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1. 发明申请

WO2013059148A1 GENERATING A COMPOSITE SCORE FOR A POSSIBLE PALLET IN AN IMAGE SCENE 审中-公开
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：WO2013059148A1
公开(公告)日：2013-04-25
申请号：PCT/US2012/060340
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
IPC分类号： G06T7/00 , B66F9/00
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 Score LowerLeftComer for a lower left corner associated with the possible pallet object; generating, by the computer, a second confidence score Score LowerRightComer 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 Score hole for a center stringer associated with the possible pallet object; and calculating, by the computer, a composite score Score object 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得分LowerLeftComer; 由计算机产生与可能的托盘对象相关联的右下角的第二置信度得分LowerRightComer; 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; 通过计算机生成与可能的托盘对象相关联的用于中心纵梁的第四置信度得分孔; 以及由所述计算机计算基于所述第一，第二，第三和第四置信度得分的综合得分Score对象。

2. 发明申请

WO2013059143A1 IDENTIFYING AND LOCATING POSSIBLE LINES CORRESPONDING TO PALLET STRUCTURE IN AN IMAGE 审中-公开
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：WO2013059143A1
公开(公告)日：2013-04-25
申请号：PCT/US2012/060332
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , JENSEN, Eric, L. , SEELINGER, Michael, J.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , JENSEN, Eric, L. , SEELINGER, Michael, J.
IPC分类号： G06T7/00 , B66F9/00
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。

3. 发明申请

WO2013059151A1 SELECTING OBJECTS WITHIN A VERTICAL RANGE OF ONE ANOTHER CORRESPONDING TO PALLETS IN AN IMAGE SCENE 审中-公开
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：WO2013059151A1
公开(公告)日：2013-04-25
申请号：PCT/US2012/060350
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
IPC分类号： B66F9/00 , G06T7/20
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。

4. 发明申请

WO2013059147A1 IDENTIFYING AND EVALUATING MULTIPLE RECTANGLES THAT MAY CORRESPOND TO A PALLET IN AN IMAGE SCENE 审中-公开
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：WO2013059147A1
公开(公告)日：2013-04-25
申请号：PCT/US2012/060339
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
IPC分类号： G06T7/00 , B66F9/00
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。

5. 发明申请

WO2013059144A1 IDENTIFYING AND EVALUATING POSSIBLE HORIZONTAL AND VERTICAL LINES INTERSECTING POTENTIAL PALLET FEATURES 审中-公开
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：WO2013059144A1
公开(公告)日：2013-04-25
申请号：PCT/US2012/060333
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J.
IPC分类号： G06T7/00 , B66F9/00
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 JxK 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 JxK window; determining, using the computer, one of the rows in the JxK 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; 使用所述计算机定位在所述Ro图像中的多行中的至少相应部分上的JxK窗口，其包括包含所述可能角部的行的至少一部分; 使用计算机计算JxK窗口中每行的像素值的平均值; 确定使用所述计算机，所述JxK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。

6. 发明申请

WO2013059142A1 EVALUATING FEATURES IN AN IMAGE POSSIBLY CORRESPONDING TO AN INTERSECTION OF A PALLET STRINGER AND A PALLET BOARD 审中-公开
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：WO2013059142A1
公开(公告)日：2013-04-25
申请号：PCT/US2012/060329
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , JENSEN, Eric, L. , SEELINGER, Michael, J. , YODER, John-David, S.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , JENSEN, Eric, L. , SEELINGER, Michael, J. , YODER, John-David, S.
IPC分类号： G06T7/00 , B66F9/00
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。

7. 发明申请

WO2013066613A1 IDENTIFYING AND EVALUATING POTENTIAL CENTER STRINGERS OF A PALLET IN AN IMAGE SCENE 审中-公开
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：WO2013066613A1
公开(公告)日：2013-05-10
申请号：PCT/US2012/060336
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
IPC分类号： G06T7/00 , B66F9/00
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。

8. 发明申请

WO2013059153A1 IDENTIFYING, MATCHING AND TRACKING MULTIPLE OBJECTS IN A SEQUENCE OF IMAGES 审中-公开
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：WO2013059153A1
公开(公告)日：2013-04-25
申请号：PCT/US2012/060352
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , JENSEN, Eric, L. , SEELINGER, Michael, J. , YODER, John-David, S.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , JENSEN, Eric, L. , SEELINGER, Michael, J. , YODER, John-David, S.
IPC分类号： B66F9/00 , G06T7/20
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。

9. 发明申请

WO2013059150A1 IDENTIFYING AND SELECTING OBJECTS THAT MAY CORRESPOND TO PALLETS IN AN IMAGE SCENE 审中-公开
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：WO2013059150A1
公开(公告)日：2013-04-25
申请号：PCT/US2012/060348
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
IPC分类号： G06T7/20 , B66F9/00
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，其中该列表包括用于第一多个记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。

10. 发明申请

WO2013059149A1 CONTROLLING TRUCK FORKS BASED ON IDENTIFYING AND TRACKING MULTIPLE OBJECTS IN AN IMAGE SCENE 审中-公开
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：WO2013059149A1
公开(公告)日：2013-04-25
申请号：PCT/US2012/060343
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , JENSEN, Eric, L. , SEELINGER, Michael, J. , YODER, John-David, S.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , JENSEN, Eric, L. , SEELINGER, Michael, J. , YODER, John-David, S.
IPC分类号： G06T7/20 , B66F9/00
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。

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