US 12,228,388 B2
Systems and methods for volumetric sizing
Francesco Peruch, Sunnyvale, CA (US); Giuliano Pasqualotto, Mountain View, CA (US); Giridhar Murali, Sunnyvale, CA (US); Ethan Cheng, Cupertino, CA (US); and Kinh Tieu, Sunnyvale, CA (US)
Assigned to PACKSIZE, LLC, Salt Lake City, UT (US)
Filed by Packsize LLC, Salt Lake City, UT (US)
Filed on Jun. 6, 2023, as Appl. No. 18/330,248.
Application 18/330,248 is a continuation of application No. 17/726,998, filed on Apr. 22, 2022, granted, now 11,709,046.
Application 17/726,998 is a continuation of application No. 16/240,691, filed on Jan. 4, 2019, granted, now 11,341,350, issued on May 24, 2022.
Claims priority of provisional application 62/613,957, filed on Jan. 5, 2018.
Prior Publication US 2023/0349686 A1, Nov. 2, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/10 (2017.01); G01B 11/00 (2006.01); G06T 7/11 (2017.01); G06T 7/12 (2017.01); G06T 7/187 (2017.01); G06T 7/50 (2017.01); G06T 7/62 (2017.01); G06V 20/64 (2022.01)
CPC G01B 11/00 (2013.01) [G06T 7/10 (2017.01); G06T 7/11 (2017.01); G06T 7/12 (2017.01); G06T 7/187 (2017.01); G06T 7/50 (2017.01); G06T 7/62 (2017.01); G06V 20/64 (2022.01); G06T 2207/10028 (2013.01)] 35 Claims
OG exemplary drawing
 
1. A computer system for volumetric sizing, comprising:
one or more processors; and
one or more non-transitory computer-readable media having stored thereon executable instructions that when executed by the one or more processors configure the computer system to:
receive at least a frame of a scene, the frame comprising a color image and a depth image arranged in a plurality of pixels;
detect an object in the frame;
segment the object from the scene by:
identifying one or more initial pixels of the object, and
performing an iterative flood fill operation, starting with the initial pixels of the object, each iteration of the flood fill operation comprising adding a plurality of neighboring pixels of the frame to pixels of the object when distances between the neighboring pixels and the pixels of the object are within a threshold distance;
determine a ground plane in the frame, the object resting on the ground plane;
compute a rectangular outline bounding a projection of a plurality of pixels of the object onto the ground plane;
compute a height of the object above the ground plane;
output computed dimensions of the object in accordance with a length and a width of the rectangular outline and the height, and
wherein the executable instructions include instructions that are executable to configure the computer system to cause a display device to:
display a view of the color image of the scene captured by a depth camera;
overlay a reticle on the view in the display device; and
wherein the one or more initial pixels of the object correspond to the pixels under the reticle.