System and method of 3D point cloud registration with multiple 2D images

    公开(公告)号:US11941827B2

    公开(公告)日:2024-03-26

    申请号:US17505471

    申请日:2021-10-19

    CPC classification number: G06T7/38 G06T2207/20081 G06T2207/20084

    Abstract: A computer-implemented method of performing a three-dimensional 3D point cloud registration with multiple two-dimensional (2D) images may include estimating a mathematical relationship between 3D roto-translations of dominant planes of objects in a 3D point cloud and bi-dimensional homographies in a 2D image plane, thereby resulting in a 3D point cloud registration using multiple 2D images. A trained classifier may be used to determine correspondence between homography matrices and inferred motion of the dominant plane(s) on a 3D point cloud for paired image frames. A homography matrix between the paired images of the dominant plane(s) on the 2D image plane may be selected based on the correspondence between the inferred motions and measured motion of the dominant plane(s) on the 3D point cloud for the paired image frames. The process may be less computationally intensive than conventional 2D-3D registration approaches.

    PASSIVE AUTOFOCUS SYSTEMS, ARTICLES AND METHODS

    公开(公告)号:US20240080557A1

    公开(公告)日:2024-03-07

    申请号:US17903826

    申请日:2022-09-06

    CPC classification number: H04N5/232121 G06T7/13

    Abstract: Passive autofocusing is used in image acquisition devices (e.g., machine-readable symbol readers, cameras), and can be employed with shutter and/or event-based image sensors. An aimer pointer is easily detected in images, and one or more characteristics characterized at various focus positions of the optics. A size of a characteristic dimension and/or shape of the aimer pointer and/or a measure of sharpness of the aimer pointer is used to determine which image, and hence focus position, results in an optimized or even optimum (i.e., best) focus. The image acquisition system is then configured accordingly. Measuring aimer pointer size is typically less computationally intensive than conventional approaches. Use of a laser beam to produce the aimer pointer usually requires lower exposure time than other approaches. Image data can advantageously be windowed using a relatively small region of interest (ROI) based on a known aimer pointer position.

    Image multiprocessing method for vision systems

    公开(公告)号:US11853394B2

    公开(公告)日:2023-12-26

    申请号:US17295771

    申请日:2018-11-21

    Abstract: The present disclosure relates to a method for image classes definition and to a method for image multiprocessing and related vision system, which implement said method for image classes definition. The latter comprising an image splitting operation for each image of M input images, the image splitting operation comprising the steps of: a) splitting the image into image portions; b) executing the algorithm onto each image portion with at least one processing unit; c) identifying the image portion associated with a maximum execution time of said algorithm; d) splitting said identified image portion into further image portions; e) checking if a stop criterion is met: e1) if the stop criterion is met, iterating steps a) to e) onto another one of the M input images; e2) if the stop criterion is not met, executing a predefined image processing algorithm onto each of the further image portions; identifying the image portion or further image portion associated with a maximum execution time of said algorithm; and iterating steps d) to e) on the so identified image portions portion or further image portion; wherein after executing steps a) to e) on all of the M input images, the method for image classes definition further comprises the steps of: f) identifying in an image space, for all the M input images, the positions of each split image portion/further image portion and defining clusters (A, B, C) based thereon; g) defining a set of Q image classes (A′, B′, C, AC) based on said clusters (A, B, C), each class (A′, B′, C, AC) being univocally associated with a splitting pattern representing in the image space a plurality of regions to be allocated to a corresponding plurality of processing units of the vision system for image multiprocessing.

    ROBUST OPTICAL AIMER FOR TRIANGULATION-BASED DISTANCE MEASUREMENT

    公开(公告)号:US20230177293A1

    公开(公告)日:2023-06-08

    申请号:US17457786

    申请日:2021-12-06

    CPC classification number: G06K7/1417 G06K7/089

    Abstract: An optical scanner device includes at least one image capture device and a transmitter of at least one aimer beam. The scanner device determines ranging to a subject using the at least one aimer beam projected to reflect off of a surface of the subject, and detects a position of the aimer-beam reflection within an image frame captured by the image-capture device, the position being a primary indicator of a distance to the subject from the optical scanner device. A secondary indicator of the distance to the subject within the image frame in combination with the first indicator is used to help detect the aimer beam reflection against noise and detect an occurrence of an optical misalignment with possible self-correction of calibration after such misalignment.

    Inductive aiming trigger
    99.
    发明授权

    公开(公告)号:US11416697B2

    公开(公告)日:2022-08-16

    申请号:US17133214

    申请日:2020-12-23

    Abstract: A handheld code reader may include a main structure, a handle extending from the main structure, and a trigger configured to be pulled by a finger of a user holding the handle. The code reader may further include a conductive element, an antenna configured to sense an inductive change caused by the trigger moving the conductive element, and electronics in electrical communication with the antenna, the electronics configured to determine when the inductive change is indicative of a user selecting to activate a pre-trigger aiming function.

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