US 12,347,127 B2
Methods and apparatus for determining volumes of 3D images
Daniel Alejandro Moreno, Northbridge, MA (US)
Assigned to Cognex Corporation
Filed by Cognex Corporation, Natick, MA (US)
Filed on May 10, 2021, as Appl. No. 17/316,471.
Claims priority of provisional application 63/049,839, filed on Jul. 9, 2020.
Claims priority of provisional application 63/023,195, filed on May 11, 2020.
Prior Publication US 2021/0350562 A1, Nov. 11, 2021
Int. Cl. G06T 7/62 (2017.01); G06T 17/00 (2006.01); G06V 20/64 (2022.01)
CPC G06T 7/62 (2017.01) [G06T 17/00 (2013.01); G06V 20/647 (2022.01); G06T 2200/04 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computerized method for determining an estimated volume of an object captured by a three-dimensional (3D) point cloud, the method comprising:
receiving a 3D point cloud comprising a plurality of 3D points and a reference plane in spatial relation to the 3D point cloud;
configuring a 2D grid of bins along the reference plane, wherein each bin of the 2D grid comprises a length and width that extends along the reference plane;
determining, for each bin of the 2D grid, a number of 3D points in the bin and heights of the 3D points in a reference direction from the reference plane, the reference direction perpendicular to the reference plane;
determining a height of the bin in the reference direction from the reference plane based on the heights of the 3D points; and
calculating, based on the determined number of 3D points in each bin and the height of each bin, an estimated volume of an object captured by the 3D point cloud.