Patent Grant
9762793
The present invention relates generally to a dimension detection system, and more particularly to a structured-light dimensioning system and method for improving the performance thereof.
Generally speaking, a structured-light dimensioning system may project a light pattern onto an object as part of a dimension measurement (i.e., dimensioning). In the best of circumstances, a high-quality image of the light pattern, with easily recognizable patterns on all dimensioning surfaces, is captured. Often, however, the captured light-pattern on one or more surfaces is unsuitable due to the lighting and/or the object's color. Under these circumstances, some adjustment of the structured-light dimensioning system may be necessary.
Neither the time nor the skill is available in some dimensioning applications (e.g., handheld dimensioning) to adjust the structured-light dimensioning system carefully. What is more, in many cases an optimal pattern image, with resolvable light patterns on all dimensioning surfaces, is unobtainable using a single camera setting. Therefore, a need exists for a structured-light dimensioning system with an improved ability to automatically capture a resolvable light pattern on all dimensioning surfaces, especially when the lighting and/or object color make imaging all dimensioning surfaces simultaneously otherwise difficult.
Accordingly, in one aspect, the present invention embraces a structured-light dimensioning system. The system includes a projector subsystem for projecting a light pattern onto an object that has dimensioning surfaces. The system also includes a camera subsystem for capturing pattern images of the light pattern on the dimensioning surfaces. The system further includes a control subsystem that is communicatively coupled to the projector subsystem and the camera subsystem. The control subsystem includes a processor and a memory. The processor analyzes and processes pattern images, while the memory allows for the storage of pattern images and a software program. When executed by the processor, the software program configures the control subsystem to enable the camera subsystem to capture multiple pattern images using different camera-subsystem settings for each pattern image. The software program also configures the control subsystem to incorporate the multiple pattern images into an image composite with a resolvable light pattern on the dimensioning surfaces.
In an exemplary embodiment, the structured-light dimensioning system is handheld and the image composite includes multiple pattern images aligned and combined to remove differences caused by hand motion.
In another aspect, the present invention embraces a method to compute an object's dimensions using a structured-light dimensioning system. In the method, a pattern image of a light pattern, projected onto the object, is captured. Within the pattern image, dimensioning surfaces on the object are selected, and from these, the dimensioning surfaces that have a requisite pattern for dimensioning are identified. The pattern image is then incorporated into an image composite. Next, the image composite is checked, and if all of the dimensioning surfaces in the image composite have the requisite pattern, then the image composite is processed to compute the object's dimensions. Otherwise, the camera subsystem's settings are adjusted and the process of capturing a pattern image, selecting dimensioning surfaces, identifying the dimensioning surfaces that have a requisite pattern, and incorporating the pattern image into the image composite are repeated. This repetition continues until all of the dimensioning surfaces in the image composite have the requisite pattern for dimensioning, at which point the image composite is processed to compute the object's dimensions.
In an exemplary embodiment, at least three dimensioning surfaces are selected and the object's dimension is the object's volume.
In another exemplary embodiment, the image composite includes multiple pattern images.
The foregoing illustrative summary, as well as other exemplary objectives and/or advantages of the invention, and the manner in which the same are accomplished, are further explained within the following detailed description and its accompanying drawings.
Dimensioning is the process of remotely measuring an object's dimensions using a dimensioning system (i.e., dimensioner). Typically, the object analyzed is a cubic package and the dimension measured is the object's volume. Measuring a package's volume is especially important in the shipping and warehousing industries, which may have space and/or weight restrictions. For example, the cost to ship a package has historically been based on the package's weight. Charging by weight alone, however, may cause a shipment of a lightweight package with a large volume to become unprofitable. As a result, dimension measurements are often required to compute shipping costs.
Dimensioning systems may be static in the sense that a package is unmoving during a measurement. Alternatively, a dimensioning system may be dynamic where the package moves during measurement (e.g., moving along a conveyor). In both of these cases, the dimensioning system is mounted in a fixed position and the imaging environment is carefully controlled. The most promising dimensioning system configuration, however, is handheld, which could adapt to almost any environment.
Handheld dimensioning is a challenging problem. In handheld applications, the environment (e.g., the lighting) is uncontrolled and the dimensioner must accommodate non-ideal imaging conditions (e.g., motion associated with being handheld). In addition, handheld applications typical have low tolerance for excessive measurement times or alignment complexities. Thus, the sensing technology chosen for such applications must accommodate these issues.
A variety of sensing technologies have been employed for dimensioning. The present invention embraces a dimensioning system using structured-light sensing. Structure light is the process of projecting a light pattern (e.g., dots, grids, bars, etc.) onto a scene (i.e., field of view). The light pattern may be invisible or may be pulsed at an high rate so as not to interfere with other computer vision tasks, such as barcode scanning or optical character recognition (OCR).
The scene with the projected light pattern is imaged and the pattern image is examined. Objects in the field of view will cause the light pattern in the pattern image to appear deformed when compared to a reference pattern. This deformation may be mathematically processed to compute distance (i.e., range) information. This range information may, in turn, be used to compute an object's dimensions (e.g., the object's volume).
The image quality of the light pattern is key to structured light dimensioning. In some applications, however, lighting variations and/or object color, may negatively affect the pattern image on one, or more, of the object's surfaces. This is especially true for handheld systems that may be operated in a wide range of environments (e.g., in direct sunlight). A pattern image with uneven illumination may not have resolvable pattern elements (e.g., dots) on all surfaces of the object. For example, bright areas may be saturated, washing out the pattern elements, while dark areas may be underexposed, lacking the intensity to resolve the pattern elements.
Uneven lighting may be caused by unfavorable illumination and/or the shape of the object. For example, if a box is illuminated with a beam of light, then the sides of the box opposite to the light source will be in shadow while the sides toward the light source will be fully illuminated. Since the accuracy (or even the possibility) of dimensioning depends on having pattern images with good pattern-element visibility on all dimensioning surfaces, it is important to capture pattern images of suitable quality. One camera setting may not be suitable, however, for obtaining good pattern images on each surface. For example, the correct exposure for one surface may overexpose another surface. Moving to a different location may help the imaging problem but may not be convenient in some applications. The present invention embraces the idea of capturing multiple pattern images using different camera settings (e.g., shutter speed or aperture size), so that when combined (i.e., mathematical combination) or used in combination, provide all of the necessary dimensioning information.
As mentioned previously, a handheld dimensioner may project a light pattern onto an object and then capture an image (i.e., a pattern image) of the object with the overlaid light pattern. The pattern in the image may then be compared with a reference pattern and variations between the two patterns may be used to calculate the distance of various pattern elements (e.g., sets of dots) on a surface. Clearly, this method will not work when the pattern elements on the surface cannot be imaged. An important aspect of this invention is the realization that while dimensioning needs well-imaged patterns from a plurality of surfaces, these patterns need not be imaged simultaneously, nor do they need to be imaged with the same camera settings (e.g., exposure time).
Unlike conventional images that capture all of the visible details of a scene, pattern images are used for sensing pattern distortions caused by the scene. This information may be used to compute the range of small groups of pattern elements on the surface. Once this calculation has been performed for a surface, this surface need not be imaged again unless the dimensioner has been moved appreciably. Pattern images for other surfaces may then be captured (e.g., using different camera settings) to give a composite image with a requisite pattern for range calculations. Once all of the surfaces have been imaged with the requisite pattern and their range calculations have been performed, then the object's volume may be computed.
Small motion variations between the pattern images may be compensated by aligning the pattern images. If, for example, three dimensioning-surfaces are required, then at least three pattern-images may be captured. The three pattern images may then be aligned (e.g., aligning the object edges in each image) and overlaid. Alignment between the images can be accomplished in an exemplary embodiment by using a method called iterative closest point (i.e., ICP). This method can correct the small differences. Only small difference between pattern images during a dimensioning measurement is expected since multiple (e.g., three) surfaces may be acquired quickly (e.g., within a quarter of a second).
The fastest way to use the pattern images is to acquire the first set of dots on a dimensioning surface and then ignore that dimensioning surface on future image acquisitions until the image composite has a useable pattern. Alternately, surfaces with two or more independent sets of visible pattern elements can be used to make multiple range measurements for each surface. These multiple measurements can then be averaged or otherwise mathematically combined to produce a more accurate range measurement for that side. The present invention, therefore, also offers an improved method for acquiring the information necessary for dimensioning since the same pattern may be acquired multiple times during a dimensioning measurement and thus may have an improved signal-to-noise ratio (i.e., SNR).
A block diagram representing an exemplary method to compute an object's dimensions using a structured-light dimensioning system (e.g., handheld structured-light dimensioning system) is shown in
A small item, for example, placed a faraway from the dimensioner will not have a reflected pattern density (i.e., the density of pattern elements reflected from an object's surface) sufficient for a range calculation. Likewise, a large item placed too close to the dimensioner will fill the scene to such an extent that only a portion of a single surface may be imaged. Thus adjusting the field of view for the projector and camera subsystems as well as the pattern density and the image resolution are important factors in determining the operating range of the dimensioner.
The dimensioner captures a pattern image 11 by projecting a light pattern onto the object and then capturing an image of the object with the overlaid light pattern. The light projected may be infrared (IR), visible, or ultraviolet (UV) but is typically IR. The light may be pulsed or continuous during the dimensioning process. The pattern may be dynamic or static and may consist of projected patterns including geometrical shapes (e.g., hexagons or line grids), dot arrays, and/or Du Bruijn diagrams. In an exemplary dot pattern (i.e., the pattern elements are dots) the size, shape, and distribution of the dot pattern are known and may be stored in memory as a reference pattern.
The captured image is analyzed and dimensioning surfaces are selected 12. The detection and selection of dimensioning surfaces may be accomplished with an image analysis algorithm known as image segmentation. For example, a box may have three surfaces selected for dimensioning. These three surfaces can be used then to determine the box's volume.
Once the dimensioning surfaces are selected 12 the light pattern's quality on each surface is be examined. Surfaces with the requisite pattern for dimensioning are identified 13. A requisite pattern is a pattern that is discernable in a pattern image. For example, a dot pattern on a surface that is saturated is not discernable and neither is a dot pattern with an insufficient reflected intensity resulting from an object that has a low reflectance (i.e., low with respect to the light pattern's wavelength).
Images with a requisite surface patterns may be incorporated into an image composite 14. An image composite may be a set of individual images, a resulting image from the combination of one or more images, or a portion of an image or images (i.e., segmented surface data).
The composite image must have a requisite number of dimensioning surfaces with discernable patterns for dimensioning. As a result, a condition 15 is included in the method. The condition 15 has two alternatives: (i) if all the selected dimensioning surfaces have the requisite pattern, then the image composite is processed 16 resulting in the object's dimension 17, otherwise (ii) the camera settings are adjusted 18 and a new pattern image is acquired and the process repeats.
Collecting pattern images until all selected dimensioning surfaces in the image composite have the requisite pattern for dimensioning (i.e., composing the image composite) can be executed in a variety of ways. The fastest way to compose the image composite is to store the first set of pattern elements on a dimensioning surface and then ignore that dimensioning surface on subsequently acquired pattern images until the image composite has a useable pattern on all dimensioning surfaces. Alternately, dimensioning surfaces with two or more independent pattern images can be processed and these multiple measurements can be averaged or otherwise combined to reach a more accurate measurement of that surface.
An exemplary embodiment of a structured-light dimensioning system 100 (i.e., dimensioner) block diagram is shown in
A projector subsystem 20 projects a light pattern 23 onto an object's dimensioning surfaces. The object 10 is positioned within a dimensioning region 19. The projector subsystem 20 has a light source 25 to generate and radiate light. The light source 25 may be a laser diode (LD) or a light emitting diode (LED), either of which may generate light radiation in the ultraviolet (UV), visible (VIS) or infra-red (IR) portions of the spectrum. An optical subassembly 26 is included in the projector subsystem 20 to focus and/or filter the light. A focusing element in the optical subassembly may be a lens or a diffractive optical element (DOE). A light pattern mask 27 is typically used to create the light pattern 23.
A camera subsystem 30 captures pattern images of the object 10 and the projected light pattern 23. To accomplish this, the camera subsystem 30 may use an imaging lens 31 to render a real image of the imaging lens's field of view 24 onto an image sensor 32. This imaging lens field of view 24 overlaps at least partially with the projected light pattern 23. The image sensor 32 may be a charge coupled device (i.e., CCD) or a sensor using complementary metal oxide semiconductor (i.e., CMOS) technology. The image sensor 32 includes a plurality of pixels that sample the real image and convert the real-image intensity into an electronic signal. An imager digital signal processor (i.e., DSP) 33 is typically included to convert the electronic signals from the image sensor 32 into a digital signal.
A control subsystem 40 is communicatively coupled to the projector subsystem 20 and the camera subsystem 30 via an interconnection system (e.g., bus) 50, which interconnects all of the dimensioners subsystems. The control subsystem 40 includes one or more processors 42 (e.g., one or more controllers, digital signal processor (DSP), application specific integrated circuit (ASIC), programmable gate array (PGA), and/or programmable logic controller (PLC)) to configure subsystems for the generation and capturing processes and then perform the processing necessary on pattern images and the image composite necessary for dimensioning. The processor 42 is typically configured by a software program stored in memory 41 (e.g., read only memory (ROM), flash memory, random access memory (RAM), and/or a hard-drive). The software program, when executed by the processor 42 configures the control subsystem to enable the camera subsystem 20 to: (i) capture multiple pattern images, each pattern image captured using different camera-subsystem settings and (ii) incorporate the multiple pattern images into an image composite with a resolvable light pattern on all dimensioning surfaces.
The dimensioner 100 may also include a user interface 70 to display dimension measurements (e.g., linear dimension or volume) results. In some embodiments, the user interface 70 may also facilitate the selection of dimensioning surfaces.
The dimensioner 100 may also include a communication subsystem 60 for transmitting and receiving information to/from a separate computing device or storage device. This communication subsystem may be wired or wireless and may enable communication with a variety of protocols (e.g., IEEE 802.11, including WI-FI®, BLUETOOTH®, CDMA, TDMA, or GSM).
The subsystems in the dimensioner 100 are electrically connected via a couplers (e.g., wires or fibers), buses, and control lines to form an interconnection system 50. The interconnection system 50 may include power buses or lines, data buses, instruction buses, address buses, etc., which allow operation of the subsystems and interaction there between.
To supplement the present disclosure, this application incorporates entirely by reference the following commonly assigned patents, patent application publications, and patent applications:
In the specification and/or figures, typical embodiments of the invention have been disclosed. The present invention is not limited to such exemplary embodiments. The use of the term “and/or” includes any and all combinations of one or more of the associated listed items. The figures are schematic representations and so are not necessarily drawn to scale. Unless otherwise noted, specific terms have been used in a generic and descriptive sense and not for purposes of limitation.
| Number | Name | Date | Kind |
|---|---|---|---|
| 3971065 | Bayer | Jul 1976 | A |
| 4279328 | Ahlbom | Jul 1981 | A |
| 4398811 | Nishioka et al. | Aug 1983 | A |
| 4495559 | Gelatt, Jr. | Jan 1985 | A |
| 4730190 | Win et al. | Mar 1988 | A |
| 4803639 | Steele et al. | Feb 1989 | A |
| 5220536 | Stringer et al. | Jun 1993 | A |
| 5331118 | Jensen | Jul 1994 | A |
| 5359185 | Hanson | Oct 1994 | A |
| 5384901 | Glassner et al. | Jan 1995 | A |
| 5548707 | LoNegro | Aug 1996 | A |
| 5555090 | Schmutz | Sep 1996 | A |
| 5590060 | Granville et al. | Dec 1996 | A |
| 5606534 | Stringer et al. | Feb 1997 | A |
| 5619245 | Kessler et al. | Apr 1997 | A |
| 5655095 | LoNegro et al. | Aug 1997 | A |
| 5661561 | Wurz et al. | Aug 1997 | A |
| 5699161 | Woodworth | Dec 1997 | A |
| 5729750 | Ishida | Mar 1998 | A |
| 5730252 | Herbinet | Mar 1998 | A |
| 5732147 | Tao | Mar 1998 | A |
| 5734476 | Dlugos | Mar 1998 | A |
| 5737074 | Haga et al. | Apr 1998 | A |
| 5767962 | Suzuki et al. | Jun 1998 | A |
| 5831737 | Stringer et al. | Nov 1998 | A |
| 5850370 | Stringer et al. | Dec 1998 | A |
| 5850490 | Johnson | Dec 1998 | A |
| 5869827 | Rando | Feb 1999 | A |
| 5870220 | Migdal et al. | Feb 1999 | A |
| 5900611 | Hecht | May 1999 | A |
| 5923428 | Woodworth | Jul 1999 | A |
| 5929856 | LoNegro et al. | Jul 1999 | A |
| 5938710 | Lanza et al. | Aug 1999 | A |
| 5959568 | Woolley | Sep 1999 | A |
| 5960098 | Tao | Sep 1999 | A |
| 5969823 | Wurz et al. | Oct 1999 | A |
| 5978512 | Kim et al. | Nov 1999 | A |
| 5979760 | Freyman et al. | Nov 1999 | A |
| 5988862 | Kacyra et al. | Nov 1999 | A |
| 5991041 | Woodworth | Nov 1999 | A |
| 6009189 | Schaack | Dec 1999 | A |
| 6025847 | Marks | Feb 2000 | A |
| 6049386 | Stringer et al. | Apr 2000 | A |
| 6053409 | Brobst et al. | Apr 2000 | A |
| 6064759 | Buckley et al. | May 2000 | A |
| 6067110 | Nonaka et al. | May 2000 | A |
| 6069696 | McQueen et al. | May 2000 | A |
| 6137577 | Woodworth | Oct 2000 | A |
| 6177999 | Wurz et al. | Jan 2001 | B1 |
| 6232597 | Kley | May 2001 | B1 |
| 6236403 | Chaki | May 2001 | B1 |
| 6246468 | Dimsdale | Jun 2001 | B1 |
| 6333749 | Reinhardt et al. | Dec 2001 | B1 |
| 6336587 | He et al. | Jan 2002 | B1 |
| 6369401 | Lee | Apr 2002 | B1 |
| 6373579 | Ober et al. | Apr 2002 | B1 |
| 6429803 | Kumar | Aug 2002 | B1 |
| 6457642 | Good et al. | Oct 2002 | B1 |
| 6507406 | Yagi et al. | Jan 2003 | B1 |
| 6517004 | Good et al. | Feb 2003 | B2 |
| 6519550 | D'Hooge et al. | Feb 2003 | B1 |
| 6674904 | McQueen | Jan 2004 | B1 |
| 6705526 | Zhu et al. | Mar 2004 | B1 |
| 6781621 | Gobush et al. | Aug 2004 | B1 |
| 6824058 | Patel et al. | Nov 2004 | B2 |
| 6858857 | Pease et al. | Feb 2005 | B2 |
| 6922632 | Foxlin | Jul 2005 | B2 |
| 6971580 | Zhu et al. | Dec 2005 | B2 |
| 6995762 | Pavlidis et al. | Feb 2006 | B1 |
| 7057632 | Yamawaki et al. | Jun 2006 | B2 |
| 7085409 | Sawhney et al. | Aug 2006 | B2 |
| 7086162 | Tyroler | Aug 2006 | B2 |
| 7104453 | Zhu et al. | Sep 2006 | B1 |
| 7137556 | Bonner et al. | Nov 2006 | B1 |
| 7161688 | Bonner et al. | Jan 2007 | B1 |
| 7214954 | Schopp | May 2007 | B2 |
| 7277187 | Smith et al. | Oct 2007 | B2 |
| 7307653 | Dutta | Dec 2007 | B2 |
| 7310431 | Gokturk et al. | Dec 2007 | B2 |
| 7527205 | Zhu et al. | May 2009 | B2 |
| 7586049 | Wurz | Sep 2009 | B2 |
| 7602404 | Reinhardt et al. | Oct 2009 | B1 |
| 7639722 | Paxton et al. | Dec 2009 | B1 |
| 7726575 | Wang et al. | Jun 2010 | B2 |
| 7780084 | Zhang et al. | Aug 2010 | B2 |
| 7788883 | Buckley et al. | Sep 2010 | B2 |
| 7974025 | Topliss | Jul 2011 | B2 |
| 8027096 | Feng et al. | Sep 2011 | B2 |
| 8028501 | Buckley et al. | Oct 2011 | B2 |
| 8050461 | Shpunt et al. | Nov 2011 | B2 |
| 8055061 | Katano | Nov 2011 | B2 |
| 8072581 | Breiholz | Dec 2011 | B1 |
| 8102395 | Kondo et al. | Jan 2012 | B2 |
| 8132728 | Dwinell et al. | Mar 2012 | B2 |
| 8134717 | Pangrazio et al. | Mar 2012 | B2 |
| 8149224 | Kuo et al. | Apr 2012 | B1 |
| 8194097 | Xiao et al. | Jun 2012 | B2 |
| 8212889 | Chanas et al. | Jul 2012 | B2 |
| 8228510 | Pangrazio et al. | Jul 2012 | B2 |
| 8230367 | Bell et al. | Jul 2012 | B2 |
| 8305458 | Hara | Nov 2012 | B2 |
| 8310656 | Zalewski | Nov 2012 | B2 |
| 8313380 | Zalewski et al. | Nov 2012 | B2 |
| 8339462 | Stec et al. | Dec 2012 | B2 |
| 8350959 | Topliss et al. | Jan 2013 | B2 |
| 8351670 | Ijiri et al. | Jan 2013 | B2 |
| 8381976 | Mohideen et al. | Feb 2013 | B2 |
| 8437539 | Komatsu et al. | May 2013 | B2 |
| 8441749 | Brown et al. | May 2013 | B2 |
| 8463079 | Ackley et al. | Jun 2013 | B2 |
| 8570343 | Halstead | Oct 2013 | B2 |
| 8576390 | Nunnink | Nov 2013 | B1 |
| 8773507 | Gharib | Jul 2014 | B2 |
| 8792688 | Unsworth | Jul 2014 | B2 |
| 8810779 | Hilde | Aug 2014 | B1 |
| 8897596 | Passmore et al. | Nov 2014 | B1 |
| 9014441 | Truyen et al. | Apr 2015 | B2 |
| 9082195 | Holeva et al. | Jul 2015 | B2 |
| 9142035 | Rotman et al. | Sep 2015 | B1 |
| 9233470 | Bradski et al. | Jan 2016 | B1 |
| 9247235 | Gharib | Jan 2016 | B2 |
| 9299013 | Curlander et al. | Mar 2016 | B1 |
| 9424749 | Reed et al. | Aug 2016 | B1 |
| 9486921 | Straszheim et al. | Nov 2016 | B1 |
| 20010027995 | Patel et al. | Oct 2001 | A1 |
| 20010032879 | He et al. | Oct 2001 | A1 |
| 20020054289 | Thibault et al. | May 2002 | A1 |
| 20020067855 | Chiu et al. | Jun 2002 | A1 |
| 20020109835 | Goetz | Aug 2002 | A1 |
| 20020118874 | Chung et al. | Aug 2002 | A1 |
| 20020158873 | Williamson | Oct 2002 | A1 |
| 20020167677 | Okada et al. | Nov 2002 | A1 |
| 20020179708 | Zhu et al. | Dec 2002 | A1 |
| 20020196534 | Lizotte et al. | Dec 2002 | A1 |
| 20030038179 | Tsikos et al. | Feb 2003 | A1 |
| 20030053513 | Vatan et al. | Mar 2003 | A1 |
| 20030063086 | Baumberg | Apr 2003 | A1 |
| 20030091227 | Chang et al. | May 2003 | A1 |
| 20030156756 | Gokturk et al. | Aug 2003 | A1 |
| 20030197138 | Pease et al. | Oct 2003 | A1 |
| 20030225712 | Cooper et al. | Dec 2003 | A1 |
| 20030235331 | Kawaike et al. | Dec 2003 | A1 |
| 20040008259 | Gokturk et al. | Jan 2004 | A1 |
| 20040019274 | Galloway et al. | Jan 2004 | A1 |
| 20040024754 | Mane et al. | Feb 2004 | A1 |
| 20040066329 | Zeitfuss et al. | Apr 2004 | A1 |
| 20040073359 | Ichijo et al. | Apr 2004 | A1 |
| 20040083025 | Yamanouchi et al. | Apr 2004 | A1 |
| 20040089482 | Ramsden et al. | May 2004 | A1 |
| 20040098146 | Katae et al. | May 2004 | A1 |
| 20040105580 | Hager et al. | Jun 2004 | A1 |
| 20040118928 | Patel et al. | Jun 2004 | A1 |
| 20040155975 | Hart et al. | Aug 2004 | A1 |
| 20040165090 | Ning | Aug 2004 | A1 |
| 20040184041 | Schopp | Sep 2004 | A1 |
| 20040211836 | Patel et al. | Oct 2004 | A1 |
| 20040214623 | Takahashi et al. | Oct 2004 | A1 |
| 20040233461 | Armstrong et al. | Nov 2004 | A1 |
| 20040258353 | Gluckstad et al. | Dec 2004 | A1 |
| 20050006477 | Patel | Jan 2005 | A1 |
| 20050117215 | Lange | Jun 2005 | A1 |
| 20050128196 | Popescu et al. | Jun 2005 | A1 |
| 20050168488 | Montague | Aug 2005 | A1 |
| 20050211782 | Martin | Sep 2005 | A1 |
| 20050264867 | Cho et al. | Dec 2005 | A1 |
| 20060047704 | Gopalakrishnan | Mar 2006 | A1 |
| 20060078226 | Zhou | Apr 2006 | A1 |
| 20060108266 | Bowers et al. | May 2006 | A1 |
| 20060112023 | Horhann | May 2006 | A1 |
| 20060151604 | Zhu et al. | Jul 2006 | A1 |
| 20060159307 | Anderson et al. | Jul 2006 | A1 |
| 20060159344 | Shao et al. | Jul 2006 | A1 |
| 20060232681 | Okada | Oct 2006 | A1 |
| 20060255150 | Longacre | Nov 2006 | A1 |
| 20060269165 | Viswanathan | Nov 2006 | A1 |
| 20060291719 | Ikeda et al. | Dec 2006 | A1 |
| 20070003154 | Sun et al. | Jan 2007 | A1 |
| 20070025612 | Iwasaki et al. | Feb 2007 | A1 |
| 20070031064 | Zhao et al. | Feb 2007 | A1 |
| 20070116357 | Dewaele | May 2007 | A1 |
| 20070127022 | Cohen et al. | Jun 2007 | A1 |
| 20070143082 | Degnan | Jun 2007 | A1 |
| 20070153293 | Gruhlke et al. | Jul 2007 | A1 |
| 20070171220 | Kriveshko | Jul 2007 | A1 |
| 20070177011 | Lewin et al. | Aug 2007 | A1 |
| 20070181685 | Zhu et al. | Aug 2007 | A1 |
| 20070237356 | Dwinell et al. | Oct 2007 | A1 |
| 20070291031 | Konev et al. | Dec 2007 | A1 |
| 20070299338 | Stevick et al. | Dec 2007 | A1 |
| 20080013793 | Hillis et al. | Jan 2008 | A1 |
| 20080035390 | Wurz | Feb 2008 | A1 |
| 20080056536 | Hildreth et al. | Mar 2008 | A1 |
| 20080062164 | Bassi et al. | Mar 2008 | A1 |
| 20080077265 | Boyden | Mar 2008 | A1 |
| 20080164074 | Wurz | Jul 2008 | A1 |
| 20080204476 | Montague | Aug 2008 | A1 |
| 20080212168 | Olmstead et al. | Sep 2008 | A1 |
| 20080247635 | Davis et al. | Oct 2008 | A1 |
| 20080273191 | Kim et al. | Nov 2008 | A1 |
| 20080273210 | Hilde | Nov 2008 | A1 |
| 20080278790 | Boesser et al. | Nov 2008 | A1 |
| 20090059004 | Bochicchio | Mar 2009 | A1 |
| 20090095047 | Patel et al. | Apr 2009 | A1 |
| 20090225333 | Bendall et al. | Sep 2009 | A1 |
| 20090237411 | Gossweiler et al. | Sep 2009 | A1 |
| 20090268023 | Hsieh | Oct 2009 | A1 |
| 20090272724 | Gubler | Nov 2009 | A1 |
| 20090273770 | Bauhahn et al. | Nov 2009 | A1 |
| 20090313948 | Buckley et al. | Dec 2009 | A1 |
| 20090318815 | Barnes et al. | Dec 2009 | A1 |
| 20090323084 | Dunn et al. | Dec 2009 | A1 |
| 20090323121 | Valkenburg | Dec 2009 | A1 |
| 20100035637 | Varanasi et al. | Feb 2010 | A1 |
| 20100060604 | Zwart et al. | Mar 2010 | A1 |
| 20100091104 | Sprigle | Apr 2010 | A1 |
| 20100118200 | Gelman et al. | May 2010 | A1 |
| 20100128109 | Banks | May 2010 | A1 |
| 20100161170 | Siris | Jun 2010 | A1 |
| 20100171740 | Andersen et al. | Jul 2010 | A1 |
| 20100172567 | Prokoski | Jul 2010 | A1 |
| 20100202702 | Benos et al. | Aug 2010 | A1 |
| 20100208039 | Stettner | Aug 2010 | A1 |
| 20100211355 | Horst et al. | Aug 2010 | A1 |
| 20100217678 | Goncalves | Aug 2010 | A1 |
| 20100220849 | Colbert et al. | Sep 2010 | A1 |
| 20100220894 | Ackley et al. | Sep 2010 | A1 |
| 20100223276 | Al-Shameri et al. | Sep 2010 | A1 |
| 20100254611 | Arnz | Oct 2010 | A1 |
| 20100303336 | Abraham | Dec 2010 | A1 |
| 20100315413 | Izadi et al. | Dec 2010 | A1 |
| 20100321482 | Cleveland | Dec 2010 | A1 |
| 20110019155 | Daniel et al. | Jan 2011 | A1 |
| 20110040192 | Brenner et al. | Feb 2011 | A1 |
| 20110043609 | Choi et al. | Feb 2011 | A1 |
| 20110099474 | Grossman et al. | Apr 2011 | A1 |
| 20110188054 | Petronius et al. | Aug 2011 | A1 |
| 20110234389 | Mellin | Sep 2011 | A1 |
| 20110235854 | Berger et al. | Sep 2011 | A1 |
| 20110249864 | Venkatesan et al. | Oct 2011 | A1 |
| 20110254840 | Halstead | Oct 2011 | A1 |
| 20110279916 | Brown et al. | Nov 2011 | A1 |
| 20110286007 | Pangrazio et al. | Nov 2011 | A1 |
| 20110286628 | Goncalves et al. | Nov 2011 | A1 |
| 20110288818 | Thierman | Nov 2011 | A1 |
| 20110301994 | Tieman | Dec 2011 | A1 |
| 20110303748 | Lemma et al. | Dec 2011 | A1 |
| 20110310227 | Konertz et al. | Dec 2011 | A1 |
| 20120024952 | Chen | Feb 2012 | A1 |
| 20120056982 | Katz et al. | Mar 2012 | A1 |
| 20120057345 | Kuchibhotla | Mar 2012 | A1 |
| 20120067955 | Rowe | Mar 2012 | A1 |
| 20120074227 | Ferren et al. | Mar 2012 | A1 |
| 20120081714 | Pangrazio et al. | Apr 2012 | A1 |
| 20120113223 | Hilliges et al. | May 2012 | A1 |
| 20120113250 | Farlotti et al. | May 2012 | A1 |
| 20120126000 | Kunzig et al. | May 2012 | A1 |
| 20120140300 | Freeman | Jun 2012 | A1 |
| 20120179665 | Baarman et al. | Jul 2012 | A1 |
| 20120185094 | Rosenstein et al. | Jul 2012 | A1 |
| 20120190386 | Anderson | Jul 2012 | A1 |
| 20120197464 | Wang et al. | Aug 2012 | A1 |
| 20120218436 | Rodriguez et al. | Aug 2012 | A1 |
| 20120224026 | Bayer et al. | Sep 2012 | A1 |
| 20120236288 | Stanley | Sep 2012 | A1 |
| 20120242852 | Hayward et al. | Sep 2012 | A1 |
| 20120256901 | Bendall | Oct 2012 | A1 |
| 20120262558 | Boger et al. | Oct 2012 | A1 |
| 20120280908 | Rhoads et al. | Nov 2012 | A1 |
| 20120282905 | Owen | Nov 2012 | A1 |
| 20120282911 | Davis et al. | Nov 2012 | A1 |
| 20120284012 | Rodriguez et al. | Nov 2012 | A1 |
| 20120284122 | Brandis | Nov 2012 | A1 |
| 20120284339 | Rodriguez | Nov 2012 | A1 |
| 20120284593 | Rodriguez | Nov 2012 | A1 |
| 20120293610 | Doepke et al. | Nov 2012 | A1 |
| 20120294549 | Doepke | Nov 2012 | A1 |
| 20120299961 | Ramkumar et al. | Nov 2012 | A1 |
| 20120300991 | Free | Nov 2012 | A1 |
| 20120313848 | Galor et al. | Dec 2012 | A1 |
| 20120314030 | Datta | Dec 2012 | A1 |
| 20120314058 | Bendall et al. | Dec 2012 | A1 |
| 20120316820 | Nakazato et al. | Dec 2012 | A1 |
| 20130038881 | Pesach et al. | Feb 2013 | A1 |
| 20130038941 | Pesach et al. | Feb 2013 | A1 |
| 20130050426 | Sarmast et al. | Feb 2013 | A1 |
| 20130094069 | Lee et al. | Apr 2013 | A1 |
| 20130101158 | Lloyd et al. | Apr 2013 | A1 |
| 20130156267 | Muraoka et al. | Jun 2013 | A1 |
| 20130200150 | Reynolds et al. | Aug 2013 | A1 |
| 20130201288 | Billerbeck et al. | Aug 2013 | A1 |
| 20130208164 | Cazier et al. | Aug 2013 | A1 |
| 20130211790 | Loveland et al. | Aug 2013 | A1 |
| 20130223673 | Davis et al. | Aug 2013 | A1 |
| 20130291998 | Konnerth | Nov 2013 | A1 |
| 20130293539 | Hunt et al. | Nov 2013 | A1 |
| 20130293540 | Laffargue et al. | Nov 2013 | A1 |
| 20130307964 | Bremer et al. | Nov 2013 | A1 |
| 20130308013 | Li et al. | Nov 2013 | A1 |
| 20130329012 | Bartos | Dec 2013 | A1 |
| 20130329013 | Metois et al. | Dec 2013 | A1 |
| 20130342343 | Harring et al. | Dec 2013 | A1 |
| 20140002828 | Laffargue et al. | Jan 2014 | A1 |
| 20140009586 | McNamer et al. | Jan 2014 | A1 |
| 20140021259 | Moed | Jan 2014 | A1 |
| 20140031665 | Pinto et al. | Jan 2014 | A1 |
| 20140034731 | Gao et al. | Feb 2014 | A1 |
| 20140049635 | Laffargue et al. | Feb 2014 | A1 |
| 20140058612 | Wong et al. | Feb 2014 | A1 |
| 20140067104 | Osterhout | Mar 2014 | A1 |
| 20140071430 | Hansen et al. | Mar 2014 | A1 |
| 20140091147 | Evans et al. | Apr 2014 | A1 |
| 20140097238 | Ghazizadeh | Apr 2014 | A1 |
| 20140098091 | Hori | Apr 2014 | A1 |
| 20140100813 | Showering | Apr 2014 | A1 |
| 20140104413 | Mccloskey et al. | Apr 2014 | A1 |
| 20140104414 | McCloskey et al. | Apr 2014 | A1 |
| 20140104416 | Giordano | Apr 2014 | A1 |
| 20140104664 | Lee | Apr 2014 | A1 |
| 20140135984 | Hirata | May 2014 | A1 |
| 20140139654 | Takahashi | May 2014 | A1 |
| 20140152975 | Ko | Jun 2014 | A1 |
| 20140158468 | Adami | Jun 2014 | A1 |
| 20140168380 | Heidemann et al. | Jun 2014 | A1 |
| 20140192187 | Atwell | Jul 2014 | A1 |
| 20140192551 | Masaki | Jul 2014 | A1 |
| 20140205150 | Ogawa | Jul 2014 | A1 |
| 20140225918 | Mittal et al. | Aug 2014 | A1 |
| 20140225985 | Klusza et al. | Aug 2014 | A1 |
| 20140240464 | Lee | Aug 2014 | A1 |
| 20140247279 | Nicholas et al. | Sep 2014 | A1 |
| 20140247280 | Nicholas et al. | Sep 2014 | A1 |
| 20140267609 | Laffargue | Sep 2014 | A1 |
| 20140268093 | Tohme et al. | Sep 2014 | A1 |
| 20140270361 | Amma et al. | Sep 2014 | A1 |
| 20140306833 | Ricci | Oct 2014 | A1 |
| 20140307855 | Withagen et al. | Oct 2014 | A1 |
| 20140313527 | Askan | Oct 2014 | A1 |
| 20140319219 | Liu et al. | Oct 2014 | A1 |
| 20140320408 | Zagorsek et al. | Oct 2014 | A1 |
| 20140347553 | Ovsiannikov et al. | Nov 2014 | A1 |
| 20140350710 | Gopalkrishnan et al. | Nov 2014 | A1 |
| 20140379613 | Nishitani et al. | Dec 2014 | A1 |
| 20150009100 | Haneda et al. | Jan 2015 | A1 |
| 20150009301 | Ribnick et al. | Jan 2015 | A1 |
| 20150009338 | Laffargue et al. | Jan 2015 | A1 |
| 20150036876 | Marrion et al. | Feb 2015 | A1 |
| 20150049347 | Laffargue et al. | Feb 2015 | A1 |
| 20150062369 | Gehring et al. | Mar 2015 | A1 |
| 20150063676 | Lloyd et al. | Mar 2015 | A1 |
| 20150116498 | Vartiainen et al. | Apr 2015 | A1 |
| 20150149946 | Benos et al. | May 2015 | A1 |
| 20150163474 | You | Jun 2015 | A1 |
| 20150204662 | Kobayashi et al. | Jul 2015 | A1 |
| 20150213647 | Laffargue et al. | Jul 2015 | A1 |
| 20150229838 | Hakim et al. | Aug 2015 | A1 |
| 20150269403 | Lei et al. | Sep 2015 | A1 |
| 20150276379 | Ni et al. | Oct 2015 | A1 |
| 20150301181 | Herschbach | Oct 2015 | A1 |
| 20150308816 | Laffargue et al. | Oct 2015 | A1 |
| 20150325036 | Lee | Nov 2015 | A1 |
| 20150355470 | Herschbach | Dec 2015 | A1 |
| 20160048725 | Holz et al. | Feb 2016 | A1 |
| 20160063429 | Varley et al. | Mar 2016 | A1 |
| 20160090283 | Svensson et al. | Mar 2016 | A1 |
| 20160090284 | Svensson et al. | Mar 2016 | A1 |
| 20160138247 | Conway et al. | May 2016 | A1 |
| 20160138248 | Conway et al. | May 2016 | A1 |
| 20160138249 | Svensson et al. | May 2016 | A1 |
| 20160169665 | Deschenes et al. | Jun 2016 | A1 |
| 20160187186 | Coleman et al. | Jun 2016 | A1 |
| 20160187210 | Coleman et al. | Jun 2016 | A1 |
| 20160191801 | Sivan | Jun 2016 | A1 |
| 20160202478 | Masson et al. | Jul 2016 | A1 |
| 20170115490 | Hsieh et al. | Apr 2017 | A1 |
| 20107018294 | Hardy et al. | Jun 2017 |
| Number | Date | Country |
|---|---|---|
| 2004212587 | Apr 2005 | AU |
| 3335760 | Apr 1985 | DE |
| 10210813 | Oct 2003 | DE |
| 102007037282 | Mar 2008 | DE |
| 1111435 | Jun 2001 | EP |
| 1443312 | Aug 2004 | EP |
| 2286932 | Feb 2011 | EP |
| 2381421 | Oct 2011 | EP |
| 2533009 | Dec 2012 | EP |
| 2722656 | Apr 2014 | EP |
| 2779027 | Sep 2014 | EP |
| 2833323 | Feb 2015 | EP |
| 2843590 | Mar 2015 | EP |
| 2845170 | Mar 2015 | EP |
| 2966595 | Jan 2016 | EP |
| 3006893 | Mar 2016 | EP |
| 3012601 | Mar 2016 | EP |
| 3007096 | Apr 2016 | EP |
| 2503978 | Jan 2014 | GB |
| 2525053 | Oct 2015 | GB |
| 2531928 | May 2016 | GB |
| H04129902 | Apr 1992 | JP |
| 200696457 | Apr 2006 | JP |
| 200784162 | Apr 2007 | JP |
| 2008210276 | Sep 2008 | JP |
| 2014210646 | Nov 2014 | JP |
| 2015174705 | Oct 2015 | JP |
| 20110013200 | Feb 2011 | KR |
| 20110117020 | Oct 2011 | KR |
| 20120028109 | Mar 2012 | KR |
| 9640452 | Jan 1996 | WO |
| 0077726 | Dec 2000 | WO |
| 0114836 | Mar 2001 | WO |
| 2006095110 | Sep 2006 | WO |
| 2007015059 | Feb 2007 | WO |
| 2011017241 | Feb 2011 | WO |
| 2012175731 | Dec 2012 | WO |
| 2013021157 | Feb 2013 | WO |
| 2013033442 | Mar 2013 | WO |
| 2013166368 | Nov 2013 | WO |
| 2013184340 | Dec 2013 | WO |
| 2014102341 | Jul 2014 | WO |
| 2014149702 | Sep 2014 | WO |
| 2014151746 | Sep 2014 | WO |
| 2015006865 | Jan 2015 | WO |
| 2016020038 | Feb 2016 | WO |
| 2016061699 | Apr 2016 | WO |
| Entry |
|---|
| Peter Clarke, Actuator Claims Anti-Shake Breakthrough for Smartphone Cams, Electronic Engineering Times, p. 24, May 16, 2011. |
| U.S. Appl. No. 14/055,234, not yet published, Hand Held Products, Inc. filed Oct. 16, 2013; 26 pages. |
| U.S. Appl. No. 13/912,262, not yet published, filed Jun. 7, 2013, Hand Held Products Inc., Method of Error Correction Application for 3D Imaging Device: 33 pages. |
| European Search Report for application No. EP13186043 (now EP2722656 (Apr. 23, 2014)): Total pp. 7. |
| International Search Report for PCT/US2013/039438 (WO2013166368), Oct. 1, 2013, 7 pages. |
| U.S. Appl. No. 14/453,019, not yet published, filed Aug. 6, 2014, Hand Held Products Inc., Dimensioning System With Guided Alignment: 31 pages. |
| European Office Action for application EP 13186043, dated Jun. 12, 2014(now EP2722656 (Apr. 23, 2014)), Total of 6 pages. |
| U.S. Appl. No. 14/461,524, not yet published, filed Aug. 18, 2014, Hand Held Products Inc., System and Method for Package Dimensioning: 21 pages. |
| U.S. Appl. No. 14/490,989, not yet published, filed Sep. 19, 2014, Intermec IP Corporation, Volume Dimensioning System Calibration Systems and Methods. |
| Wikipedia, YUV description and definition, downloaded from http://www.wikipeida.org/wiki/YUV on Jun. 29, 2012, 10 pages. |
| YUV Pixel Format, downloaded from http://www.fource.org/yuv.php on Jun. 29, 2012; 13 pages. |
| YUV to RGB Conversion, downloaded from http://www.fource.org/fccyvrgb.php on Jun. 29, 2012; 5 pages. |
| Benos et al., “Semi-Automatic Dimensioning with Imager of a Portable Device,” U.S. Appl. No. 61/149,912, filed Feb. 4, 2009 (now expired), 56 pages. |
| Dimensional Weight—Wikipedia, the Free Encyclopedia, URL=http://en.wikipedia.org/wiki/Dimensional—weight, download date Aug. 1, 2008, 2 pages. |
| Dimensioning—Wikipedia, the Free Encyclopedia, URL=http://en.wikipedia.org/wiki/Dimensioning, download date Aug. 1, 2008, 1 page. |
| United Kingdom Search Report in related application GB1517842.9, dated Apr. 8, 2016, 8 pages. |
| European Search Report for related EP Application No. 15188440.0, dated Mar. 8, 2016, 8 pages. |
| European Search Report in related EP Application No. 15190315.0, dated Apr. 1, 2016, 7 pages [Commonly owned Reference 2014/0104416 has been previously cited]. |
| Second Chinese Office Action in related CN Application No. 2015220810562.2, dated Mar. 22, 2016, 5 pages. English Translation provided [No references]. |
| European Search Report for related Application EP 15190249.1, dated Mar. 22, 2016, 7 pages. |
| Search Report and Opinion in related GB Application No. 1517112.7, dated Feb. 19, 2016, 6 Pages (GB2503978 is commonly owned now abandoned application and not cited above). |
| Lloyd, Ryan and Scott McCloskey, “Recognition of 3D Package Shapes for Singe Camera Metrology” IEEE Winter conference on Applications of computer Visiona, IEEE, Mar. 24, 2014, pp. 99-106, {retrieved on Jun. 16, 2014}, Authors are employees of common Applicant. |
| European Search Report for Related EP Application No. 15189214.8, dated Mar. 3, 2016, 9 pages. |
| Second Chinese Office Action in related CN Application No. 201520810685.6, dated Mar. 22, 2016, 5 pages, No references. |
| Search Report and Opinion in Related EP Application 15176943.7, dated Jan. 8, 2016, 8 pages, (U.S. Application 2014/0049635 has been previously cited). |
| European Patent Office Action for Application No. 14157971.4-1906, dated Jul. 16, 2014, 5 pages. |
| European Patent Search Report for Application No. 14157971.4-1906, dated Jun. 30, 2014, 6 pages. |
| Caulier, Yannick et al., “A New Type of Color-Coded Light Structures for an Adapted and Rapid Determination of Point Correspondences for 3D Reconstruction.” Proc. of SPIE, vol. 8082 808232-3; 2011; 8 pages. |
| Kazantsev, Aleksei et al. “Robust Pseudo-Random Coded Colored STructured Light Techniques for 3D Object Model Recovery”; ROSE 2008 IEEE International Workshop on Robotic and Sensors Environments (Oct. 17-18, 2008), 6 pages. |
| Mouaddib E. et al. “Recent Progress in Structured Light in order to Solve the Correspondence Problem in Stereo Vision” Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Apr. 1997; 7 pages. |
| Proesmans, Marc et al. “Active Acquisition of 3D Shape for Moving Objects” 0-7803-3258-X/96 1996 IEEE; 4 pages. |
| Salvi, Joaquim et al. “Pattern Codification Strategies in Structured Light Systems” published in Pattern Recognition; The Journal of the Pattern Recognition Society, Received Mar. 6, 2003; Accepted Oct. 2, 2003; 23 pages. |
| U.S. Appl. No. 14/800,757, Eric Todeschini, filed Jul. 16, 2015, not published yet, Dimensioning and Imaging Items, 80 pages. |
| U.S. Appl. No. 14/747,197, Serge Thuries et al., filed Jun. 23, 2015, not published yet, Optical Pattern PROJECTOR; 33 pages. |
| U.S. Appl. No. 14/747,490, Brian L. Jovanovski et al., filed Jun. 23, 2015, not published yet, Dual-PROJECTOR Three-Dimensional Scanner; 40 pages. |
| U.S. Appl. No. 14/715,916, H. Sprague Ackley, filed May 9, 2015, not published yet, Evaluating Image Values; 54 pages. |
| U.S. Appl. No. 14/793,149, H. Sprague Ackley, filed Jul. 7, 2015, not published yet, Mobile Dimensioner Apparatus for Use in Commerce; 57 pages. |
| U.S. Appl. No. 14/740,373, H. Sprague Ackley et al., filed Jun. 16, 2015, not published yet, Calibrating A Volume Dimensioner; 63 pages. |
| U.S. Appl. No. 14/801,023, Tyler Doomenbal et al., filed Jul. 16, 2015, not published yet, Adjusting Dimensioning Results Using Augmented Reality, 39 pages. |
| Leotta, Matthew, Generic, Deformable Models for 3-D Vehicle Surveillance, May 2010, Doctoral Dissertation, Brown University, Providence RI, 248 pages. |
| Ward, Benjamin, Interactive 3D Reconstruction from Video, Aug. 2012, Doctoral Thesis, Univesity of Adelaide, Adelaide, South Australia, 157 pages. |
| Hood, Frederick W.; William A. Hoff, Robert King, Evaluation of an Interactive Technique for Creating Site Models from Range Data, Apr. 27-May1, 1997 Proceedings of the ANS 7th Topical Meeting on Robotics & Remote Systems, Augusta GA, 9 pages. |
| Gupta, Alok; Range Image Segmentation for 3-D Objects Recognition, May 1988, Technical Reports (CIS), Paper 736, University of Pennsylvania Department of Computer and Information Science, retrieved from Http://repository.upenn. edu/cis—reports/736, Accessed May 31, 2015, 157 pages. |
| Reisner-Kollmann, lrene; Anton L. Fuhrmann, Werner Purgathofer, Interactive Reconstruction of Industrial Sites Using Parametric Models, May 2010, Proceedings of the 26th Spring Conference of Computer Graphics SCCG ″10, 8 pages. |
| Drummond, Tom; Roberto Cipolla, Real-Time Visual Tracking of Complex Structures, Jul. 2002, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 24, No. 7; 15 pages. |
| Zhang, Zhaoxiang; Tieniu Tan, Kaiqi Huang, Yunhong Wang; Three-Dimensional Deformable-Model-based Localization and Recognition of Road Vehicles; IEEE Transactions on Image Processing, vol. 21, No. 1, Jan. 2012, 13 pages. |
| Leotta, Matthew J.; Joseph L. Mundy; Predicting High Resolution Image Edges with a Generic, Adaptive, 3-D Vehicle Model; IEEE Conference on Computer Vision and Pattern Recognition, 2009; 8 pages. |
| Spiller, Jonathan; Object Localization Using Deformable Templates, Master's Dissertation, University of the Witwatersrand, Johannesburg, South Africa, 2007; 74 pages. |
| EP Search and Written Opinion Report in related matter EP Application No. 14181437.6, dated Mar. 26, 2015, 7 pages. |
| Hetzel, Gunter et al.; “3D Object Recognition from Range Images using Local Feature Histograms,”, Proceedings 2001 IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2001. Kauai, Hawaii, Dec. 8- 14, 2001; pp. 394-399, XP010584149, ISBN: 978-0-7695-1272-3. |
| Intention to Grant in counterpart European Application No. 14157971.4 dated Apr. 14, 2015, pp. 1-8. |
| Decision to Grant in counterpart European Application No. 14157971.4 dated Aug. 6, 2015, pp. 1-2. |
| Office Action in counterpart European Application No. 13186043.9 dated Sep. 30, 2015, pp. 1-7. |
| Lloyd et al., “System for Monitoring the Condition of Packages Throughout Transit”, U.S. Appl. No. 14/865,575, filed Sep. 25, 2015, 59 pages, not yet published. |
| James Chamberlin, “System and Method for Picking Validation”, U.S. Appl. No. 14/865,797, filed Sep. 25, 2015, 44 pages, not yet published. |
| Jovanovski et al., “Image-Stitching for Dimensioning”, U.S. Appl. No. 14/870,488, filed Sep. 30, 2015, 45 pages, not yet published. |
| Todeschini et al.; “Depth Sensor Based Auto-Focus System for an Indicia Scanner,” U.S. Appl. No. 14/872,176, filed Oct. 1, 2015, 44 pages, not yet published. |
| Wikipedia, “3D projection” Downloaded on Nov. 25, 2015 from www.wikipedia.com, 4 pages. |
| McCloskey et al., “Methods for Improving the Accuracy of Dimensioning-System Measurements,” U.S. Appl. No. 14/873,613, filed Sep. 2, 2015, 47 pages, not yet published. |
| Search Report in counterpart European Application No. 15182675.7, dated Dec. 4, 2015, 10 pages. |
| McCloskey et al., “Image Transformation for Indicia Reading,” U.S. Appl. No. 14/982,032, filed Oct. 30, 2015, 48 pages, not yet published. |
| Second Chinese Office Action in related CN Application No. 201520810313.3, dated Mar. 22, 2016, 5 pages. English Translation provided [No references]. |
| Great Britain Search Report for related Application On. GB1517843.7, dated Feb. 23, 2016; 8 pages. |
| European Partial Search Report for related EP Application No. 15190306.9, dated May 6, 2016, 8 pages. |
| Mike Stensvold, “get the Most Out of Variable Aperture Lenses”, published on www.OutdoorPhotogrpaher.com; dated Dec. 7, 2010; 4 pages, [As noted on search report retrieved from URL: http;//www.outdoorphotographer.com/gear/lenses/get-the-most-out-ofvariable-aperture-lenses.html on Feb. 9, 2016]. |
| European extended Search report in related EP Application 13785171.3, dated Sep. 19, 2016, 8 pages. |
| El-Hakim et al., “Multicamera vision-based approach to flexible feature measurement for inspection and reverse engineering”, published in Optical Engineering, Society of Photo-Optical Instrumentation Engineers, vol. 32, No. 9, Sep. 1, 1993, 15 pages. |
| El-Hakim et al., “A Knowledge-based Edge/Object Measurement Technique”, Retrieved from the Internet: URL: https://www.researchgate.net/profile/Sabry—E1 -Hakim/publication/44075058—A—Knowledge—Based—EdgeObject—Measurement—Technique/links/00b4953b5faa7d3304000000.pdf [retrieved on Jul. 15, 2016] dated Jan. 1, 1993, 9 pages. |
| European Extended search report in related EP Application No. 15190306.9, dated Sep. 9, 2016, 15 pages [only new references are cited; remaining references were cited with partial search report in same application dated May 6, 2016]. |
| Collings et al., “The Applications and Technology of Phase-Only Liquid Crystal on Silicon Devices”, Journal of Display Technology, IEEE Service Center, New, York, NY, US, vol. 7, No. 3, Mar. 1, 2011 (Mar. 1, 2011), pp. 112-119. |
| European Extended Search Report in Related EP Application No. 16172995.9, dated Aug. 22, 2016, 11 pages (Only new references have been cited; U.S. Pat. No. 8,463,079 (formerly U.S. Publication 201010220894) and U.S. Publication 2001/0027955 have been previously cited.). |
| European Search Report from related EP Application No. 16168216.6, dated Oct. 20, 2016, 8 pages. [New reference cited above; U.S. Publication 2014/0104413 has been previously cited]. |
| European Search Report for related EP Application No. 16152477.2, dated May 24, 2016, 8 pages [New Reference cited herein; Reference DE102007037282 A1 and its U.S. Counterparts have been previously cited.]. |
| United Kingdom combined Search and Examination Report in related GB Application No. 1607394.2, dated Oct. 19, 2016, 7 pages. |
| M. Zahid Gurbuz, Selim Akyokus, Ibrahim Emiroglu, Aysun Guran, An Efficient Algorithm for 3D Rectangular Box Packing, 2009, Applied Automatic Systems: Proceedings of Selected AAS 2009 Papers, pp. 131-134 [Examiner cited art in related U.S. matter with Notice of Allowance dated Aug. 11, 2016]. |
| Padzensky, Ron; “Augmera; Gesture Control”, Dated Apr. 18, 2015, 15 pages [Examiner Cited Art in Office Action dated Jan. 20, 2017 in related Application.]. |
| Grabowski, Ralph; “New Commands in AutoCADS 2010: Part 11 Smoothing 3D Mesh Objects” Dated 2011 (per examiner who cited reference), 6 pages, [Examiner Cited Art in Office Action dated Jan. 20, 2017 in related Application.]. |
| Theodoropoulos, Gabriel; “Using Gesture Recognizers to Handle Pinch, Rotate, Pan, Swipe, and Tap Gestures” dated Aug. 25, 2014, 34 pages, [Examiner Cited Art in Office Action dated Jan. 20, 2017 in related Application.]. |
| European Extended Search Report in related EP Application No. 16190017.0, dated Jan. 4, 2017, 6 pages. |
| European Extended Search Report in related EP Application No. 16173429.8, dated Dec. 1, 2016, 8 pages [Only new references cited: U.S. 2013/0038881 was previously cited]. |
| Extended European Search Report in related EP Application No. 16175410.0, dated Dec. 13, 2016, 5 pages. |
| Wikipedia, “Microlens”, Downloaded from https://en.wikipedia.org/wiki/Microlens, pp. 3. {Cited by Examiner in Feb. 9, 2017 Final Office Action in related matter}. |
| Fukaya et al., “Characteristics of Speckle Random Pattern and Its Applications”, pp. 317-327, Nouv. Rev. Optique, t. 6, n. 6. (1975) {Cited by Examiner in Feb. 9, 2017 Final Office Action in related matter: downloaded Mar. 2, 2017 from http://iopscience.iop.org}. |
| European Examination report in related EP Application No. 14181437.6, dated Feb. 8, 2017, 5 pages [References have been previously cited]. |
| European extended search report in related EP Application 16190833.0, dated Mar. 9, 2017, 8 pages [only new art has been cited; U.S. Publication 2014/0034731 was previously cited]. |
| United Kingdom Combined Search and Examination Report in related Application No. GB1620676.5, dated Mar. 8, 2017, 6 pages [References have been previously cited; WO2014/151746, WO2012/175731, U.S. 2014/0313527, GB2503978]. |
| European Exam Report in related, EP Application No. 16168216.6, dated Feb. 27, 2017, 5 pages, [References lave been previously cited; WO2011/017241 and U.S. 2014/0104413]. |
| Thorlabs, Examiner Cited NPL in Advisory Action dated Apr. 12, 2017 in related commonly owned application, downloaded from https://www.thorlabs.com/newgrouppage9.cfm?objectgroup—id=6430, 4 pages. |
| EKSMA Optics, Examiner Cited NPL in Advisory Action dated Apr. 12, 2017 in related commonly owned application, downloaded from http://eksmaoptics.com/optical-systems/f-theta-lenses/f-theta-lens-for-1064-nm/, 2 pages. |
| Still Optics, Examiner Cited NPL in Advisory Action dated Apr. 12, 2017 in related commonly owned application, http://www.silloptics.de/1/products/sill-encyclopedia/laser-optics/f-theta-lenses/, 4 pages. |
| Chinese Notice of Reexamination in related Chinese Application 201520810313.3, dated Mar. 14, 2017, English computer Translation provided, 7 pages [No new art cited]. |
| Extended European search report in related EP Application 16199707.7, dated Apr. 10, 2017, 15 pages. |
| Ulusoy et al., One-Shot Scanning using De Bruijn Spaced Grids, 2009 IEEE 12th International Conference on computer Vision Workshops, ICCV Workshops, 7 pages [Cited in EP Extended search report dated Apr. 10, 2017]. |
| European Exam Report in related EP Application No. 15176943.7, dated Apr. 12, 2017, 6 pages [Art previously cited in this matter]. |
| European Exam Report in related EP Application No. 15188440.0, dated Apr. 21, 2017, 4 pages [No new art to cite]. |
| Ralph Grabowski, “Smothing 3D Mesh Objects,” New Commands in AutoCAD 2010: Part 11, Examiner Cited art in related matter Non Final Office Action dated May 19, 2017; 6 pages. |
| European Exam Report in related EP Application No. 16152477.2, dated Jun. 20, 2017, 4 pages [No art to be cited]. |
| European Exam Report in related EP Applciation 16172995.9, dated Jul. 6, 2017, 9 pages [No art to be cited]. |
| United Kingdom Search Report in related Application No. GB 1700338.5, dated Jun. 20, 2017, 5 pages. |
| Number | Date | Country | |
|---|---|---|---|
| 20160112631 A1 | Apr 2016 | US |
