	US 12,482,125 B1
	System and method for box segmentation and measurement
Matthew D. Miller, Cedar Rapids, IA (US); Josh Berry, Cedar Rapids, IA (US); Mark Boyer, Cedar Rapids, IA (US); and Craig M. Miller, Marion, IA (US)
Assigned to 4DMobile, LLC, Hiawatha, IA (US)
Filed by 4DMobile, LLC, Hiawatha, IA (US)
Filed on Apr. 25, 2023, as Appl. No. 18/139,248.
Application 18/139,248 is a continuation in part of application No. 17/114,066, filed on Dec. 7, 2020, granted, now 11,669,988.
Application 17/114,066 is a continuation in part of application No. 16/786,268, filed on Feb. 10, 2020, abandoned.
Application 16/786,268 is a continuation of application No. 16/390,562, filed on Apr. 22, 2019, granted, now 10,559,086, issued on Feb. 11, 2020.
Application 16/390,562 is a continuation in part of application No. 15/156,149, filed on May 16, 2016, granted, now 10,268,892, issued on Apr. 23, 2019.
Claims priority of provisional application 63/113,658, filed on Nov. 13, 2020.
Claims priority of provisional application 62/694,764, filed on Jul. 6, 2018.
Claims priority of provisional application 62/162,480, filed on May 15, 2015.
Int. Cl. G06T 7/62 (2017.01); G06F 3/01 (2006.01); G06F 3/04815 (2022.01); G06F 3/04845 (2022.01); G06F 3/0488 (2022.01); G06F 3/16 (2006.01); G06K 7/14 (2006.01); G06T 7/593 (2017.01); G06T 19/00 (2011.01); H04N 5/445 (2011.01); H04N 23/45 (2023.01)

CPC G06T 7/62 (2017.01) [G06F 3/017 (2013.01); G06F 3/04815 (2013.01); G06F 3/04845 (2013.01); G06F 3/0488 (2013.01); G06F 3/167 (2013.01); G06K 7/1408 (2013.01); G06T 7/593 (2017.01); G06T 19/006 (2013.01); H04N 5/44504 (2013.01); H04N 23/45 (2023.01); G06T 2200/04 (2013.01); G06T 2200/08 (2013.01)]

18 Claims

1. A volume dimensioning system, comprising:

an image sensor configured to capture imaging data associated with a target object positioned on a surface, the imaging data comprising a sequence of frames, each frame comprising a depth map with two-dimensional (2D) pixel coordinates and a plurality of depth values; and

one or more processors in communication with the image sensor, the one or more processors configured to:

identify an origin point within the plurality of depth values; wherein the origin point is associated with a top corner of the target object; wherein the origin point is a local minimum of the depth values within a cursor of the imaging data; wherein the one or more processors are configured to examine the depth values for the local minimum to identify the origin point;

crawl from the origin point along a first edge to a first corner, along a second edge to a second corner, and along a third edge to a third corner of the target object to detect the first edge, the first corner, the second edge, the second corner, the third edge, and the third corner;

deproject the depth map into three-dimensional (3D) points;

construct a first edge vector representing the first edge from the origin point to the first corner, a second edge vector representing the second edge from the origin point to the second corner point, and a third edge vector representing the third edge from the origin point to the third corner point using the 3D points;

determine the target object is a cuboid by examining a first angle between the first edge vector and the second edge vector, a second angle between the first edge vector and the third edge vector, and a third angle between the second edge vector and the third edge vector;

and

estimate a first distance of the first edge using the first edge vector, a second distance of the second edge using the second edge vector, and a third distance of the third edge using the third edge vector.