The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 19, 2021
Filed:
Jun. 03, 2019
Zebra Technologies Corporation, Lincolnshire, IL (US);
Tze Fung Christopher Chan, Toronto, CA;
Feng Cao, Burlington, CA;
Mehdi Mazaheri Tehrani, Brampton, CA;
Mahyar Vajedi, Mississauga, CA;
Zebra Technologies Corporation, Lincolnshire, IL (US);
Abstract
A method of detecting an end of an aisle of shelf modules in an imaging controller of a mobile automation apparatus, includes: obtaining image data captured by an image sensor and a plurality of depth measurements captured by a depth sensor, the image data and the depth measurements corresponding to an area containing a portion of the aisle of shelf modules; obtaining locomotive data of the apparatus; generating a dynamic trust region based on the locomotive data; detecting an edge segment based on the image data and the plurality of depth measurements, the edge segment representing an edge of a support surface; and when the edge segment is located at least partially in the dynamic trust region, updating an estimated end of the aisle based on the detected edge segment.