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1. WO2020072178 - METHOD, SYSTEM AND APPARATUS FOR OBJECT DETECTION IN POINT CLOUDS

Publication Number WO/2020/072178
Publication Date 09.04.2020
International Application No. PCT/US2019/050370
International Filing Date 10.09.2019
IPC
G06K 9/46 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
36Image preprocessing, i.e. processing the image information without deciding about the identity of the image
46Extraction of features or characteristics of the image
G06T 7/11 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
10Segmentation; Edge detection
11Region-based segmentation
G06T 7/70 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
CPC
G06K 9/00201
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
00201Recognising three-dimensional objects, e.g. using range or tactile information
G06K 9/00664
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
00664Recognising scenes such as could be captured by a camera operated by a pedestrian or robot, including objects at substantially different ranges from the camera
G06K 9/2054
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
20Image acquisition
2054Selective acquisition/locating/processing of specific regions, e.g. highlighted text, fiducial marks, predetermined fields, document type identification
G06K 9/3241
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
20Image acquisition
32Aligning or centering of the image pick-up or image-field
3233Determination of region of interest
3241Recognising objects as potential recognition candidates based on visual cues, e.g. shape
G06Q 10/087
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
10Administration; Management
08Logistics, e.g. warehousing, loading, distribution or shipping; Inventory or stock management, e.g. order filling, procurement or balancing against orders
087Inventory or stock management, e.g. order filling, procurement, balancing against orders
G06T 2207/10028
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10028Range image; Depth image; 3D point clouds
Applicants
  • ZEBRA TECHNOLOGIES CORPORATION [US]/[US]
Inventors
  • YU, Yuanhao
  • PHAN, Raymond
Agents
  • KAPMAR, Dimitry
  • ASTVATSATUROV, Yuri
  • GLITTO, Daniel
  • SMITH, Terri
  • SMITH, Donald
Priority Data
16/153,06405.10.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) METHOD, SYSTEM AND APPARATUS FOR OBJECT DETECTION IN POINT CLOUDS
(FR) PROCÉDÉ, SYSTÈME ET APPAREIL POUR LA DÉTECTION D'OBJETS DANS DES NUAGES DE POINTS
Abstract
(EN)
A method of detecting objects on a support structure includes: obtaining a point cloud of the support structure supporting an object; obtaining a position of a back of the support structure in the point cloud; discarding a portion of the point cloud based on the position of the back of the support structure; generating a three-dimensional occupancy grid from the point cloud, the occupancy grid having a plurality of cells each indicating whether the cell is one of occupied and unoccupied; identifying a contiguous region of occupied cells in the occupancy grid corresponding to the object; and generating a detected object position based on the contiguous region.
(FR)
L'invention concerne un procédé de détection d'objets sur une structure de support, consistant : à obtenir un nuage de points de la structure de support supportant un objet ; à obtenir une position d'une partie arrière de la structure de support dans le nuage de points ; à éliminer une partie du nuage de points sur la base de la position de l'arrière de la structure de support ; à générer une grille d'occupation tridimensionnelle à partir du nuage de points, la grille d'occupation ayant plusieurs cellules, chacune indiquant si la cellule est occupée ou inoccupée ; à identifier une région contiguë de cellules occupées dans la grille d'occupation correspondant à l'objet ; et à générer une position de l'objet détecté sur la base de la région contiguë.
Also published as
Latest bibliographic data on file with the International Bureau