A system and method for obtaining a dimension measurement that conforms to a conformance criteria is disclosed. The dimensioning system provides either (i) feedback to confirm that the measurement complies with the criteria or (ii) information on how the measurement geometry could be adjusted in order to provide a compliant measurement in a subsequent dimension measurement.

Handheld dimensioning system with measurement-conformance feedback

A dimensioning system including a computing device running an alignment software program is disclosed. The alignment software uses range information from a range sensor in order to generate alignment messages. The alignment messages may help a user define a frame of reference and align the dimensioning system's range sensor for improved dimensioning performance.

Dimensioning system with guided alignment

A system and a method for validating items gathered (i.e., picked) as part of a logistics process are disclosed. The picking system uses one or more sensors to sense the physical attributes of an item (e.g., weight, color, size/shape, etc.). The sensed-physical attributes are compared to expected-physical attributes stored for the item. Based on the comparison, a user may receive feedback confirming or rejecting the picked item. In some embodiments, the picking system uses the collected physical data to improve, or add to, the expected-physical attributes. The picking system may also be integrated with a powered-industrial vehicle and/or a warehouse management system to improve usability and effectiveness.

System and method for picking validation

An optical pattern projector used for projecting a structured-light pattern onto an object for dimensioning is presented. The optical pattern projector utilizes a laser array, a lenslet array, a lens, and a diffractive optical element to create a repeated pattern of projected dots. The pattern repetition is based on the grid pattern of laser array. Each laser's collimated beam, when projected through the lens, impinges on the diffractive optical element from a slightly different direction. The diffractive optical element creates a sub-patterns that continue propagating along these different directions and combine on a target to produce a repeating optical pattern.

Optical pattern projector

An indicia reading terminal has a three-dimensional depth sensor, a two dimensional image sensor, an autofocus lens assembly, and a processor. The three dimensional depth sensor captures a depth image of a field of view and create a depth map from the depth image, the depth map having one or more surface distances. The two dimensional image sensor receives incident light and capture an image therefrom. The autofocusing lens assembly is positioned proximate to the two dimensional image sensor such that the incident light passes through the autofocusing lens before reaching the two dimensional image sensor. The processor is communicatively coupled to the two dimensional image sensor, the three dimensional depth sensor, and the autofocusing lens assembly.

Depth sensor based auto-focus system for an indicia scanner

An apparatus for producing structured light comprises a first optical arrangement which comprises a microlens array comprising a multitude of transmissive or reflective microlenses which are regularly arranged at a lens pitch P and an illumination unit for illuminating the microlens array. The illumination unit comprises an array of light sources for emitting light of a wavelength L each and having an aperture each, wherein the apertures are located in a common emission plane which is located at a distance D from the microlens array. For the lens pitch P, the distance D and the wavelength L, the following equation applies P 2=2LD/N, wherein N is an integer with N≧1. High-contrast high-intensity light patterns can be produced.

Apparatus for producing patterned illumination including at least one array of light sources and at least one array of microlenses

The present disclosure describes structured-stereo imaging assemblies including separate imagers for different wavelengths. The imaging assembly can include, for example, multiple imager sub-arrays, each of which includes a first imager to sense light of a first wavelength or range of wavelengths and a second imager to sense light of a different second wavelength or range of wavelengths. Images acquired from the imagers can be processed to obtain depth information and/or improved accuracy. Various techniques are described that can facilitate determining whether any of the imagers or sub-arrays are misaligned.

Structured-stereo imaging assembly including separate imagers for different wavelengths

An apparatus for producing structured light comprises a first optical arrangement which comprises a microlens array (L1) comprising a multitude of transmissive or reflective microlenses (2) which are regularly arranged at a lens pitch P and an illumination unit for illuminating the microlens array. The illumination unit comprises an array (S1) of light sources (1) for emitting light of a wavelength L each and having an aperture each, wherein the apertures are located in a common emission plane which is located at a distance D from the microlens array. For the lens pitch P, the distance D and the wavelength L, the following equation applies P2 = 2LD/N, wherein N is an integer with N ≥ 1. High- contrast high-intensity light patterns can be produced. Devices comprising such apparatuses can be used for depth mapping.

Apparatus for producing patterned illumination

Techniques are described for generating a distance map (e.g., a map of disparity, depth or other distance values) for image elements (e.g., pixels) of an image capture device. The distance map is generated based on an initial distance map (obtained, e.g., using a block or code matching algorithm) and a segmentation map (obtained using a segmentation algorithm). In some instances, the resulting distance map can be less sparse than the initial distance map, can contain more accurate distance values, and can be sufficiently fast for real-time or near real-time applications. The resulting distance map can be converted, for example, to a color-coded distance map of a scene that is presented on a display device.

Generating a distance map based on captured images of a scene

First and second stereo images are acquired. The first image is partitioned into multiple segments, wherein each segment consists of image elements that share one or more characteristics in common. A segmentation map is generated in which each of the image elements is associated with a corresponding one of the segments to which it belongs. A respective disparity value is determined for each of the segments with respect to a corresponding portion of the second image, and the disparity value determined for each particular segment is assigned to at least one image element that belongs to that segment. A disparity map indicative of the assigned disparity values can then be generated. Generating the disparity map in this manner can, in some instance, help reduce edge and/or feature thickening.

Alireza Yasan

Papers

Apparatus for producing patterned illumination including at least one array of light sources and at least one array of microlenses

Structured-stereo imaging assembly including separate imagers for different wavelengths

Apparatus for producing patterned illumination

Generating a distance map based on captured images of a scene

Generating a disparity map based on stereo images of a scene