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1. 发明授权

US09025827B2 Controlling truck forks based on identifying and tracking multiple objects in an image scene 有权
标题翻译：基于识别和跟踪图像场景中的多个对象来控制叉车叉
公开(公告)号：US09025827B2
公开(公告)日：2015-05-05
申请号：US13652622
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger , John-David S. Yoder
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , 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 controlling forks of a vehicle. The method may comprise: while the forks of the vehicle are moving vertically, acquiring a series of images of a scene of a physical environment in which a plurality of pallets are visible; identifying in each image, by a computer system, one or more scored candidate objects, each potentially corresponding to a respective one of the plurality of pallets; for each of the one or more scored candidate objects, tracking, by the computer system, a respective location in each of at least two images of the series; determining for each of the one or more scored candidate objects a respective, associated height in the physical environment; and stopping, by the computer system, the forks of the vehicle at a height in the physical environment based on the height of a specific one of the scored candidate objects.
摘要翻译：提供一种用于控制车辆叉的方法。该方法可以包括：当车辆的叉车垂直移动时，获取其中多个托盘可见的物理环境场景的一系列图像; 在每个图像中，通过计算机系统识别一个或多个记录的候选对象，每个候选对象潜在地对应于所述多个托盘中的相应一个托盘; 对于所述一个或多个划分的候选对象中的每一个，由所述计算机系统跟踪所述系列的至少两个图像中的每一个中的相应位置; 为所述一个或多个划分的候选物体中的每一个确定物理环境中相应的相关联的高度; 并且通过计算机系统基于特定的一个评分候选对象的高度在物理环境中的高度处停止车辆的叉。

2. 发明授权

US08934672B2 Evaluating features in an image possibly corresponding to an intersection of a pallet stringer and a pallet board 有权
标题翻译：评估可能对应于托盘纵梁和托板的交叉点的图像中的特征
公开(公告)号：US08934672B2
公开(公告)日：2015-01-13
申请号：US13652510
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger , John-David S. Yoder
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , 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 programmable computer-implemented method is provided for finding possible corners of a pallet in an image. The method may comprise: acquiring a grey scale image including one or more pallets; determining, using a computer, horizontal cross correlations between the image and a first step-edge template to generate a set of horizontal cross correlation results; determining, using the computer, vertical cross correlations between the image and a second step-edge template to generate a set of vertical cross correlation results; and determining, using the computer, a first set of pixels, each such pixel respectively corresponding to a possible first corner of the one or more pallets, using a first corner template, the set of horizontal cross correlation results and the set of vertical cross correlation results.
摘要翻译：提供了一种可编程计算机实现的方法，用于查找图像中的托盘的可能的角部。该方法可以包括：获取包括一个或多个托盘的灰度图像; 使用计算机确定图像与第一步边缘模板之间的水平交叉相关以产生一组水平交叉相关结果; 使用所述计算机确定所述图像与第二步边缘模板之间的垂直相互关系，以生成一组垂直互相关结果; 以及使用所述计算机确定第一组像素，每个所述像素分别对应于所述一个或多个托盘的可能的第一角，使用第一角模板，所述一组水平互相关结果和所述一组垂直互相关结果。

3. 发明申请

US20130101173A1 CONTROLLING TRUCK FORKS BASED ON IDENTIFYING AND TRACKING MULTIPLE OBJECTS IN AN IMAGE SCENE 有权
标题翻译：基于识别和跟踪图像场景中的多个对象来控制卡车
公开(公告)号：US20130101173A1
公开(公告)日：2013-04-25
申请号：US13652622
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger , John-David S. Yoder
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger , John-David S. Yoder
IPC分类号： G06K9/62
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for controlling forks of a vehicle. The method may comprise: while the forks of the vehicle are moving vertically, acquiring a series of images of a scene of a physical environment in which a plurality of pallets are visible; identifying in each image, by a computer system, one or more scored candidate objects, each potentially corresponding to a respective one of the plurality of pallets; for each of the one or more scored candidate objects, tracking, by the computer system, a respective location in each of at least two images of the series; determining for each of the one or more scored candidate objects a respective, associated height in the physical environment; and stopping, by the computer system, the forks of the vehicle at a height in the physical environment based on the height of a specific one of the scored candidate objects.
摘要翻译：提供一种用于控制车辆叉的方法。该方法可以包括：当车辆的叉车垂直移动时，获取其中多个托盘可见的物理环境场景的一系列图像; 在每个图像中，通过计算机系统识别一个或多个记录的候选对象，每个候选对象潜在地对应于所述多个托盘中的相应一个托盘; 对于所述一个或多个划分的候选对象中的每一个，由所述计算机系统跟踪所述系列的至少两个图像中的每一个中的相应位置; 为所述一个或多个划分的候选物体中的每一个确定物理环境中相应的相关联的高度; 并且通过计算机系统基于特定的一个评分候选对象的高度在物理环境中的高度处停止车辆的叉。

4. 发明申请

US20130101167A1 IDENTIFYING, MATCHING AND TRACKING MULTIPLE OBJECTS IN A SEQUENCE OF IMAGES 有权
标题翻译：在图像序列中识别，匹配和跟踪多个对象
公开(公告)号：US20130101167A1
公开(公告)日：2013-04-25
申请号：US13652649
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger , John-David S. Yoder
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger , John-David S. Yoder
IPC分类号： G06K9/62
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method of tracking scored candidate objects in a sequence of image frames acquired by a camera is provided. The scored candidate objects may comprise a set of existing scored candidate objects associated with a prior image frame and a set of new scored candidate objects associated with a next image frame.
摘要翻译：提供了一种在由相机获取的图像帧序列中跟踪得分候选对象的方法。所记录的候选对象可以包括与先前图像帧相关联的一组现有记分的候选对象和与下一图像帧相关联的一组新的得分候选对象。

5. 发明申请

US20130101166A1 EVALUATING FEATURES IN AN IMAGE POSSIBLY CORRESPONDING TO AN INTERSECTION OF A PALLET STRINGER AND A PALLET BOARD 有权
标题翻译：评估图像中与特征相关的特征可能与PALLET STRINGER和PALLET BOARD的交互
公开(公告)号：US20130101166A1
公开(公告)日：2013-04-25
申请号：US13652510
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger , John-David S. Yoder
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger , John-David S. Yoder
IPC分类号： G06K9/48
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A programmable computer-implemented method is provided for finding possible corners of a pallet in an image. The method may comprise: acquiring a grey scale image including one or more pallets; determining, using a computer, horizontal cross correlations between the image and a first step-edge template to generate a set of horizontal cross correlation results; determining, using the computer, vertical cross correlations between the image and a second step-edge template to generate a set of vertical cross correlation results; and determining, using the computer, a first set of pixels, each such pixel respectively corresponding to a possible first corner of the one or more pallets, using a first corner template, the set of horizontal cross correlation results and the set of vertical cross correlation results.
摘要翻译：提供了一种可编程计算机实现的方法，用于查找图像中的托盘的可能的角部。该方法可以包括：获取包括一个或多个托盘的灰度图像; 使用计算机确定图像与第一步边缘模板之间的水平交叉相关以产生一组水平交叉相关结果; 使用所述计算机确定所述图像与第二步边缘模板之间的垂直相互关系，以生成一组垂直互相关结果; 以及使用所述计算机确定第一组像素，每个所述像素分别对应于所述一个或多个托盘的可能的第一角，使用第一角模板，所述一组水平互相关结果和所述一组垂直互相关结果。

6. 发明授权

US09087384B2 Identifying, matching and tracking multiple objects in a sequence of images 有权
标题翻译：识别，匹配和跟踪图像序列中的多个对象
公开(公告)号：US09087384B2
公开(公告)日：2015-07-21
申请号：US13652649
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger , John-David S. Yoder
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , 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 of tracking scored candidate objects in a sequence of image frames acquired by a camera is provided. The scored candidate objects may comprise a set of existing scored candidate objects associated with a prior image frame and a set of new scored candidate objects associated with a next image frame.
摘要翻译：提供了一种在由相机获取的图像帧序列中跟踪得分候选对象的方法。所记录的候选对象可以包括与先前图像帧相关联的一组现有记分的候选对象和与下一图像帧相关联的一组新的得分候选对象。

7. 发明授权

US08938126B2 Selecting objects within a vertical range of one another corresponding to pallets in an image scene 有权
标题翻译：在图像场景中选择与托盘对应的垂直范围内的对象
公开(公告)号：US08938126B2
公开(公告)日：2015-01-20
申请号：US13652640
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 , G06K9/36 , 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 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 starting list of the first plurality of scored candidate objects, wherein the starting list includes a respective record for each of the first plurality of scored candidate objects that includes a respective location of the scored candidate object within the gray scale image, and a respective composite object score that represents a likelihood that the scored candidate object corresponds to an actual pallet structure in the gray scale image; and removing from the starting list each of the first plurality of scored candidate objects which: a) is located within a predetermined vertical distance of a particular one of the first plurality of scored candidate objects; and b) has a respective composite score less than that of the particular one scored candidate object.
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计分候选对象的起始列表，其中起始列表包括用于第一多个计分候选对象中的每一个的相应记录，其包括灰度级内的得分候选对象的相应位置图像和相应的复合对象得分，其表示评分的候选对象对应于灰度图像中的实际托盘结构的可能性; 并且从所述起始列表中移除所述第一多个刻划候选对象中的每一个，其中：a）位于所述第一多个记分候选对象中的特定一个的预定垂直距离内; 和b）具有相对于特定的一个得分的候选对象的复合得分。

8. 发明申请

US20130101228A1 IDENTIFYING AND EVALUATING POTENTIAL CENTER STRINGERS OF A PALLET IN AN IMAGE SCENE 有权
标题翻译：在图像场景中识别和评估电子邮件的潜在中心
公开(公告)号：US20130101228A1
公开(公告)日：2013-04-25
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
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。

9. 发明授权

US09025886B2 Identifying and selecting objects that may correspond to pallets in an image scene 有权
标题翻译：识别和选择可能对应于图像场景中的托盘的对象
公开(公告)号：US09025886B2
公开(公告)日：2015-05-05
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： G06K9/46 , G06K9/68 , 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 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记录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评分候选对象中的每一个的相应记录候选对象。

10. 发明申请

US20130101230A1 SELECTING OBJECTS WITHIN A VERTICAL RANGE OF ONE ANOTHER CORRESPONDING TO PALLETS IN AN IMAGE SCENE 有权
标题翻译：在与图像场景中的电子邮件相对应的一个其他方面的垂直范围内选择对象
公开(公告)号：US20130101230A1
公开(公告)日：2013-04-25
申请号：US13652640
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 starting list of the first plurality of scored candidate objects, wherein the starting list includes a respective record for each of the first plurality of scored candidate objects that includes a respective location of the scored candidate object within the gray scale image, and a respective composite object score that represents a likelihood that the scored candidate object corresponds to an actual pallet structure in the gray scale image; and removing from the starting list each of the first plurality of scored candidate objects which: a) is located within a predetermined vertical distance of a particular one of the first plurality of scored candidate objects; and b) has a respective composite score less than that of the particular one scored candidate object.
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计分候选对象的起始列表，其中起始列表包括用于第一多个计分候选对象中的每一个的相应记录，其包括灰度级内的得分候选对象的相应位置图像和相应的复合对象得分，其表示评分的候选对象对应于灰度图像中的实际托盘结构的可能性; 并且从所述起始列表中移除所述第一多个刻划候选对象中的每一个，其中：a）位于所述第一多个记分候选对象中的特定一个的预定垂直距离内; 和b）具有相对于特定的一个得分的候选对象的复合得分。

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