR ENCODED INFORMATION READING TERMINALS；
美国专利申请号29/526,918，针对（Fitch等人）于2015年5月14日提交的CHARGINGBASE；
美国专利申请号14/715,672，针对（Venkatesha等人）于2015年5月19日提交的AUGUMENTED REALITY ENABLED HAZARD DISPLAY；
美国专利申请号14/715,916，针对（Ackley）于2015年5月19日提交的EVALUATINGIMAGE VALUES；
美国专利申请号14/722,608，针对（Showering等人）于2015年5月27日提交的INTERACTIVE USER INTERFACE FOR CAPTURING A DOCUMENT IN AN IMAGE SIGNAL；
美国专利申请号29/528,165，针对（Oberpriller等人）于2015年5月27日提交的IN-COUNTER BARCODE SCANNER；
美国专利申请号14/724,134，针对（Wang等人）于2015年5月28日提交的ELECTRONICDEVICE WITH WIRELESS PATH SELECTION CAPABILITY；
美国专利申请号14/724,849，针对（Barten）于2015年5月29日提交的METHOD OFPROGRAMMING THE DEFAULT CABLE INTERFACE SOFTWARE IN AN INDICIA READINGDEVICE；
美国专利申请号14/724,908，针对（Barber等人）于2015年5月29日提交的IMAGINGAPPARATUS HAVING IMAGING ASSEMBLY；
美国专利申请号14/725,352，针对（Caballero等人）的APPARATUS AND METHODS FORMONITORING ONE OR MORE PORTABLE DATA TERMINALS；
美国专利申请号29/528,590，针对（Fitch等人）于2015年5月29日提交的ELECTRONICDEVICE；
美国专利申请号29/528,890，针对（Fitch等人）于2015年6月2日提交的MOBILECOMPUTER HOUSING；
美国专利申请号14/728,397，针对（Caballero）于2015年6月2日提交的DEVICEMANAGEMENT USING VIRTUAL INTERFACES CROSS-REFERENCE TO RELATED APPLICATIONS；
美国专利申请号14/732,870，针对（Powilleit）于2015年6月8日提交的DATACOLLECTION MODULE AND SYSTEM；
美国专利申请号29/529,441，针对（Zhou等人）于2015年6月8日提交的INDICIAREADING DEVICE；
美国专利申请号14/735,717，针对（Todeschini）于2015年6月10日提交的INDICIA-READING SYSTEMS HAVING AN INTERFACE WITH A USER'S NERVOUS SYSTEM；
美国专利申请号14/738,038，针对（Amundsen等人）于2015年6月12日提交的METHOD OFAND SYSTEM FOR DETECTING OBJECT WEIGHING INTERFERENCES；
美国专利申请号14/740,320，针对（Bandringa）于2015年6月16日提交的TACTILESWITCH FOR A MOBILE ELECTRONIC DEVICE；
美国专利申请号14/740,373，针对（Ackley等人）于2015年6月16日提交的CALIBRATINGA VOLUME DIMENSIONER；
美国专利申请号14/742,818，针对（Xian等人）于2015年6月18日提交的INDICIAREADING SYSTEM EMPLOYING DIGITAL GAIN CONTROL；
美国专利申请号14/743,257，针对（Wang等人）于2015年6月18日提交的WIRELESS MESHPOINT PORTABLE DATA TERMINAL；
美国专利申请号29/530,600，针对（Vargo等人）于2015年6月18日提交的CYCLONE；
美国专利申请号14/744,633，针对（Wang）于2015年6月19日提交的IMAGING APPARATUSCOMPRISING IMAGE SENSOR ARRAY HAVING SHARED GLOBAL SHUTTER CIRCUITRY；
美国专利申请号14/744,836，针对（Todeschini等人）于2015年6月19日提交的CLOUD-BASED SYSTEM FOR READING OF DECODABLE INDICIA；
美国专利申请号14/745,006，针对（Todeschini等人）于2015年6月19日提交的SELECTIVE OUTPUT OF DECODED MESSAGE DATA；
美国专利申请号14/747,197，针对（Thuries等人）于2015年6月23日提交的OPTICALPATTERN PROJECTOR；
美国专利申请号14/747,490，针对（Jovanovski等人）于2015年6月23日提交的DUAL-PROJECTOR THREE-DIMENSIONAL SCANNER；以及
美国专利申请号14/748,446，针对（Xie等人）于2015年6月24日提交的CORDLESSINDICIA READER WITH A MULTIFUNCTION COIL FOR WIRELESS CHARGING AND EASDEACTIVATION。
在说明书和/或图中，已经公开了本发明的典型实施例。本发明不限于这样的示例性实施例。术语“和/或”的使用包括相关联的列出的项目中的一个或多个的任何和所有组合。图是示意性的表示并且因此不一定按比例绘制。除非被另外提到，在一般和描述性的意义上并且不出于限制的目的使用具体术语。

Claims (15)

1.一种用于读取标记的方法，方法包括：
使用数字成像器捕捉对象的图像；
使用尺寸量定系统获得与对象对应的三维（3D）信息；
在图像中选择图像-感兴趣区域（图像-ROI），图像-ROI包含对象的至少一部分；
使用与对象在图像-ROI内的部分对应的3D信息来创建理想-感兴趣区域（理想-ROI）；
将图像在图像-ROI内的部分变换成理想-ROI内的经校正的图像；
在经校正的图像内针对标记进行搜索；以及
如果能够发现标记，则读取在经校正的图像中的标记。
2.根据权利要求1所述的方法，进一步包括：
如果不能在经校正的图像中发现标记，则重复选择、创建、变换和搜索的步骤直到发现标记或直到对象的对数字成像器可见所有部分已经被搜索。
3.根据权利要求1所述的方法，进一步包括在读取标记的步骤之后：
如果在经校正的图像中发现附加标记，则读取附加标记。
4.根据权利要求1所述的方法，其中在图像中选择图像-ROI包括：
检测图像中的标记；以及
在图像中选择仅包括标记的区域。
5.根据权利要求1所述的方法，其中在图像中选择图像-ROI包括：
使用3D信息检测对象上的表面；以及
选择图像的仅包括表面的区域。
6.根据权利要求1所述的方法，其中理想-ROI的尺寸与对象的被包含在图像-ROI中的部分的物理尺寸对应，并且其中物理尺寸被使用3D信息确定。
7.根据权利要求1所述的方法，其中与对象在图像-ROI内的部分对应的3D信息包括对象的被包含在图像-ROI中的部分的物理曲率。
8.根据权利要求1所述的方法，其中与对象在图像-ROI内的部分对应的3D信息包括对象的被包含在图像-ROI中的部分的表面-粗糙度和/或表面-特征。
9.根据权利要求1所述的方法，其中与对象在图像-ROI内的部分对应的3D信息包括对象的被包含在图像-ROI中的部分的物理位置，物理位置与数字成像器的图像传感器相关。
10.根据权利要求1所述的方法，其中将图像在图像-ROI内的部分变换成理想-ROI内的经校正的图像包括计算图像-ROI和理想-ROI之间的单应性。
11.一种标记-读取系统，包括：
尺寸量定系统，其用以搜集关于场景的3D信息；
数字成像器，其用以捕捉场景的图像；以及
处理器，其被通信地耦合到尺寸量定系统和数字成像器，处理器被软件配置成：
在场景的图像内选择图像-感兴趣区域（图像-ROI），图像-ROI包含畸变的标记，
使用与场景在图像-ROI内的部分对应的3D信息将图像在图像-ROI内的部分变换成经校正的图像，经校正的图像包含无畸变的标记，以及
读取经校正的图像中的无畸变的标记。
12.根据权利要求11所述的标记-读取系统，其中尺寸量定系统包括：
图案投影仪，其被配置成以被传输的图案的形式投影红外（IR）光，以及
距离照相机，其被配置成捕捉以被反射的图案的形式的从场景反射的IR光的图像。
13.根据权利要求11所述的标记-读取系统，其中图案投影仪和距离照相机被立体地安置使得被传输的图案和被反射的图案之间的空间差异确定距离。
14.根据权利要求11所述的标记-读取系统，其中数字成像器是成像标记读取器。
15.根据权利要求11所述的标记-读取系统，其中尺寸量定系统、数字成像器和处理器被包含在手持外壳中。
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