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11. 发明授权

US08977032B2 Identifying and evaluating multiple rectangles that may correspond to a pallet in an image scene 有权
标题翻译：识别和评估可能对应于图像场景中的托盘的多个矩形
公开(公告)号：US08977032B2
公开(公告)日：2015-03-10
申请号：US13652563
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Michael J. Seelinger , John-David S. Yoder
发明人： Lee F. Holeva , Edwin R. Elston , Michael J. Seelinger , John-David S. Yoder
IPC分类号： G06K9/00 , G06T7/00 , B66F9/12 , B66F9/24
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for evaluating a possible pallet structure. The method comprises: providing a gray scale image comprising one or more possible lines; providing respective pixel locations in the gray scale image for an estimated upper left corner and an estimated upper right corner; calculating, using a computer, a value h based on the estimated upper left corner location and the estimated upper right corner location; estimating, using the computer, a first hole with a first rectangle having a height h; estimating, using the computer, a second hole with a second rectangle having the height h; and estimating, using the computer, the possible center stringer with a third rectangle having the height h.
摘要翻译：提供了一种用于评估可能的托盘结构的方法。该方法包括：提供包括一个或多个可能线的灰度图像; 为估计的左上角和估计的右上角提供灰度图像中的各个像素位置; 使用计算机计算基于估计的左上角位置和估计的右上角位置的值h; 使用计算机估计具有高度h的第一矩形的第一孔; 使用计算机估计具有高度h的第二矩形的第二孔; 并且使用计算机估计具有高度h的第三矩形的可能的中心纵梁。

12. 发明授权

US08885948B2 Identifying and evaluating potential center stringers of a pallet in an image scene 有权
标题翻译：识别和评估图像场景中托盘的潜在中心纵梁
公开(公告)号：US08885948B2
公开(公告)日：2014-11-11
申请号：US13652546
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Michael J. Seelinger , John-David S. Yoder
发明人： Lee F. Holeva , Edwin R. Elston , Michael J. Seelinger , John-David S. Yoder
IPC分类号： G06K9/46 , G06T7/00 , B66F9/12 , B66F9/24
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for evaluating a possible center stringer of a pallet. The method may comprise providing a first Ro image; providing a second Ro image comprising pixels that may generally correspond to an orthogonal distance from an origin point to one or more possible vertical right lines in the corresponding gray scale image; identifying, using a computer, a possible lower left corner location of a center stringer in the corresponding gray scale image; determining, using the computer, an upper left corner location based on the possible lower left corner location; identifying, using the computer, a possible lower right corner location of the center stringer in the corresponding gray scale image; and determining, using the computer, an upper right corner location based on the possible lower right corner location.
摘要翻译：提供了一种用于评估托盘的可能的中心纵梁的方法。该方法可以包括提供第一Ro图像; 提供包括像素的第二Ro图像，所述像素可以大致对应于从原点到相应灰度图像中的一个或多个可能的垂直右线的正交距离; 使用计算机识别相应灰度图像中的中心纵梁的可能的左下角位置; 基于可能的左下角位置确定使用计算机的左上角位置; 使用计算机识别相应灰度图像中的中心纵梁的可能的右下角位置; 以及基于可能的右下角位置来确定使用计算机的右上角位置。

13. 发明申请

US20130101204A1 GENERATING A COMPOSITE SCORE FOR A POSSIBLE PALLET IN AN IMAGE SCENE 有权
标题翻译：在图像场景中生成可能的分页的复合分数
公开(公告)号：US20130101204A1
公开(公告)日：2013-04-25
申请号：US13652572
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Michael J. Seelinger , John-David S. Yoder
发明人： Lee F. Holeva , Edwin R. Elston , Michael J. Seelinger , John-David S. Yoder
IPC分类号： G06K9/64 , G06K9/46
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for evaluating a possible pallet object in a gray scale image including one or more pallets. The method may comprise: generating, by a computer, a first confidence score ScoreLowerLeftCorner for a lower left corner associated with the possible pallet object; generating, by the computer, a second confidence score ScoreLowerRightCorner for a lower right corner associated with the possible pallet object; generating, by the computer, a third confidence score ScoreBaseboardLine for a bottom pallet board line associated with the possible pallet object; generating, by the computer, a fourth confidence score Scorehole for a center stringer associated with the possible pallet object; and calculating, by the computer, a composite score ScoreObject based on the first, second, third and fourth confidence scores.
摘要翻译：提供了一种用于在包括一个或多个托盘的灰度图像中评估可能的托盘对象的方法。该方法可以包括：由计算机生成与可能的托盘对象相关联的左下角的第一置信度ScoreLowerLeftCorner; 由计算机生成与可能的托盘对象相关联的右下角的第二置信度ScoreLowerRightCorner; 由计算机产生与可能的托盘对象相关联的底部托盘板线的第三置信度ScoreBaseboardLine; 由计算机产生与可能的托盘对象相关联的中心纵梁的第四置信得分Scorehole; 并且由计算机基于第一，第二，第三和第四置信度得分计算综合得分ScoreObject。

14. 发明申请

US20130101203A1 IDENTIFYING AND EVALUATING MULTIPLE RECTANGLES THAT MAY CORRESPOND TO A PALLET IN AN IMAGE SCENE 有权
标题翻译：识别和评估可能在图像场景中对应于托盘的多个矩形
公开(公告)号：US20130101203A1
公开(公告)日：2013-04-25
申请号：US13652563
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Michael J. Seelinger , John-David S. Yoder
发明人： Lee F. Holeva , Edwin R. Elston , Michael J. Seelinger , John-David S. Yoder
IPC分类号： G06K9/46 , G06K9/64
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for evaluating a possible pallet structure. The method comprises: providing a gray scale image comprising one or more possible lines; providing respective pixel locations in the gray scale image for an estimated upper left corner and an estimated upper right corner; calculating, using a computer, a value h based on the estimated upper left corner location and the estimated upper right corner location; estimating, using the computer, a first hole with a first rectangle having a height h; estimating, using the computer, a second hole with a second rectangle having the height h; and estimating, using the computer, the possible center stringer with a third rectangle having the height h.
摘要翻译：提供了一种用于评估可能的托盘结构的方法。该方法包括：提供包括一个或多个可能线的灰度图像; 为估计的左上角和估计的右上角提供灰度图像中的各个像素位置; 使用计算机计算基于估计的左上角位置和估计的右上角位置的值h; 使用计算机估计具有高度h的第一矩形的第一孔; 使用计算机估计具有高度h的第二矩形的第二孔; 并且使用计算机估计具有高度h的第三矩形的可能的中心纵梁。

15. 发明申请

US20130101229A1 IDENTIFYING AND SELECTING OBJECTS THAT MAY CORRESPOND TO PALLETS IN AN IMAGE SCENE 有权
标题翻译：识别和选择在图像场景中可能对应于托盘的对象
公开(公告)号：US20130101229A1
公开(公告)日：2013-04-25
申请号：US13652630
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Michael J. Seelinger , John-David S. Yoder
发明人： Lee F. Holeva , Edwin R. Elston , Michael J. Seelinger , John-David S. Yoder
IPC分类号： G06K9/62 , G06K9/46
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for identifying one or more scored candidate objects that may correspond to one or more actual pallets in a gray scale image. The method may comprise: identifying, by a computer, a first plurality of scored candidate objects in the gray scale image; storing, by the computer, a list of the first plurality of scored candidate objects, wherein the list includes a respective record for each of the first plurality of scored candidate objects; determining, by the computer, a subset of the first plurality of scored candidate objects to eliminate from the list based on a comparison amongst the respective records of the first plurality of scored candidate objects; and removing, by the computer, the subset of the first plurality of scored candidate objects from the list to create an updated list for a second plurality of scored candidate objects, wherein the updated list includes a respective record for each of the second plurality of scored candidate objects.
摘要翻译：提供了一种用于识别可能对应于灰度图像中的一个或多个实际托盘的一个或多个记分候选对象的方法。该方法可以包括：通过计算机识别灰度图像中的第一多个记录的候选对象; 由计算机存储第一多个评分候选对象的列表，其中该列表包括针对第一多个评分候选对象中的每一个的相应记录; 由所述计算机确定所述第一多个计分候选对象的子集，以便基于所述第一多个记分候选对象的相应记录之间的比较从所述列表中消除; 以及由所述计算机从所述列表中移除所述第一多个刻划的候选对象的子集以创建用于第二多个记分候选对象的更新列表，其中所述更新列表包括用于所述第二多个记分候选对象中的每一个的相应记录候选对象。

16. 发明申请

US20130101201A1 IDENTIFYING AND LOCATING POSSIBLE LINES CORRESPONDING TO PALLET STRUCTURE IN AN IMAGE 有权
标题翻译：识别和定位与图像中的托盘结构相关的可能的线
公开(公告)号：US20130101201A1
公开(公告)日：2013-04-25
申请号：US13652516
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
IPC分类号： G06K9/46 , G06K9/64
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A computer-implemented method is provided for finding a Ro image providing data corresponding to possible orthogonal distances to possible lines on a pallet in an image. The method comprises: acquiring a grey scale image including one or more pallets; determining, using a computer, a horizontal gradient image by convolving the grey scale image and a first convolution kernel; determining, using the computer, a vertical gradient image by convolving the grey scale image and a second convolution kernel; and determining, using the computer, respective pixel values of a first Ro image providing data corresponding to a possible orthogonal distance from an origin point of the grey scale image to one or more possible lines on one or more possible pallets in the grey scale image.
摘要翻译：提供了一种计算机实现的方法，用于找到提供与图像中的托盘上的可能线可能的正交距离相对应的数据的Ro图像。该方法包括：获取包括一个或多个托盘的灰度图像; 通过卷积灰度图像和第一卷积核心来确定使用计算机的水平梯度图像; 通过卷积灰度图像和第二卷积核心来确定使用计算机的垂直梯度图像; 以及使用所述计算机，确定第一Ro图像的相应像素值，所述第一Ro图像提供对应于从所述灰度图像的原点到所述灰度图像中的一个或多个可能托盘上的一个或多个可能线的可能的正交距离的数据。

17. 发明授权

US08995743B2 Identifying and locating possible lines corresponding to pallet structure in an image 有权
标题翻译：识别和定位对应于图像中托盘结构的可能线
公开(公告)号：US08995743B2
公开(公告)日：2015-03-31
申请号：US13652516
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
IPC分类号： G06K9/00 , G06T7/00 , B66F9/12 , B66F9/24
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A computer-implemented method is provided for finding a Ro image providing data corresponding to possible orthogonal distances to possible lines on a pallet in an image. The method comprises: acquiring a grey scale image including one or more pallets; determining, using a computer, a horizontal gradient image by convolving the grey scale image and a first convolution kernel; determining, using the computer, a vertical gradient image by convolving the grey scale image and a second convolution kernel; and determining, using the computer, respective pixel values of a first Ro image providing data corresponding to a possible orthogonal distance from an origin point of the grey scale image to one or more possible lines on one or more possible pallets in the grey scale image.
摘要翻译：提供了一种计算机实现的方法，用于找到提供与图像中的托盘上的可能线可能的正交距离相对应的数据的Ro图像。该方法包括：获取包括一个或多个托盘的灰度图像; 通过卷积灰度图像和第一卷积核心来确定使用计算机的水平梯度图像; 通过卷积灰度图像和第二卷积核心来确定使用计算机的垂直梯度图像; 以及使用所述计算机，确定第一Ro图像的相应像素值，所述第一Ro图像提供对应于从所述灰度图像的原点到所述灰度图像中的一个或多个可能托盘上的一个或多个可能线的可能的正交距离的数据。

18. 发明授权

US08849007B2 Identifying, evaluating and selecting possible pallet board lines in an image scene 有权
标题翻译：在图像场景中识别，评估和选择可能的托盘板线
公开(公告)号：US08849007B2
公开(公告)日：2014-09-30
申请号：US13652534
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
IPC分类号： G06K9/00 , B66F9/24 , B66F9/12 , G06T7/00
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for determining which of a plurality of possible lines is most likely to be an actual line passing through a possible corner of a pallet. The method may comprise: providing a Ro image comprising pixels valued to generally correspond to an orthogonal distance from an origin point in the Ro image to one or more possible lines in a corresponding grey scale image; providing, using a computer, a location in the Ro image corresponding to a possible pallet corner; defining, using the computer, a plurality of possible lines passing through the possible pallet corner, each of the possible lines being respectively oriented at one angle within a range of angles to an axis of the Ro image; and determining, using the computer, which of the plurality of possible lines is most likely to be the actual line passing through the possible pallet corner.
摘要翻译：提供了一种用于确定多个可能线中的哪一条最可能是穿过托盘的可能拐角的实际线的方法。该方法可以包括：提供Ro图像，该图像包括值，其大致对应于从Ro图像中的原点到相应灰度图像中的一个或多个可能线的正交距离; 使用计算机提供与可能的托盘角对应的Ro图像中的位置; 使用计算机定义多条可能的线穿过可能的托盘拐角，每条可能的线分别在与Ro图像的轴线的角度范围内成一定角度; 并且使用所述计算机确定所述多个可能线中的哪一条最可能是通过所述可能的托盘拐角的实际线。

19. 发明申请

US20130101202A1 IDENTIFYING, EVALUATING AND SELECTING POSSIBLE PALLET BOARD LINES IN AN IMAGE SCENE 有权
标题翻译：在图像场景中识别，评估和选择可能的托盘板线
公开(公告)号：US20130101202A1
公开(公告)日：2013-04-25
申请号：US13652534
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
IPC分类号： G06K9/46 , G06K9/64
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for determining which of a plurality of possible lines is most likely to be an actual line passing through a possible corner of a pallet. The method may comprise: providing a Ro image comprising pixels valued to generally correspond to an orthogonal distance from an origin point in the Ro image to one or more possible lines in a corresponding grey scale image; providing, using a computer, a location in the Ro image corresponding to a possible pallet corner; defining, using the computer, a plurality of possible lines passing through the possible pallet corner, each of the possible lines being respectively oriented at one angle within a range of angles to an axis of the Ro image; and determining, using the computer, which of the plurality of possible lines is most likely to be the actual line passing through the possible pallet corner.
摘要翻译：提供了一种用于确定多个可能线中的哪一条最可能是穿过托盘的可能拐角的实际线的方法。该方法可以包括：提供Ro图像，该图像包括值，其大致对应于从Ro图像中的原点到相应灰度图像中的一个或多个可能线的正交距离; 使用计算机提供与可能的托盘角对应的Ro图像中的位置; 使用计算机定义多条可能的线穿过可能的托盘拐角，每条可能的线分别在与Ro图像的轴线的角度范围内成一定角度; 并且使用所述计算机确定所述多个可能线中的哪一条最可能是通过所述可能的托盘拐角的实际线。

20. 发明申请

US20130101227A1 IDENTIFYING AND EVALUATING POSSIBLE HORIZONTAL AND VERTICAL LINES INTERSECTING POTENTIAL PALLET FEATURES 有权
标题翻译：识别和评估潜在的电子邮件功能的可能的水平和垂直线
公开(公告)号：US20130101227A1
公开(公告)日：2013-04-25
申请号：US13652524
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Michael J. Seelinger
发明人： Lee F. Holeva , Edwin R. Elston , Michael J. Seelinger
IPC分类号： G06K9/46
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for tracing a line from a possible corner of a pallet. The method may comprise: providing a Ro image; identifying, using a computer, a possible pallet corner in the Ro image; positioning, using the computer, a J×K window over at least respective portions of a plurality of rows in the Ro image including at least a portion of a row containing the possible corner; calculating, using the computer, an average of pixel values for each row in the J×K window; determining, using the computer, one of the rows in the J×K window having an average pixel value nearest a current pixel location being considered for inclusion in a line being traced and defining the one row as a nearest row; and deciding, using the computer, whether the nearest row is over a pallet.
摘要翻译：提供了用于从托盘的可能角落追踪线的方法。该方法可以包括：提供Ro图像; 使用计算机识别Ro图像中可能的托盘角; 在所述Ro图像中的至少一行中至少包含所述可能角的行的至少一部分的至少相应部分上定位使用所述计算机的J×K窗口; 使用计算机计算J×K窗口中每行的像素值的平均值; 确定使用所述计算机，所述J×K窗口中的行之一具有最接近当前像素位置的平均像素值，以被包含在被跟踪的行中并将所述一行定义为最近行; 并且使用计算机来确定最近的行是否在托盘上。

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