US 12,115,910 B2
Trailer alignment detection for dock automation using vision system and dynamic depth filtering
Jimmy Erik Penaloza, Riverside, CA (US); and Parth Naresh Patel, Pasadena, CA (US)
Assigned to Niagara Bottling, LLC, Diamond Bar, CA (US)
Filed by NIAGARA BOTTLING, LLC, Diamond Bar, CA (US)
Filed on Nov. 20, 2023, as Appl. No. 18/514,972.
Application 18/514,972 is a continuation of application No. 17/230,444, filed on Apr. 14, 2021, granted, now 11,820,290.
Prior Publication US 2024/0181964 A1, Jun. 6, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/44 (2017.01); B60R 1/00 (2022.01); G05D 1/00 (2024.01); G06T 7/13 (2017.01); G06T 7/50 (2017.01); G06T 7/55 (2017.01); G06T 7/73 (2017.01); G06T 7/80 (2017.01); G06V 10/77 (2022.01); G06V 20/64 (2022.01)
CPC B60R 1/003 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0225 (2013.01); G06T 7/13 (2017.01); G06T 7/44 (2017.01); G06T 7/50 (2017.01); G06T 7/55 (2017.01); G06T 7/73 (2017.01); G06T 7/80 (2017.01); G06V 10/7715 (2022.01); G06V 20/653 (2022.01); B60R 2300/30 (2013.01); B60R 2300/607 (2013.01); B60R 2300/808 (2013.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A non-transitory computer-readable medium comprising instructions that, when executed by an electronic processor, cause the electronic processor to perform a set of operations comprising:
receiving image data and position data of a field of view, wherein the image data includes a top surface of a trailer;
determining an estimated height of the top surface of the trailer;
determining a dynamic height range based on the estimated height of the top surface of the trailer, wherein the dynamic height range includes a range of vertical positions including the estimated height of the top surface of the trailer;
applying a dynamic depth filter to filter a portion of the image data corresponding to heights outside of the dynamic height range from the image data; and
determining, based on the depth-filtered image data, at least one of an angular position of the trailer or a lateral offset of the trailer.