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1. (WO2018031660) PALLET LOCALIZATION SYSTEMS AND METHODS

Pub. No.:    WO/2018/031660    International Application No.:    PCT/US2017/046100
Publication Date: Fri Feb 16 00:59:59 CET 2018 International Filing Date: Thu Aug 10 01:59:59 CEST 2017
IPC: G06T 7/73
Applicants: JOHN BEAN TECHNOLOGIES CORPORATION
Inventors: DOUGLAS, Barry, D.
LINEVICH, Vadim
Title: PALLET LOCALIZATION SYSTEMS AND METHODS
Abstract:
Systems and methods for localizing pallets using images based on point cloud data are disclosed. In one embodiment, a method for localizing a pallet includes acquiring, by a 3D camera, a first image of point cloud data, the first image being representative of the pallet. The method also includes generating a second image by (1) truncating the point cloud data of the first image, and (2) orthogonally projecting the remaining point cloud data of the first image. The method further includes generating a third image by creating a binary image from the second image, and generating a cross-correlation image by cross-correlating the third image with a template of a pallet pocket. The method also includes determining a rotation angle (R) of the pallet by analyzing the cross-correlation image.