CN107490365A - 尺寸度量器中的场景变化检测 - Google Patents
尺寸度量器中的场景变化检测 Download PDFInfo
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Abstract
公开了一种包装尺寸度量器。通过以下步骤来检测包装尺寸度量器的姿势变化:对测量平台的区域进行背景建模,并且然后确定场景中的多个点是否距背景模型的距离不同。也可以通过以下步骤来检测姿势变化:将从训练过程中拍摄的图像生成的3D容器中的支撑点的计数与后续图像中的支撑点的计数进行比较,并确定多少支撑点不同。
Description
技术领域
本发明涉及使用图像处理来测量物体的物理尺寸的尺寸度量器(dimensioner)装置。更具体地,提供了一种用于确定场景是否已经变化从而指示摄像机和测量平台之间的相应移动的方法和设备。
背景技术
使用固定位置包装尺寸度量器来测量诸如包装之类的物体的X,Y和Z维度。为了提供准确性,这样的尺寸度量器假设摄像机与诸如包裹之类的物体被放置在的平面之间的静态关系。一旦确立了这种关系,摄像机的平移或旋转通常将导致对包裹尺寸估计不足/过量估计。类似地,尺寸度量器测量包装所对照的参考平面(例如,秤或平台)通常不能在不引入误差的情况下移动。换句话说,传感器和参考平面在初始化后不应相对彼此移动。系统内各部分的独立移动可能会导致所有维度中包装测量的较差准确度。
如果用户有意地移动传感器来改变场景的视图,例如,关于参考平面的以前知识将变得无效。用户甚至可能不知道改变传感器的姿势将使原始设置无效,并降低测量准确度。
用户也可能不知道尺寸度量系统硬件已经移动。由于例如松动的安装支架和振动或摇动,移动可能会随着时间而非常渐进。在电线或杆上的传感器可能随时间略微滑动或可能偶然被碰撞移位。
因此,当初始对准被扰乱时,需要重新发现参考平面的自动化过程。
发明内容
因此,一方面,本发明包括包装尺寸度量器。通过以下步骤来检测包装尺寸度量器的姿势变化:对测量平台的区域进行背景建模,并且然后确定场景中的多个点是否距背景模型的距离不同。也可以通过以下步骤来检测姿势的变化:将从训练过程中拍摄的图像生成的3D容器中的支撑点的计数与后续图像中的支撑点的计数进行比较,并确定多少支撑点不同。
在示例实施例中,一种检测包装尺寸度量系统相对于其操作环境的姿势变化的方法涉及:通过以下步骤初始化尺寸度量系统:在距离摄像机处捕获测量平台和周围区域的一个或多个初始参考图像;在处理器处:从每个初始参考图像生成参考深度图;从捕获的初始参考深度图生成并向存储器存储背景模型;通过以下步骤针对场景变化测试尺寸度量系统:在距离摄像机处,捕获测量平台和周围区域的后续图像;在处理器处:从所述后续图像生成当前深度图;将当前深度图的每个像素与背景模型的对应像素进行比较;对与参考深度图的绝对差异大于规定阈值THRESH1的当前深度图的像素数量Pv进行计数,并且如果像素数量Pv大于阈值THRESH2,则确定图像中已经发生显著变化。
在某些说明性实施例中,测试是周期性进行的。在某些说明性实施例中,该过程还涉及执行尺寸度量过程以测量测量平台上物体的尺寸。在某些说明性实施例中,在测量测量平台上物体的尺寸中每当规定的不活动周期时,进行测试。在某些说明性实施例中,在每次测量测量平台上物体的尺寸之前进行所述测试。在某些说明性实施例中,该过程进一步涉及:在确定已经发生显著场景变化时生成提醒。在某些说明性实施例中,在确定已经发生显著场景变化时,重复初始化。
在另一示例实施例中,尺寸度量系统具有测量平台。安装距离摄像机以便捕获测量平台和周围区域的图像。处理器被编程为进行以下动作:通过以下步骤初始化尺寸度量系统:从距离摄像机接收测量平台和周围区域的一个或多个初始参考图像;从所述一个或多个捕获的初始参考图像生成并向存储器存储背景模型;通过以下步骤针对场景变化测试尺寸度量系统:从距离摄像机接收平台区域的后续图像;从后续图像生成当前深度图;将当前深度图的每个像素与背景模型的对应像素进行比较;对与参考深度图绝对差异大于规定阈值THRESH1的当前深度图的像素数量Pv进行计数,并且如果像素数量Pv大于阈值THRESH2,则确定图像中已经发生显著变化。
在某些说明性实施例中,测试是周期性进行的。在某些说明性实施例中,该过程还涉及9.根据权利要求7所述的系统,进一步包括:处理器执行尺寸度量过程以测量测量平台上物体的尺寸。在某些说明性实施例中,在测量测量平台上物体的尺寸中每当规定的不活动周期时,进行测试。在某些说明性实施例中,在每次测量测量平台上物体的尺寸之前进行所述测试。在某些说明性实施例中,处理器在确定已经发生显著场景变化时生成提醒。在某些说明性实施例中,在确定已经发生显著场景变化时,处理器重复初始化。
在另一示例实施例中,一种检测包装尺寸度量系统相对于其操作环境的姿势变化的方法涉及:通过以下步骤初始化尺寸度量系统:在距离摄像机处,捕获测量平台和周围区域的初始参考图像;在处理器处,围绕平台生成三维容器并将容器存储到存储器;在所述处理器处,从所述参考图像确定所述容器中所述支撑点的计数;通过以下步骤针对场景变化测试尺寸度量系统:在距离摄像机处,捕获测量平台和周围区域的后续图像;在处理器处:对所述后续图像中的处于容器中的支撑点进行计数;将所述后续图像中的处于容器中的支撑点的计数与参考图像中的处于容器中的支撑点的计数进行比较;基于比较,确定计数中是否存在规定的差异。确定所述计数中存在规定的差异,这确立已经发生显著场景变化。
在某些说明性实施例中,测试是周期性进行的。在某些说明性实施例中,该过程进一步涉及执行尺寸度量过程以测量平台上物体的尺寸。在某些说明性实施例中,在测量测量平台上物体的尺寸中每当规定的不活动周期时,进行所述测试。在某些说明性实施例中,在每次测量测量平台上物体的尺寸之前进行所述测试。在某些说明性实施例中,过程进一步涉及在确定已经发生显著场景变化时生成提醒。在某些说明性实施例中,所述容器包括直棱柱,直棱柱具有近似是凸多边形的基部,其中基部平行于限定测量平台的全等凸多边形,并且其中棱柱的高度等于最大支撑距离的两倍。在某些说明性实施例中,容器包括直圆柱,直圆柱具有圆形基部,其中基部平行于限定测量平台的全等圆,并且其中圆柱的高度等于最大支撑距离的两倍。在某些说明性实施例中,当认为已经发生显著场景变化时,在与测量平台共面的位置处针对测量平台搜索场景。在某些说明性实施例中,在确定已经发生显著场景变化时,该过程涉及重复所述初始化。
在另一示例实施例中,尺寸度量系统具有:测量平台。安装距离摄像机以捕获测量平台和周围区域的图像。处理器被编程为进行以下动作:通过以下步骤初始化尺寸度量系统:从距离摄像机接收平台区域的初始参考图像;围绕测量平台生成三维容器并将容器存储到存储器;从参考图像确定容器中的支撑点的计数;通过以下步骤针对场景变化测试尺寸度量系统:从距离摄像机接收测量平台和周围区域的后续图像;对后续图像中的处于容器中的支撑点进行计数;将后续图像中的处于容器中的支撑点的计数与参考图像中的处于容器中的支撑点的计数进行比较;基于比较,确定在支撑点计数中是否存规定差异;并且在确定计数中存在规定差异时,确立已经发生显著场景变化。
在某些说明性实施例中,测试是周期性进行的。在某些说明性实施例中,该过程还涉及执行尺寸度量过程以测量测量平台上物体的尺寸。在某些说明性实施例中,在测量测量平台上物体的尺寸中每当规定的不活动周期时,进行所述测试。在某些说明性实施例中,在每次测量测量平台上物体的尺寸之前进行所述测试。在某些说明性实施例中,所述过程进一步涉及在确定已经发生显著场景变化时生成提醒。在某些说明性实施例中,所述容器包括直棱柱,直棱柱具有近似是凸多边形的基部,其中基部平行于限定测量平台的全等凸多边形,并且其中棱柱的高度等于最大支撑距离的两倍。在某些说明性实施例中,容器包括直圆柱,直圆柱具有圆形基部,其中基部平行于限定测量平台的全等圆,并且其中圆柱的高度等于最大支撑距离的两倍。在某些说明性实施例中,当认为已经发生显著场景变化时,在与测量平台共面的位置处针对测量平台搜索场景。在某些说明性实施例中,在已经确立已经发生显著场景变化时,该过程进一步重复所述初始化。
在下面的详细描述及其附图中进一步解释上述说明性发明内容以及本发明的其它示例性目的和/或优点以及其实现方式。
附图说明
图1描绘了与某些示例实施例一致的尺寸度量器布置的示例。
图2描绘了与某些示例实施例一致的示例距离摄像机配置。
图3是以与某些实施例一致的方式使用背景模型确定场景变化是否发生的过程的流程图的示例。
图4是以与某些实施例一致的方式使用背景模型确定场景变化是否发生的过程的流程图的另一示例。
图5是以与某些实施例一致的方式使用围绕多边形构造的棱柱来确定场景变化是否发生的过程的流程图的示例。
图6描绘了以与某些实施例一致的方式围绕多边形构造棱柱的示例。
图7是以与某些实施例一致的方式使用围绕多边形构造的棱柱来确定场景变化是否发生的过程的流程图的另一示例。
具体实施方式
与本发明一致的实施例包括几种方法和设备用于根据系统的部件相对于系统的其他部件的移动来检测尺寸度量器不对准。
为了本文档的目的,术语“高斯分布混合”是指背景建模的方法。可以使用单通道灰度图像、RGB图像或深度图像(深度图像包含在每个像素位置处观察到的Z值)。基于观察到的强度,每个像素位置具有一个或多个相关联的高斯(正态)概率分布(高斯分布)。将多个高斯分布混合在一起以形成联合分布。高斯分布可以是动态的;可以添加新的高斯分布,或者高斯分布可以合并,或者均值(μ)和标准差(σ)可以改变。
术语“支撑点”是指导致定义某种几何形状的三维(XYZ)点。平面的支撑点是由系统检测到的与参考平面非常接近(距离上)的三维空间中的点。阈值距离(例如,几厘米)定义一个点必须如何接近几何表面才使该点被认为是支撑点。场景中的三维支撑点导致针对三维参考平面的方程。该点“支撑”参考平面,因为该点相对接近参考平面,并用于拟合所述平面(即,在3D空间中确定参考平面的位置)。为了本文档的目的,支撑点在距平面的绝对阈值距离之内,诸如垂直地离开平面最大例如2cm。此外,支撑点处的近似表面法线接近平台平面的表面法线(3D法向量之间具有例如几度的最大阈值角)。支撑点近似于平面上某处的真实点,但是由于噪声,支撑点可能略高于或低于参考平面的真实平面。
在一个实施例中,处理器可以使用RANSAC(随机样本一致性)和最小二乘拟合的组合来发现近似平台顶表面的三维平面。在RANSAC中,处理器构建大量随机平面,并输出具有最大支撑点数量的平面。在RANSAC的每次迭代中,处理器从场景中的点集合中随机选择三个三维点,并通过这些点构造平面。然后,处理器对来自场景的如下支撑点的数量进行计数:所述支撑点在阈值距离内接近所述平面。最后,给定具有最大数量支撑点的平面和支撑点列表,处理器使用最小二乘法来拟合通过所述支撑点的新平面。
术语“凸包”是指在三维空间中以数学方式构造的多边形,该多边形描述了平台/秤(scale)的最外面范围。通过“凸”,多边形没有任何“凹陷”,凹陷中相继的顶点从逆时针方向改变为顺时针方向,或反之。凸包通常具有少量的顶点,所有这些顶点在3D中是共面的。
术语“平台”或“测量平台”用于表示参考平面,该参考平面用于度量诸如地板或桌子/柜台顶表面或重量秤顶表面的尺寸。
术语“棱柱”用于表示以数学方式构造的结构,该结构使用凸包的移位副本作为基部。凸包沿着平台的法向量向上移位以形成顶基部,并且凸包沿平台法线向量的相反方向向下移位以形成下基部。棱柱的高度通常只有几厘米,并且意在包含接近实际平台的支撑点。以这种方式,各个壁以数学方式被构造成与凸包垂直从而定义以平台为边界的空间。在本文档中,棱柱本质上可以被认为是围绕平台的限定容器(数学构造,而不是实际物理容器)。该容器可以是“直棱柱”,“直棱柱”具有多边形基部和表示与基部垂直的高度的段。或者,该容器可以是具有圆形或椭圆形基部的“直圆柱”。在所有情况下,棱柱表示围绕多边形的外壳,该多边形表示在3D空间中平坦的平台。增加高度(例如,+/-2cm)以形成棱柱或圆柱。
根据某些实施例,提供了一种机制来检测形成尺寸度量系统的一部分的摄像机何时移动-即使可能仅少量移动-并且提醒用户和/或关闭尺寸度量操作,直到完成重新初始化以计及该移动。在本文档中,“移动”是指摄像机或平台相对于彼此移动,使得记录到摄像机的图像从尺寸度量系统的初始化中所使用的所述图像变化。
此外,如果没有引起问题的微小变化没有显著地扰乱传感器平台的姿势,场景中的所述微小变化应优选地被忽略。例如,如果用户在场景中放置了非常大的包装,该包装消耗了传感器视野的大部分,则系统不应该生成显著的全局变化的警报。相应地,检测模块应避免虚假警报,以免使用户烦恼或使系统不可用于其预期目的。
通过包括物理约束(以防止摄像机相对于平台的运动),可以抑制尺寸度量器系统中部件的移动。此外,纸印章可用于提供何时发生这种运动的指示。但是,附加的物理盖章可能会不必要地增加产品成本,并且可能需要进行定制以符合当地的计量认证规则。相对于此,算法方法不会增加硬件成本,并且与认证规则相一致,因为在系统无法产生准确结果时它使系统无法操作。当然,物理约束和印章也可以与本文公开的技术结合使用。
现在转到图1,描绘了一种尺寸度量器系统10,其中摄像机14以固定关系安装到测量平台(“平台”),在该测量平台(“平台”)上放置待测量的包裹或其他物体,诸如22。包裹22可以被放置在位于桌面18上的重量秤24上,以便可以在确定所测量的包裹的X,Y和Z方向的总体尺寸的同时确定重量。在这种情况下,重量秤24的顶表面成为尺寸所参考的参考平面或平台。通过由编程处理器26和相关联的存储器/存储装置28(例如,RAM,ROM,易失性和非易失性存储器和/或盘驱动器或闪存等)分析来自摄像机14的图像来进行尺寸确定,编程处理器26和相关联的存储器/存储装置28最终可以将尺寸显示到形成系统的用户界面的一部分的显示器30。
根据某些示例实施例,使用诸如图2中所描绘的距离摄像机14。这样的距离摄像机14生成3D空间数据。摄像机14(或者摄像机14与处理器26结合)提供3D空间数据,处理器26从该3D空间数据推断参考平面。在某些实施方案中,摄像机14包括立体布置的红外(IR)摄像机34和RGB摄像机38,如所示的,在两个摄像机的透镜/光圈之间具有水平间隔。在某些实施例中,摄像机14还包括红外投影仪42,该红外投影仪42使用激光器和(一个或多个)衍射光学元件投射结构光,以产生大量(对于某些示例实施例,例如大约50,000至100,000)3D参考点。虽然作为摄像机14的一部分被示出,但投影仪非限制性地可以是分离部件。
诸如14的距离摄像机可商购获得或可以定制构建。期望提高距离摄像机的准确度以具有宽视角并且能够聚焦在被测量的物体(例如,在某些示例实施例中在约0.5至4.0米内)上。还期望摄像机具有大的基线D(例如,在约8和约25cm之间),因为更大的基线将产生更高的准确度。
在本系统的每种情况下,当系统开启时,“初始化阶段”启动该过程。在初始化阶段期间,用户选择平台(例如,秤)。这可以通过呈现来自摄像机14的RGB摄像机38图像并请求用户指示平台上的位置(例如当指示器在平台上时点击鼠标或者在触摸屏显示器上轻击平台)来完成。考虑到本教导,本领域技术人员可以想到其它方法。
本文作为示例提供了用于检测移动的传感器和/或平台的两个单独的示例方法,但是本发明本身不受所公开技术细节的约束。在每种情况下,当确立已经发生了显著的场景变化时,可以进行任何数量的动作,包括但不限于向用户提供可听见的或视觉提醒和/或重复初始化阶段以计及姿势变化。
背景模型示例
在一个实施方案中,使用背景建模来检测改变的场景。在背景模型示例中,系统在初始化阶段期间提示用户选择平台。深度图用于训练背景模型。在测试新场景时,将已捕获的背景模型与当前图像的深度图进行比较。在一个示例中,这样的深度图可以包含针对100,000个像素的信息。如果针对图像中的像素的深度值与训练的背景模型的对应深度显著不同,则系统将图像中的该像素分类为前景。如果大多数测试场景被分类为前景,则系统确定摄像机或平台已被移动(或者另外已经存在显著的场景变化)。
一旦检测到摄像机或平台的移动,系统就获取新的平台位置。该系统通过搜索与平台的平面方程所定义的先前平面重合的最大平面来发现平台的新位置。然后可以根据新获得的位置来调整平面参数。此外,系统可以等待固定时间量,然后向用户发出关于摄像机和平台之间的任何相对移动的提醒,以避免虚假提醒。
如果摄像机和平台的相对位置发生显著变化,则摄像机的当前图像应与系统操作的初始化阶段期间捕获的图像显著不同。图3描绘了与起始于104的示例实施方案一致的过程100的示例流程图,其中装置被启动或重新启动和初始化。在108提示用户选择所期望的平台,并且在112系统发现该平台。然后在116处用户可以批准该平台。
该系统通过摄像机14捕获在正则矩阵(形成距离图像)中包含深度(或X,Y,Z几何体系中的Z值)的至少一个深度图。(一个或多个)深度图用于在120处通过如下方式来训练背景模型:生成与捕获的深度图一致的每像素统计(例如,高斯)分布,该捕获的深度图对应于来自摄像机14的相继捕获图像的集合。该训练的背景模型表示如下平台的环境的深度图:当系统在120处被训练时出现的平台。
训练背景模型涉及空白场景的初始训练阶段,以及随后的(即使在测试时)持续更新。一般来说,空场景(包含平台,但没有包裹)的背景模型在例如启动的5到10分钟内被训练。然后,在测试期间,处理器将发现违反背景模型的前景物体,并且还将适配/更新所述模型。初始训练和更新阶段基本上对背景模型进行类似的改变,但是更新阶段忽略前景“斑点”,并且不针对检测到前景的点更新模型。
通过将摄像机放置在固定位置(诸如三脚架或刚性安装座上)来进行背景模型的初始训练。在至少约30秒内从摄像机获得多个帧。场景应该包含最低限度的干扰,比如人们走过它。然后,对于每一帧进行以下过程之一:
1)假设使用深度图(针对每个像素的深度值的正则矩阵),该帧将是具有每个像素位置处的深度值(例如,以mm表示)或差异值的正则矩阵。
2)假设使用“高斯分布混合”模型,每个训练帧用于更新针对每个像素位置的高斯模型。各个分布可以合并在一起,或者可以创建新的分布。然后为针对每个像素的每个高斯模型更新平均值和标准偏差。
一旦背景模型在120处被训练,系统可以在尺寸度量环路124中开始操作以测量放置在平台上(或放置在平台上的秤上)的物体。
期望频繁地检查系统的对准以确保摄像机对平台的取向(“姿势”)没有变化。这是在“测试阶段”完成的。在某些示例实施例中,这在三个不同的情况下被检查。可以1)在每个包裹测量之前,2)在已经达到周期停机时间(即测量之间的时间)之后,以及3)严格按照周期进行检查。考虑到本教导,本领域技术人员将想到许多变型。
在测试阶段期间,在每个测试帧,背景模型被更新,跳过针对前景区域的更新。正如在初始化阶段中一样,可以更新统计数据(如高斯分布)。长时间保持静止的前景物体将由于这些更新而最终变为背景。示例系统使用被作为历史存储的最大数量的旧帧,并且最终删除更旧的帧。对于某些示例实施方案,系统“忘记”超过约10,000帧之前被捕获的帧。在一个示例系统中,以每秒约10帧的速度捕获各个帧。
在本示例实施例中,在128处,在第一测量之前设置停机定时器Td以及周期定时器Tp,如在128处所指示的。在132处,从摄像机14接收新的帧。在134,用户可以通过在136处对用户界面30发起命令来启动新的测量。当这发生时,系统首先运行检查(通过进入测试阶段),以确保没有移动扰乱系统的对准。这发生在140和144处,在140和144处系统进行检查以查看在120处训练的背景模型中是否存在大量(由阈值定义)的变化。第一阈值THRESH1定义像素深度的当前值与背景模型中的值之间的最大距离。在这种情况下,距离是无符号的,因为不关心该距离更接近还是更远离摄像机,唯一相关的是深度与背景模型中的对应深度相距多远。因此,如果像素的深度值与背景模型之间的差异的距离大于THRESH1,则该变化被认为足够大,从而被认为是从背景模型发生变化。对这样的变化的数量进行计数以产生计数Pv,并且将Pv与第二阈值THRESH2进行比较,以确定是否存在足够大的变化,从而判断系统的“姿势”已经存在变化。
当在140和144处进行该测试时,将当前深度图与表示背景模型的深度图进行比较。如果像素的深度值与训练值的差异大于THRESH1(例如,如果在一个示例中差异大于大约5-20mm),则系统将像素分类为前景。如果大量的当前深度图被分类为前景点(例如,如果点的数量Pv大于THRESH2),则可以得出结论,摄像机可能已移动或者另外系统的对准发生变化。因此,在144处,将前景点的数量Pf与阈值THRESH2进行比较,以确定是否存在移动,或是否前景点的数量大于THRESH2。在一个说明性示例中,THRESH2的值可以设置在点总数的大约75-95%。
在背景建模中使用深度图是一种对阴影和其他照明变化稳健的方法。应注意的是,RGB/灰度图像也可以用在背景模型中。另外,这个示例的背景模型不是自适应的,但是可以修改它们以把它们适配为接受长期变化,比如一个新引入到背景模型中的半永久性物体。
在144,如果系统确定尚未超过阈值THRESH2,并且系统尚未被移动,则在148处可以提示用户把包裹或其它待测量物体放置在平台上。然后在152处可以由系统测量包装,并且在156处结果被显示或以其他方式被使用(例如,作为到销售点系统的输入)并且在160重置停机时间定时器Td。
如果用户在测量之间,并且尚未生成指示所述测量将在138处针对时间Td(例如,例如15至30分钟)开始的指令,则过程100进行到164进行检查以查看停机时间定时器Td是否已期满。如果Td尚未期满,则过程返回到132以等待来自摄像机的下一帧。如果Td已经期满,则定时器Td在168处被重置,并且等同于在140和144处定义的过程的过程在172和176处启动,以确保系统处于对准。在144或176,如果该过程检测到存在摄像机移动或者影响对准的其他变化,则过程在180处生成提醒,使用户知道该系统失去对准以及发起对准初始化过程。该提醒可以是旨在引起用户注意的可听见的或视觉提醒。然后,过程返回到过程中的更早的点,诸如108,以开始系统的对准重新初始化。
除了停机时间定时器,周期定时器可以用来定期(例如,例如每15分钟)检查校准。如果在164处定时器Tp尚未期满,则在184处系统进行检查,以查看周期定时器Tp是否期满。如果没有,则过程在132等待来自摄像机14的新帧,如果定时器Tp已经期满,则周期定时器Tp在188被重置,并且控制传递到172。
图4示出过程200(如在过程100中携带的过程)的稍微更加隔离和详细的示例,过程200开始于初始化阶段202,其中Z方向值被捕获作为深度图矩阵。该深度图在206处被用于训练背景模型,背景模型确立哪些点被认为是背景。
在210,发起当前场景的测试,其中针对当前场景创建新的深度图。这种新的深度图与所训练的背景模型(即,在系统的初始化时间创建的参考深度图)进行比较。在214,新的深度图的每个像素与训练的背景模型的对应像素进行比较,并且如果该值显著不同(例如,如果像素差异大于THRESH1),则新的像素被分类为前景像素218。否则,该像素将被分类为背景像素222。前景点和背景点的数量Pv在226处被计数并且在230处前景点的数量与阈值THRESH2进行比较。如果前景点的数量大于THRESH2,那么在234处系统认为已检测到变化(移动)并且发起新的初始化和训练过程。如果在238处没有检测到运动,则该系统被认为健康良好,从而进行尺寸度量测量。在示例实施例中,THRESH1和THRESH2的值可以有可能针对任何给定的尺寸度量设置和系统被优化。在考虑本教导时,本领域技术人员将会想到许多变型。
当背景建模用于本系统时,可以考虑几个可能的模型。来自距离摄像机14的单个距离图像可以被用于该模型并且该过程可确定测试图像和所训练的参考图像之间的差异,从而发现前景。当把一个距离图像用于背景模型时,在一个实施方案中,可以使用5毫米的距离阈值THRESH1和90%的阈值前景百分比THRESH2。换言之,与对应的所训练的深度值差异大于阈值(例如,在一个示例中为5mm)的任何新的深度值被认为是前景,并且如果在一个示例中像素中多于90%是前景,则认为摄像机或平台已移动。
在另一个示例中,在每个像素位置处的单个高斯分布可被使用和用空白场景的可能几分钟(例如,1-5分钟)的帧来训练。每个像素具有深度的一个正态分布,深度具有平均值和标准偏差值。测试时,可以关于场景计算标准Z值。超过某一阈值(比如例如三个标准偏差)的绝对Z值可被视为前景。在不脱离本文描述的原理的情况下许多变型是可能的。
复杂包示例
在被称为复杂包方法的另一实施方案中,所述尺寸度量系统10进行检查以确定所述平台是否保持在它第一次通过使用上面定义的复杂包被成像的位置处。
在这个示例中,系统以与先前所描述的相同的方式在初始化阶段期间提示用户选择平台。然后,围绕所选择的平台构建凸包。该凸包包含针对平台的支撑点。当测试新的场景时,使用原始平台的凸包作为棱柱或圆柱的参考末端来计算棱柱或圆柱内支撑点的量。如果在包中存在过少或过多的支撑点,那么系统推断出平台或摄像机已被移动。此外,在检测到摄像机和平台之间的相对移动时,系统等待固定时间量(例如,5秒)来发出提醒。一旦检测到摄像机或平台的移动,系统就获取新的平台位置。该系统通过搜索与所述平台的先前平面方程近似重合的最大平面来发现平台的新位置,并根据新获得的位置调整平面参数。
表示该示例实施方案的过程300在图5中描绘。该过程开始于304,启动或重置尺寸度量系统10。在308,用户选择期望平台用于尺寸度量。这可以通过呈现来自摄像机14的RGB摄像机38的图像并请求用户指示所述平台上的位置(例如,通过当指示器在平台上时点击鼠标或在触摸屏显示器上轻击平台)来完成。在考虑本教导时,本领域技术人员可以想到其它方法。
在312处的初始化阶段期间,在由摄像机14捕获的初始图像中发现该平台。然后处理器26计算围绕平台的“凸包”。该凸包应该包含针对所述平台的支撑点(如上所定义的)。如上所述,凸包基本上是三维的多边形,但是其与平台的参考平面近似重合。
图6描绘了构造围绕复杂包的棱柱的壁的过程。复杂包312在这个简单示例情况中是平行四边形311。但是,在其它实例中,复杂包可以由具有三个或更多个边的多边形(或圆柱或椭圆)来表示,并且用于表征用作参考平面的平台表面。在该图示中,多个支撑点被示出在复杂包311中。尽管这些支撑点被示出为在所述复杂包的平面中,但它们可能与实际的共面点(例如,点313)略有不同。棱柱可以按照数学方式通过在垂直于复杂包朝向形成与复杂包的平行平面的复杂包投影的方向向上延伸壁314、316、318和320来构造。
当棱柱已经在312处由系统定义时,可以提示用户在324处批准所识别的平台,并且如果用户未批准,则他或她在308处再次选择所述平台并且复杂包被再次识别,并且棱柱壁在312处被再次构造。
一旦在324处用户批准了对平台的适当选择,则系统准备好进行尺寸度量过程,该尺寸度量过程在328处作为连续环路来操作。如在先前示例中那样,该示例被示为具有三个独立的定时布置,以便对尺寸度量系统进行场景变化测试。为了实现这一点,定时器Tp和Td在332处被设置并且在336处从摄像机14接收新的帧。
用户可以在340处启动新的测量,以度量包裹或其他物体的尺寸。但是,在342处系统检查停机时间定时器Td的状态,直到这样的测量在340处发起。如果在342处Td尚未期满,则在344处检查周期定时器Tp。如果Tp尚未期满,则过程返回到336。如果在342处停机时间定时器Td已期满,则它在348处被重置,并且控制传递到350。类似地,如果在344处周期定时器Tp已经期满,则它在352处被重置,并且控制传递到350。在任一种情况下,在350,棱柱中点的数量被计数,并且如果这个数量与从初始确立的经训练的参考棱柱获得的计数显著不同,则将认为已经发生显著的场景变化。在354处进行该确定,其中系统基于在350处的计算确定该计数是否在适当范围内,350处的所述计算确定参考计数与当前计数的比率R。如果该比率的值(Pv)在较低可接受比率和较高可接受比率之间(例如,比如0.8<Pv<1.25),则该参考可以被视为表示没有显著变化。如果在354处Pv在这个范围之内,则认为没有移动发生,并且过程返回到336。但是,如果在354处Pv的值在该范围之外,则认为已经发生显著的场景变化,并且在358处向用户发出提醒,使得该系统可以在308处开始被重新初始化。
每当用户希望在340处测量包裹或其它物体并发起这种过程时,在362开始进行另一初始检查,该初始检查进行与350相同的过程。在366处判定Pv是否在范围内,并且如果否,则控制传递到358以提醒用户并重新初始化该系统。如果在366处没有检测到场景变化(无移动),则在370处提示用户将物体放置在平台上并且在374处测量该包裹。在378处可以显示结果或其他适当的动作(例如,将数据传送到销售点终端或其他系统)并且在382处重置停机时间定时器。控制然后传递回到336。
当测试当前场景时,根据定义复杂包的平面方程识别原始平面附近(例如,几mm以内)的支撑点。使用原始平台的凸包作为基部来计数“棱柱”内支撑点的量。如果发现许多支撑点仍然存在于凸包中,则平台和/或摄像机可以被视为没有移动。否则,可以提醒用户尺寸度量系统中的姿势改变。一旦检测到摄像机和平台之间的相对移动,就引导用户重新发现平台。老平台是无效的,因此报告包装尺寸的过程立即停止。
在一个实施方案中,该过程尝试重新获取所述平台,如上所述。重新获取假定原始平面方程仍然是有效的,但该平台仅仅相对相同的平面移动。例如,用户可以把秤移动到台面上的另一个位置,但秤的平面方程仍然是有效的,所以这个过程可以尝试发现秤的新位置。在一种方法中,该过程发现与以前的平面近似重合的最大平面,并且它确保支撑点的新数量类似于(例如,在阈值内)原始计数。然后,该过程可以适当地调整平面参数。
可通过确定用户是否已在X秒内没有测量任何东西来确立停机时间。同样,如果场景的RGB帧在X秒内没有显著改变,则系统可以运行检查。希望发现当用户没有主动测量的停机时间,以使得可以在用户对尺寸度量器的操作的最低程度的干扰情况下来确认对准的完好性。
现在参考图7,与上面的讨论一致的过程400被描绘开始于404处的初始化阶段。在该初始化阶段期间,定义包含支撑点的复杂包的多边形被用作基部以构造棱柱壁。在408,一旦系统被初始化,通过在原始支撑点附近(例如在约10-30毫米内)发现支撑点来测试当前场景。在412处,使用原始平台多边形作为基部来计数棱柱内支撑点的数量。在416,取得计数的比率R(当前计数除以原始计数),并且该比率R与下阈值(THRESH-LOW)和上阈值(THRESH-HIGH)进行比较,并且如果该比率在下阈值和上阈值之间,则在420处系统认为场景中没有显著变化(例如,摄像机相对于平台没有移动)。在这种情况下,可以进行正常的尺寸度量。然而,如果比率R在该范围之外,则在424处系统认为已经发生显著场景变化(例如,存在摄像机相对于所述平台的移动)。在这种情况下,可以生成警报或其他提醒以便使用户知道该情况和/或新的初始化过程可以被发起,如前面所讨论的。
要注意的是,下阈值和上阈值可以被调整和优化,以便确立在将被认为显著并引起停止测量直到可以进行重新初始化的界限内可以容忍多少变化。照明的变化,摄像机视野内的移动(例如,手在平台上方经过等)可以导致噪声,所述阈值之间的范围部分地计及该噪声。
在发现针对原始平面方程的支撑点的实施方案中,使用小的点到平面距离阈值。例如,如果一个点距平面的距离小于约20mm,则该点可以被认为存在于原始平面的支撑中。对应的凸棱柱高度较低,其高度可能是该最大距离的大约两倍(即,2*20=40mm)那么多。
在某些实施方案中,倒计时定时器可以被用于推断摄像机实际已移动。在推断摄像机/平台改变姿势之前,系统应观察显著变化的场景达x秒。在倒计时到期之后,该过程改变为要求用户再次选择参考平面的阶段。该倒计时帮助进一步防止假警报,并在产生“摄像机已移动”警报之前要求场景的持续变化。例如,用户可以将违反背景模型的大包装放置在场景中,但如果他/她在倒计时到期之前移除它,则系统将不会引发警报。在实践中,几分钟(例如5-10分钟)的倒计时被发现适合于提供假警报和准确尺寸度量之间的良好平衡。通过考虑本教导,本领域技术人员将想到许多变型和修改。
为了补充本公开,本申请通过引用整体合并下列共同转让的专利、专利申请公开和专利申请:
美国专利号6,832,725; 美国专利号7,128,266;
美国专利号7,159,783; 美国专利号7,413,127;
美国专利号7,726,575; 美国专利号8,294,969;
美国专利号8,317,105; 美国专利号8,322,622;
美国专利号8,366,005; 美国专利号8,371,507;
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美国专利号8,629,926; 美国专利号8,630,491;
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美国专利号8,636,212; 美国专利号8,636,215;
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美国专利号8,640,958; 美国专利号8,640,960;
美国专利号8,643,717; 美国专利号8,646,692;
美国专利号8,646,694; 美国专利号8,657,200;
美国专利号8,659,397; 美国专利号8,668,149;
美国专利号8,678,285; 美国专利号8,678,286;
美国专利号8,682,077; 美国专利号8,687,282;
美国专利号8,692,927; 美国专利号8,695,880;
美国专利号8,698,949; 美国专利号8,717,494;
美国专利号8,717,494; 美国专利号8,720,783;
美国专利号8,723,804; 美国专利号8,723,904;
美国专利号8,727,223; 美国专利号D702,237;
美国专利号8,740,082; 美国专利号8,740,085;
美国专利号8,746,563; 美国专利号8,750,445;
美国专利号8,752,766; 美国专利号8,756,059;
美国专利号8,757,495; 美国专利号8,760,563;
美国专利号8,763,909; 美国专利号8,777,108;
美国专利号8,777,109; 美国专利号8,779,898;
美国专利号8,781,520; 美国专利号8,783,573;
美国专利号8,789,757; 美国专利号8,789,758;
美国专利号8,789,759; 美国专利号8,794,520;
美国专利号8,794,522; 美国专利号8,794,525;
美国专利号8,794,526; 美国专利号8,798,367;
美国专利号8,807,431; 美国专利号8,807,432;
美国专利号8,820,630; 美国专利号8,822,848;
美国专利号8,824,692; 美国专利号8,824,696;
美国专利号8,842,849; 美国专利号8,844,822;
美国专利号8,844,823; 美国专利号8,849,019;
美国专利号8,851,383; 美国专利号8,854,633;
美国专利号8,866,963; 美国专利号8,868,421;
美国专利号8,868,519; 美国专利号8,868,802;
美国专利号8,868,803; 美国专利号8,870,074;
美国专利号8,879,639; 美国专利号8,880,426;
美国专利号8,881,983; 美国专利号8,881,987;
美国专利号8,903,172; 美国专利号8,908,995;
美国专利号8,910,870; 美国专利号8,910,875;
美国专利号8,914,290; 美国专利号8,914,788;
美国专利号8,915,439; 美国专利号8,915,444;
美国专利号8,916,789; 美国专利号8,918,250;
美国专利号8,918,564; 美国专利号8,925,818;
美国专利号8,939,374; 美国专利号8,942,480;
美国专利号8,944,313; 美国专利号8,944,327;
美国专利号8,944,332; 美国专利号8,950,678;
美国专利号8,967,468; 美国专利号8,971,346;
美国专利号8,976,030; 美国专利号8,976,368;
美国专利号8,978,981; 美国专利号8,978,983;
美国专利号8,978,984; 美国专利号8,985,456;
美国专利号8,985,457; 美国专利号8,985,459;
美国专利号8,985,461; 美国专利号8,988,578;
美国专利号8,988,590; 美国专利号8,991,704;
美国专利号8,996,194; 美国专利号8,996,384;
美国专利号9,002,641; 美国专利号9,007,368;
美国专利号9,010,641; 美国专利号9,015,513;
美国专利号9,016,576; 美国专利号9,022,288;
美国专利号9,030,964; 美国专利号9,033,240;
美国专利号9,033,242; 美国专利号9,036,054;
美国专利号9,037,344; 美国专利号9,038,911;
美国专利号9,038,915; 美国专利号9,047,098;
美国专利号9,047,359; 美国专利号9,047,420;
美国专利号9,047,525; 美国专利号9,047,531;
美国专利号9,053,055; 美国专利号9,053,378;
美国专利号9,053,380; 美国专利号9,058,526;
美国专利号9,064,165; 美国专利号9,064,167;
美国专利号9,064,168; 美国专利号9,064,254;
美国专利号9,066,032; 美国专利号9,070,032;
美国设计专利号D716,285;
美国设计专利号D723,560;
美国设计专利号D730,357;
美国设计专利号D730,901;
美国设计专利号D730,902;
美国设计专利号D733,112;
美国设计专利号D734,339;
国际公开号2013/163789;
国际公开号2013/173985;
国际公开号2014/019130;
国际公开号2014/110495;
美国专利申请公开号2008/0185432;
美国专利申请公开号2009/0134221;
美国专利申请公开号2010/0177080;
美国专利申请公开号2010/0177076;
美国专利申请公开号2010/0177707;
美国专利申请公开号2010/0177749;
美国专利申请公开号2010/0265880;
美国专利申请公开号2011/0202554;
美国专利申请公开号2012/0111946;
美国专利申请公开号2012/0168511;
美国专利申请公开号2012/0168512;
美国专利申请公开号2012/0193423;
美国专利申请公开号2012/0203647;
美国专利申请公开号2012/0223141;
美国专利申请公开号2012/0228382;
美国专利申请公开号2012/0248188;
美国专利申请公开号2013/0043312;
美国专利申请公开号2013/0082104;
美国专利申请公开号2013/0175341;
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美国专利申请公开号2013/0257744;
美国专利申请公开号2013/0257759;
美国专利申请公开号2013/0270346;
美国专利申请公开号2013/0287258;
美国专利申请公开号2013/0292475;
美国专利申请公开号2013/0292477;
美国专利申请公开号2013/0293539;
美国专利申请公开号2013/0293540;
美国专利申请公开号2013/0306728;
美国专利申请公开号2013/0306731;
美国专利申请公开号2013/0307964;
美国专利申请公开号2013/0308625;
美国专利申请公开号2013/0313324;
美国专利申请公开号2013/0313325;
美国专利申请公开号2013/0342717;
美国专利申请公开号2014/0001267;
美国专利申请公开号2014/0008439;
美国专利申请公开号2014/0025584;
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;
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美国专利申请公开号2014/0197304;
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美国专利申请公开号2014/0217166;
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美国专利申请公开号2014/0267609;
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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;
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美国专利申请公开号2014/0299665;
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美国专利申请公开号2014/0319220;
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美国专利申请公开号2014/0326787;
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美国专利申请公开号2014/0344943;
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美国专利申请公开号2014/0351317;
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美国专利申请公开号2014/0362184;
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美国专利申请公开号2014/0369511;
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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a Laser Scanning Module Employing an Elastomeric U-Hinge Based Laser Scanning Assembly, 2012 年2月7日提交(Feng等);
美国专利申请号29/458,405,针对an Electronic Device,2013年6月19日提交(Fitch等);
美国专利申请号29/459,620,针对an Electronic Device Enclosure,2013年7月2日提交 (London等);
美国专利申请号29/468,118,针对an Electronic Device Case,2013年9月26日提交(Oberpriller等);
美国专利申请号14/150,393,针对Indicia-reader Having Unitary Construction Scanner,2014年1月8日提交(Colavito等);
美国专利申请号14/200,405,针对Indicia Reader for Size-Limited Applications,2014年3月7日提交 (Feng等);
美国专利申请号14/231,898,针对Hand-Mounted Indicia-Reading Device with Finger Motion Triggering,2014年4月1日提交 (Van Horn等);
美国专利申请号29/486,759,针对an Imaging Terminal,2014年4月2日提交(Oberpriller等);
美国专利申请号14/257,364,针对Docking System and Method Using Near Field Communication,2014年4月21日提交(Showering);
美国专利申请号14/264,173,针对Autofocus Lens System for Indicia Readers,2014年4月29日提交(Ackley等);
美国专利申请号14/277,337,针对MULTIPURPOSE OPTICAL READER,2014年5月14日提
交 (Jovanovski等);
美国专利申请号14/283,282,针对TERMINAL HAVING ILLUMINATION AND FOCUS
CONTROL,2014年5月21日提交(Liu等);
美国专利申请号14/327,827,针对a MOBILE-PHONE ADAPTER FOR ELECTRONICTRANSACTIONS,2014年7月10日提交(Hejl);
美国专利申请号14/334,934,针对a SYSTEM AND METHOD FOR INDICIAVERIFICATION,2014年7月18日提交(Hejl);
美国专利申请号14/339,708,针对LASER SCANNING CODE SYMBOL READING SYSTEM,2014年7月24日提交(Xian等);
美国专利申请号14/340,627,针对an AXIALLY REINFORCED FLEXIBLE SCAN ELEMENT,2014年7月25日提交(Rueblinger等);
美国专利申请号14/446,391,针对MULTIFUNCTION POINT OF SALE APPARATUS WITHOPTICAL SIGNATURE CAPTURE,2014年7月30日提交(Good等);
美国专利申请号14/452,697,针对INTERACTIVE INDICIA READER,2014年8月6日提交(Todeschini);
美国专利申请号14/453,019,针对DIMENSIONING SYSTEM WITH GUIDED ALIGNMENT,2014年8月6日提交(Li等);
美国专利申请号14/462,801,针对MOBILE COMPUTING DEVICE WITH DATA COGNITIONSOFTWARE,2014年8月19日提交(Todeschini等);
美国专利申请号14/483,056,针对VARIABLE DEPTH OF FIELD BARCODE SCANNER,2014年9月10日提交 (McCloskey等);
美国专利申请号14/513,808,针对IDENTIFYING INVENTORY ITEMS IN A STORAGEFACILITY,2014年10月14日提交(Singel等);
美国专利申请号14/519,195,针对HANDHELD DIMENSIONING SYSTEM WITH FEEDBACK,2014年10月21日提交(Laffargue等);
美国专利申请号14/519,179,针对DIMENSIONING SYSTEM WITH MULTIPATHINTERFERENCE MITIGATION,2014年10月21日提交 (Thuries等);
美国专利申请号14/519,211,针对SYSTEM AND METHOD FOR DIMENSIONING,2014年10月21日提交(Ackley等);
美国专利申请号14/519,233,针对HANDHELD DIMENSIONER WITH DATA-QUALITYINDICATION,2014年10月21日提交 (Laffargue等);
美国专利申请号14/519,249,针对HANDHELD DIMENSIONING SYSTEM WITHMEASUREMENT-CONFORMANCE FEEDBACK,2014年10月21日提交 (Ackley等);
美国专利申请号14/527,191,针对METHOD AND SYSTEM FOR RECOGNIZING SPEECHUSING WILDCARDS IN AN EXPECTED RESPONSE,2014年10月29日提交 (Braho等);
美国专利申请号14/529,563,针对ADAPTABLE INTERFACE FOR A MOBILE COMPUTINGDEVICE,2014年10月31日提交 (Schoon等);
美国专利申请号14/529,857,针对BARCODE READER WITH SECURITY FEATURES,2014年10月31日提交(Todeschini等);
美国专利申请号14/398,542,针对PORTABLE ELECTRONIC DEVICES HAVING ASEPARATE LOCATION TRIGGER UNIT FOR USE IN CONTROLLING AN APPLICATION UNIT,2014年11月3日提交 (Bian等);
美国专利申请号14/531,154,针对DIRECTING AN INSPECTOR THROUGH ANINSPECTION,2014年11月3日提交 (Miller等);
美国专利申请号14/533,319,针对BARCODE SCANNING SYSTEM USING WEARABLEDEVICE WITH EMBEDDED CAMERA,2014年11月5日提交 (Todeschini);
美国专利申请号14/535,764,针对CONCATENATED EXPECTED RESPONSES FOR SPEECHRECOGNITION,2014年11月7日提交(Braho等);
美国专利申请号14/568,305,针对AUTO-CONTRAST VIEWFINDER FOR AN INDICIAREADER,2014年12月12日提交 (Todeschini);
美国专利申请号14/573,022,针对DYNAMIC DIAGNOSTIC INDICATOR GENERATION,2014年12月17日提交(Goldsmith);
美国专利申请号14/578,627,针对SAFETY SYSTEM AND METHOD,2014年12月22日提交(Ackley等);
美国专利申请号14/580,262,针对MEDIA GATE FOR THERMAL TRANSFER PRINTERS,2014年12月23日提交(Bowles);
美国专利申请号14/590,024,针对SHELVING AND PACKAGE LOCATING SYSTEMS FORDELIVERY VEHICLES,2015年1月6日提交 (Payne);
美国专利申请号14/596,757,针对SYSTEM AND METHOD FOR DETECTING BARCODEPRINTING ERRORS,2015年1月14日提交 (Ackley);
美国专利申请号14/416,147,针对OPTICAL READING APPARATUS HAVING VARIABLESETTINGS,2015年1月21日提交 (Chen等);
美国专利申请号14/614,706,针对DEVICE FOR SUPPORTING AN ELECTRONIC TOOL ONA USER'S HAND,2015年2月5日提交(Oberpriller等);
美国专利申请号14/614,796,针对CARGO APPORTIONMENT TECHNIQUES,2015年2月5日提交 (Morton等);
美国专利申请号29/516,892,针对TABLE COMPUTER,2015年2月6日提交 (Bidwell等);
美国专利申请号14/619,093,针对METHODS FOR TRAINING A SPEECH RECOGNITIONSYSTEM,2015年2月11日提交 (Pecorari);
美国专利申请号14/628,708,针对DEVICE, SYSTEM, AND METHOD FOR DETERMININGTHE STATUS OF CHECKOUT LANES,2015年2月23日提交(Todeschini);
美国专利申请号14/630,841,针对TERMINAL INCLUDING IMAGING ASSEMBLY,2015年2月25日提交 (Gomez等);
美国专利申请号14/635,346,针对SYSTEM AND METHOD FOR RELIABLE STORE-AND-FORWARD DATA HANDLING BY ENCODED INFORMATION READING TERMINALS,2015年3月2日提交, (Sevier);
美国专利申请号29/519,017,针对SCANNER,2015年3月2日提交 (Zhou等);
美国专利申请号14/405,278,针对DESIGN PATTERN FOR SECURE STORE,2015年3月9日提交 (Zhu等);
美国专利申请号14/660,970,针对DECODABLE INDICIA READING TERMINAL WITHCOMBINED ILLUMINATION,2015年3月18日提交 (Kearney等);
美国专利申请号14/661,013,针对REPROGRAMMING SYSTEM AND METHOD FOR DEVICESINCLUDING PROGRAMMING SYMBOL,2015年3月18日提交 (Soule等);
美国专利申请号14/662,922,针对MULTIFUNCTION POINT OF SALE SYSTEM,2015年3月19日提交 (Van Horn等);
美国专利申请号14/663,638,针对VEHICLE MOUNT COMPUTER WITH CONFIGURABLEIGNITION SWITCH BEHAVIOR,2015年3月20日提交 (Davis等);
美国专利申请号14/664,063,针对METHOD AND APPLICATION FOR SCANNING ABARCODE WITH A SMART DEVICE WHILE CONTINUOUSLY RUNNING AND DISPLAYING ANAPPLICATION ON THE SMART DEVICE DISPLAY,2015年3月20日提交 (Todeschini);
美国专利申请号14/669,280,针对TRANSFORMING COMPONENTS OF A WEB PAGE TOVOICE PROMPTS,2015年3月26日提交(Funyak等);
美国专利申请号14/674,329,针对AIMER FOR BARCODE SCANNING,2015年3月31日提交(Bidwell);
美国专利申请号14/676,109,针对INDICIA READER,2015年4月1日提交 (Huck);
美国专利申请号14/676,327,针对DEVICE MANAGEMENT PROXY FOR SECURE DEVICES,2015年4月1日提交 (Yeakley等);
美国专利申请号14/676,898,针对NAVIGATION SYSTEM CONFIGURED TO INTEGRATEMOTION SENSING DEVICE INPUTS,2015年4月2日提交(Showering);
美国专利申请号14/679,275,针对DIMENSIONING SYSTEM CALIBRATION SYSTEMS ANDMETHODS,2015年4月6日提交(Laffargue等);
美国专利申请号29/523,098,针对HANDLE FOR A TABLET COMPUTER,2015年4月7日提交 (Bidwell等);
美国专利申请号14/682,615,针对SYSTEM AND METHOD FOR POWER MANAGEMENT OFMOBILE DEVICES, 2015年4月9日提交 (Murawski等);
美国专利申请号14/686,822,针对MULTIPLE PLATFORM SUPPORT SYSTEM AND METHOD,2015年4月15日提交(Qu等);
美国专利申请号14/687,289,针对SYSTEM FOR COMMUNICATION VIA A PERIPHERALHUB,2015年4月15日提交(Kohtz等);
美国专利申请号29/524,186,针对SCANNER,2015年4月17日提交(Zhou等);
美国专利申请号14/695,364,针对MEDICATION MANAGEMENT SYSTEM,2015年4月24日提交 (Sewell等);
美国专利申请号14/695,923,针对SECURE UNATTENDED NETWORK AUTHENTICATION,2015年4月24日提交(Kubler等);
美国专利申请号29/525,068,针对TABLET COMPUTER WITH REMOVABLE SCANNINGDEVICE, 2015年4月27日提交 (Schulte等);
美国专利申请号14/699,436,针对SYMBOL READING SYSTEM HAVING PREDICTIVEDIAGNOSTICS, 2015年4月29日提交 (Nahill等);
美国专利申请号14/702,110,针对SYSTEM AND METHOD FOR REGULATING BARCODEDATA INJECTION INTO A RUNNING APPLICATION ON A SMART DEVICE, 2015年5月1日提交(Todeschini等);
美国专利申请号14/702,979,针对TRACKING BATTERY CONDITIONS, 2015年5月4日提交 (Young等);
美国专利申请号14/704,050,针对INTERMEDIATE LINEAR POSITIONING, 2015年5月5日提交(Charpentier等);
美国专利申请号14/705,012,针对HANDS-FREE HUMAN MACHINE INTERFACERESPONSIVE TO A DRIVER OF A VEHICLE,2015年5月6日提交(Fitch等);
美国专利申请号14/705,407,针对METHOD AND SYSTEM TO PROTECT SOFTWARE-BASEDNETWORK-CONNECTED DEVICES FROM ADVANCED PERSISTENT THREAT,2015年5月6日提交(Hussey等);
美国专利申请号14/707,037,针对SYSTEM AND METHOD FOR DISPLAY OF INFORMATIONUSING A VEHICLE-MOUNT COMPUTER, 2015年5月8日提交 (Chamberlin);
美国专利申请号14/707,123,针对APPLICATION INDEPENDENT DEX/UCS INTERFACE,2015年5月8日提交 (Pape);
美国专利申请号14/707,492,针对METHOD AND APPARATUS FOR READING OPTICALINDICIA USING A PLURALITY OF DATA SOURCES, 2015年5月8日提交 (Smith等);
美国专利申请号14/710,666,针对PRE-PAID USAGE SYSTEM FOR ENCODEDINFORMATION READING TERMINALS, 2015年5月13日提交 (Smith);
美国专利申请号29/526,918,针对CHARGING BASE, 2015年5月14日提交(Fitch等);
美国专利申请号14/715,672,针对AUGUMENTED REALITY ENABLED HAZARD DISPLAY,2015年5月19日提交(Venkatesha等);
美国专利申请号14/715,916,针对EVALUATING IMAGE VALUES, 2015年5月19日提交(Ackley);
美国专利申请号14/722,608,针对INTERACTIVE USER INTERFACE FOR CAPTURING ADOCUMENT IN AN IMAGE SIGNAL, 2015年5月27日提交 (Showering等);
美国专利申请号29/528,165,针对IN-COUNTER BARCODE SCANNER, 2015年5月27日提交(Oberpriller等);
美国专利申请号14/724,134,针对ELECTRONIC DEVICE WITH WIRELESS PATHSELECTION CAPABILITY, 2015年5月28日提交 (Wang等);
美国专利申请号14/724,849,针对METHOD OF PROGRAMMING THE DEFAULT CABLEINTERFACE SOFTWARE IN AN INDICIA READING DEVICE, 2015年5月29日提交 (Barten);
美国专利申请号14/724,908,针对IMAGING APPARATUS HAVING IMAGING ASSEMBLY,2015年5月29日提交(Barber等);
美国专利申请号14/725,352,针对APPARATUS AND METHODS FOR MONITORING ONE ORMORE PORTABLE DATA TERMINALS (Caballero等);
美国专利申请号29/528,590,针对ELECTRONIC DEVICE, 2015年5月29日提交 (Fitch等);
美国专利申请号29/528,890,针对MOBILE COMPUTER HOUSING, 2015年6月 2日提交(Fitch等);
美国专利申请号14/728,397,针对DEVICE MANAGEMENT USING VIRTUAL INTERFACESCROSS-REFERENCE TO RELATED APPLICATIONS, 2015年6月2日提交 (Caballero);
美国专利申请号14/732,870,针对DATA COLLECTION MODULE AND SYSTEM, 2015年6月8日提交(Powilleit);
美国专利申请号29/529,441,针对INDICIA READING DEVICE, 2015年6月 8日提交(Zhou等);
美国专利申请号14/735,717,针对INDICIA-READING SYSTEMS HAVING AN INTERFACEWITH A USER'S NERVOUS SYSTEM, 2015年6月 10日提交 (Todeschini);
美国专利申请号14/738,038,针对METHOD OF AND SYSTEM FOR DETECTING OBJECTWEIGHING INTERFERENCES, 2015年6月 12日提交 (Amundsen等);
美国专利申请号14/740,320,针对TACTILE SWITCH FOR A MOBILE ELECTRONICDEVICE, 2015年6月16日提交 (Bandringa);
美国专利申请号14/740,373,针对CALIBRATING A VOLUME DIMENSIONER, 2015年6月16日提交 (Ackley等);
美国专利申请号14/742,818,针对INDICIA READING SYSTEM EMPLOYING DIGITALGAIN CONTROL, 2015年6月18日提交(Xian等);
美国专利申请号14/743,257,针对WIRELESS MESH POINT PORTABLE DATA TERMINAL,2015年6月18日提交 (Wang等);
美国专利申请号29/530,600,针对CYCLONE, 2015年6月18日提交(Vargo等);
美国专利申请号14/744,633,针对IMAGING APPARATUS COMPRISING IMAGE SENSORARRAY HAVING SHARED GLOBAL SHUTTER CIRCUITRY, 2015年6月19日提交(Wang);
美国专利申请号14/744,836,针对CLOUD-BASED SYSTEM FOR READING OF DECODABLEINDICIA, 2015年6月19日提交 (Todeschini等);
美国专利申请号14/745,006,针对SELECTIVE OUTPUT OF DECODED MESSAGE DATA,2015年6月19日提交 (Todeschini等);
美国专利申请号14/747,197,针对OPTICAL PATTERN PROJECTOR, 2015年6月23日提交(Thuries等);
美国专利申请号14/747,490,针对DUAL-PROJECTOR THREE-DIMENSIONAL SCANNER,2015年6月23日提交 (Jovanovski等);以及
美国专利申请号14/748,446,针对CORDLESS INDICIA READER WITH A MULTIFUNCTIONCOIL FOR WIRELESS CHARGING AND EAS DEACTIVATION, 2015年6月24日提交(Xie等)。
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。使用的术语“和/或”包括一个或多个关联列出的项目中的任何和所有组合。各个图是示意表示,并且因此不一定按比例绘制。除非另外指明,否则特定术语按照一般和描述性的意义被使用并且不用于限制的目的。
Claims (14)
1.一种方法,包括:
通过以下步骤初始化尺寸度量系统:
在距离摄像机处,捕获测量平台和周围区域的一个或多个初始参考图像;
在处理器处:
从每个初始参考图像生成参考深度图;
从捕获的初始参考深度图生成并向存储器存储背景模型;
通过以下步骤针对场景变化测试所述尺寸度量系统:
在距离摄像机处,捕获测量平台和周围区域的后续图像;
在处理器处:
从所述后续图像生成当前深度图;
将当前深度图的每个像素与背景模型的对应像素进行比较;以及
对与参考深度图的绝对差异大于规定阈值THRESH1的当前深度图的像素数量Pv进行计数,并且如果像素数量Pv大于阈值THRESH2,则确定图像中已经发生显著变化。
2.根据权利要求1的方法,其中,所述测试测试是周期性进行的。
3.根据权利要求1的方法,还包括:执行尺寸度量过程以测量测量平台上物体的尺寸。
4.根据权利要求3的方法,其中在测量测量平台上物体的尺寸中每当规定的不活动周期时,进行所述测试。
5.根据权利要求3的方法,其中在每次测量测量平台上物体的尺寸之前进行所述测试。
6.根据权利要求1的方法,进一步包括:在确定已经发生显著场景变化时生成提醒。
7.根据权利要求1的方法,进一步包括:在确定已经发生显著场景变化时,重复所述初始化。
8.一种尺寸度量系统,包括
测量平台;
距离摄像机,被安装以便捕获测量平台和周围区域的图像;
处理器,被编程为进行以下动作:
通过以下步骤初始化所述尺寸度量系统:
从距离摄像机接收测量平台和周围区域的一个或多个初始参考图像;
从所述一个或多个捕获的初始参考图像生成并向存储器存储背景模型;
通过以下步骤针对场景变化测试尺寸度量系统:
从距离摄像机接收平台区域的后续图像;
从所述后续图像生成当前深度图;
将当前深度图的每个像素与背景模型的对应像素进行比较;以及
对与参考深度图的绝对差异大于规定阈值THRESH1的当前深度图的像素数量Pv进行计数,并且如果像素数量Pv大于阈值THRESH2,则确定图像中已经发生显著变化。
9.根据权利要求8的系统,其中,所述测试测试是周期性进行的。
10.根据权利要求8的系统,还包括:所述处理器执行尺寸度量过程以测量测量平台上物体的尺寸。
11.根据权利要求10的系统,其中,在测量测量平台上物体的尺寸中每当规定的不活动周期时,进行所述测试。
12.根据权利要求10的系统,其中,在每次测量测量平台上物体的尺寸之前进行所述测试。
13.根据权利要求8的系统,还包括所述:所述处理器在确定已经发生显著场景变化时生成提醒。
14.根据权利要求8的系统,还包括:在确定已经发生显著场景变化时,所述处理器重复所述初始化。
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US9940721B2 (en) | 2018-04-10 |
EP3255376B1 (en) | 2019-01-23 |
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