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    • 9. 发明申请
    • PALLET DETECTION USING UNITS OF PHYSICAL LENGTH
    • 使用物理长度单位的托盘检测
    • WO2017189210A1
    • 2017-11-02
    • PCT/US2017/026493
    • 2017-04-07
    • CROWN EQUIPMENT CORPORATION
    • PHILLIPS, SianPADHYE, Shantanu
    • G06T7/73
    • G06K9/00208G06K9/00791G06K9/6202G06T7/337G06T7/50G06T7/74G06T2207/10028G06T2207/20041G06T2207/30108G06T2207/30252
    • An image of a physical environment is acquired that comprises a plurality of pixels, each pixel including a two-dimensional pixel location in the image plane and a depth value corresponding to a distance between a region of the physical environment and the image plane. For each pixel, the two dimensional pixel location and the depth value is converted into a corresponding three-dimensional point in the physical environment defined by three coordinate components, each of which has a value in physical units of measurement. A set of edge points is determined within the plurality of three-dimensional points based, at least in part, on the z coordinate component of the plurality of points and a distance map is generated comprising a matrix of cells. For each cell of the distance map, a distance value is assigned representing a distance between the cell and the closest edge point to that cell.
    • 获取包括多个像素的物理环境的图像,每个像素包括图像平面中的二维像素位置和与物理区域的物理区域之间的距离相对应的深度值 环境和图像平面。 对于每个像素,二维像素位置和深度值被转换成由三个坐标分量定义的物理环境中的相应三维点,其中每个坐标分量具有物理测量单位的值。 至少部分地基于多个点的z坐标分量在多个三维点内确定一组边缘点,并且生成包括单元矩阵的距离图。 对于距离图中的每个单元格,都会指定一个距离值,表示该单元格和该单元格的最近边缘点之间的距离。