GB2558507A - Methods and systems for container fullness estimation - Google Patents

Methods and systems for container fullness estimation Download PDF

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Publication number
GB2558507A
GB2558507A GB1807994.7A GB201807994A GB2558507A GB 2558507 A GB2558507 A GB 2558507A GB 201807994 A GB201807994 A GB 201807994A GB 2558507 A GB2558507 A GB 2558507A
Authority
GB
United Kingdom
Prior art keywords
depth
systems
methods
depth frame
frame
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.)
Granted
Application number
GB1807994.7A
Other versions
GB2558507B (en
GB201807994D0 (en
Inventor
Zhang Yan
j williams Jay
J O'connell Kevin
M Taskiran Cuneyt
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 GB201807994D0 publication Critical patent/GB201807994D0/en
Publication of GB2558507A publication Critical patent/GB2558507A/en
Application granted granted Critical
Publication of GB2558507B publication Critical patent/GB2558507B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • G06T5/50—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
    • 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
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • 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)
  • Image Analysis (AREA)
  • Measurement Of Levels Of Liquids Or Fluent Solid Materials (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

A method and apparatus for receiving a depth frame from a depth sensor oriented towards an open end of a shipping container, the depth frame comprising a plurality of grid elements that each have a respective depth value, identifying one or more occlusions in the depth frame, correcting the one or more occlusions in the depth frame using one or more temporally proximate depth frames, and outputting the corrected depth frame for fullness estimation.

Description

71) Applicant(s):
Symbol Technologies, LLC
One Zebra Plaza, Holtsville, NY 11742,
United States of America (72) Inventor(s):
Yan Zhang Jay J Williams Kevin J O'Connell Cuneyt M Taskiran (74) Agent and/or Address for Service:
LKGLOBAL
Lorenz & Kopf PartG MbB Patentanwalte, Brienner Strasse 11,80333 Munich, Germany (54) Title ofthe Invention: Methods and systems for container fullness estimation Abstract Title: Methods and systems for container fullness estimation (57) A method and apparatus for receiving a depth frame from a depth sensor oriented towards an open end of a shipping container, the depth frame comprising a plurality of grid elements that each have a respective depth value, identifying one or more occlusions in the depth frame, correcting the one or more occlusions in the depth frame using one or more temporally proximate depth frames, and outputting the corrected depth frame for fullness estimation.

Claims (1)

102
FIG. 1
GB1807994.7A 2015-11-18 2016-11-10 Methods and systems for container fullness estimation Active GB2558507B (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US14/944,860 US9940730B2 (en) 2015-11-18 2015-11-18 Methods and systems for automatic fullness estimation of containers
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 (en) 2015-11-18 2016-11-10 Methods and systems for container fullness estimation

Publications (3)

Publication Number Publication Date
GB201807994D0 GB201807994D0 (en) 2018-07-04
GB2558507A true GB2558507A (en) 2018-07-11
GB2558507B GB2558507B (en) 2022-04-20

Family

ID=57389569

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1807994.7A Active GB2558507B (en) 2015-11-18 2016-11-10 Methods and systems for container fullness estimation

Country Status (6)

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

Families Citing this family (10)

* 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
US12051208B2 (en) 2019-07-11 2024-07-30 Zebra Technologies Corporation Three-dimensional (3D) depth imaging systems and methods for dynamic container auto-configuration
CN111442814B (en) * 2020-05-13 2022-01-18 武汉市异方体科技有限公司 Device for non-contact measurement of drainage volume of special-shaped object
WO2022054497A1 (en) * 2020-09-08 2022-03-17 パナソニックＩｐマネジメント株式会社 Filling rate measurement method, information processing device, and program
CN112874927B (en) * 2021-02-03 2023-07-07 四川物联亿达科技有限公司 Logistics packaging box type recommendation method
CN113657191A (en) * 2021-07-26 2021-11-16 浙江大华技术股份有限公司 Deposit recognition method, device and electronic device
DE102021127789A1 (en) 2021-10-26 2023-04-27 Zf Cv Systems Global Gmbh Procedure for registering cargo

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060239558A1 (en) * 2005-02-08 2006-10-26 Canesta, Inc. Method and system to segment depth images and to detect shapes in three-dimensionally acquired data
EP2302564A1 (en) * 2009-09-23 2011-03-30 Iee International Electronics & Engineering S.A. Real-time dynamic reference image generation for range imaging system
US20140055560A1 (en) * 2012-08-24 2014-02-27 Microsoft Corporation Depth Data Processing and Compression
US20140372182A1 (en) * 2013-06-17 2014-12-18 Motorola Solutions, Inc. Real-time trailer utilization measurement

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060239558A1 (en) * 2005-02-08 2006-10-26 Canesta, Inc. Method and system to segment depth images and to detect shapes in three-dimensionally acquired data
EP2302564A1 (en) * 2009-09-23 2011-03-30 Iee International Electronics & Engineering S.A. Real-time dynamic reference image generation for range imaging system
US20140055560A1 (en) * 2012-08-24 2014-02-27 Microsoft Corporation 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
GB2558507B (en) 2022-04-20
GB201807994D0 (en) 2018-07-04
CA3005452A1 (en) 2017-05-26
PL430920A1 (en) 2019-11-04
PL426752A1 (en) 2019-03-25
DE112016005287T5 (en) 2018-08-02
PL239620B1 (en) 2021-12-20
MX2018006105A (en) 2018-08-24
WO2017087244A1 (en) 2017-05-26
CA3005452C (en) 2020-07-14

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