Abstract: A method of tracking scored candidate objects in a sequence of image frames acquired by a camera is provided. The scored candidate objects may comprise a set of existing scored candidate objects associated with a prior image frame and a set of new scored candidate objects associated with a next image frame.

Abstract: A method is provided for evaluating a possible pallet object in a gray scale image including one or more pallets. The method may comprise: generating, by a computer, a first confidence score ScoreLowerLeftCorner for a lower left corner associated with the possible pallet object; generating, by the computer, a second confidence score ScoreLowerRightCorner for a lower right corner associated with the possible pallet object; generating, by the computer, a third confidence score ScoreBaseboardLine for a bottom pallet board line associated with the possible pallet object; generating, by the computer, a fourth confidence score Scorehole for a center stringer associated with the possible pallet object; and calculating, by the computer, a composite score ScoreObject based on the first, second, third and fourth confidence scores.

Abstract: A method is provided for identifying one or more scored candidate objects that may correspond to one or more actual pallets in a gray scale image. The method may comprise: identifying, by a computer, a first plurality of scored candidate objects in the gray scale image; storing, by the computer, a list of the first plurality of scored candidate objects, wherein the list includes a respective record for each of the first plurality of scored candidate objects; determining, by the computer, a subset of the first plurality of scored candidate objects to eliminate from the list based on a comparison amongst the respective records of the first plurality of scored candidate objects; and removing, by the computer, the subset of the first plurality of scored candidate objects from the list to create an updated list for a second plurality of scored candidate objects, wherein the updated list includes a respective record for each of the second plurality of scored candidate objects.

Abstract: A method is provided for controlling forks of a vehicle. The method may comprise: while the forks of the vehicle are moving vertically, acquiring a series of images of a scene of a physical environment in which a plurality of pallets are visible; identifying in each image, by a computer system, one or more scored candidate objects, each potentially corresponding to a respective one of the plurality of pallets; for each of the one or more scored candidate objects, tracking, by the computer system, a respective location in each of at least two images of the series; determining for each of the one or more scored candidate objects a respective, associated height in the physical environment; and stopping, by the computer system, the forks of the vehicle at a height in the physical environment based on the height of a specific one of the scored candidate objects.

Abstract: A method is provided for evaluating a possible pallet structure. The method comprises: providing a gray scale image comprising one or more possible lines; providing respective pixel locations in the gray scale image for an estimated upper left corner and an estimated upper right corner; calculating, using a computer, a value h based on the estimated upper left corner location and the estimated upper right corner location; estimating, using the computer, a first hole with a first rectangle having a height h; estimating, using the computer, a second hole with a second rectangle having the height h; and estimating, using the computer, the possible center stringer with a third rectangle having the height h.

Abstract: A method is provided for identifying one or more scored candidate objects that may correspond to one or more actual pallets in a gray scale image.

Abstract: A programmable computer-implemented method is provided for finding possible corners of a pallet in an image. The method may comprise: acquiring a grey scale image including one or more pallets; determining, using a computer, horizontal cross correlations between the image and a first step-edge template to generate a set of horizontal cross correlation results; determining, using the computer, vertical cross correlations between the image and a second step-edge template to generate a set of vertical cross correlation results; and determining, using the computer, a first set of pixels, each such pixel respectively corresponding to a possible first corner of the one or more pallets, using a first corner template, the set of horizontal cross correlation results and the set of vertical cross correlation results.

Abstract: A method is provided for evaluating a possible center stringer of a pallet. The method may comprise providing a first Ro image; providing a second Ro image comprising pixels that may generally correspond to an orthogonal distance from an origin point to one or more possible vertical right lines in the corresponding gray scale image; identifying, using a computer, a possible lower left corner location of a center stringer in the corresponding gray scale image; determining, using the computer, an upper left corner location based on the possible lower left corner location; identifying, using the computer, a possible lower right corner location of the center stringer in the corresponding gray scale image; and determining, using the computer, an upper right corner location based on the possible lower right corner location.

Abstract: A method is provided for controlling forks of a vehicle. The method may comprise: while the forks of the vehicle are moving vertically, acquiring a series of images of a scene of a physical environment in which a plurality of pallets are visible; identifying in each image, by a computer system, one or more scored candidate objects, each potentially corresponding to a respective one of the plurality of pallets; for each of the one or more scored candidate objects, tracking, by the computer system, a respective location in each of at least two images of the series; determining for each of the one or more scored candidate objects a respective, associated height in the physical environment; and stopping, by the computer system, the forks of the vehicle at a height in the physical environment based on the height of a specific one of the scored candidate objects.

Abstract: A method of tracking scored candidate objects in a sequence of image frames acquired by a camera is provided. The scored candidate objects may comprise a set of existing scored candidate objects associated with a prior image frame and a set of new scored candidate objects associated with a next image frame.

Abstract: A method is provided for evaluating a possible pallet structure. The method comprises: providing a gray scale image comprising one or more possible lines; providing respective pixel locations in the gray scale image for an estimated upper left corner and an estimated upper right corner; calculating, using a computer, a value h based on the estimated upper left corner location and the estimated upper right corner location; estimating, using the computer, a first hole with a first rectangle having a height h; estimating, using the computer, a second hole with a second rectangle having the height h; and estimating, using the computer, the possible center stringer with a third rectangle having the height h.

Abstract: A method is provided for identifying one or more scored candidate objects that may correspond to one or more actual pallets in a gray scale image.

Abstract: A method is provided for evaluating a possible center stringer of a pallet. The method may comprise providing a first Ro image; providing a second Ro image comprising pixels that may generally correspond to an orthogonal distance from an origin point to one or more possible vertical right lines in the corresponding gray scale image; identifying, using a computer, a possible lower left corner location of a center stringer in the corresponding gray scale image; determining, using the computer, an upper left corner location based on the possible lower left corner location; identifying, using the computer, a possible lower right corner location of the center stringer in the corresponding gray scale image; and determining, using the computer, an upper right corner location based on the possible lower right corner location.

Abstract: A method is provided for evaluating a possible pallet object in a gray scale image including one or more pallets. The method may comprise: generating, by a computer, a first confidence score ScoreLowerLeftCorner for a lower left corner associated with the possible pallet object; generating, by the computer, a second confidence score ScoreLowerRightCorner for a lower right corner associated with the possible pallet object; generating, by the computer, a third confidence score ScoreBaseboardLine for a bottom pallet board line associated with the possible pallet object; generating, by the computer, a fourth confidence score Scorehole for a center stringer associated with the possible pallet object; and calculating, by the computer, a composite score ScoreObject based on the first, second, third and fourth confidence scores.

Abstract: A programmable computer-implemented method is provided for finding possible corners of a pallet in an image. The method may comprise: acquiring a grey scale image including one or more pallets; determining, using a computer, horizontal cross correlations between the image and a first step-edge template to generate a set of horizontal cross correlation results; determining, using the computer, vertical cross correlations between the image and a second step-edge template to generate a set of vertical cross correlation results; and determining, using the computer, a first set of pixels, each such pixel respectively corresponding to a possible first corner of the one or more pallets, using a first corner template, the set of horizontal cross correlation results and the set of vertical cross correlation results.

Abstract: A method is provided for identifying one or more scored candidate objects that may correspond to one or more actual pallets in a gray scale image. The method may comprise: identifying, by a computer, a first plurality of scored candidate objects in the gray scale image; storing, by the computer, a list of the first plurality of scored candidate objects, wherein the list includes a respective record for each of the first plurality of scored candidate objects; determining, by the computer, a subset of the first plurality of scored candidate objects to eliminate from the list based on a comparison amongst the respective records of the first plurality of scored candidate objects; and removing, by the computer, the subset of the first plurality of scored candidate objects from the list to create an updated list for a second plurality of scored candidate objects, wherein the updated list includes a respective record for each of the second plurality of scored candidate objects.

Abstract: The invention is a method of using computer vision to control systems consisting of a combination of holonomic and nonholonomic degrees of freedom such as a wheeled rover equipped with a robotic arm, a forklift, and earth-moving equipment such as a backhoe or a front-loader. Using vision sensors mounted on the mobile system and the manipulator, the system establishes a relationship between the internal joint configuration of the holonomic degrees of freedom of the manipulator and the appearance of features on the manipulator in the reference frames of the vision sensors. Then, the system, perhaps with the assistance of an operator, identifies the locations of the target object in the reference frames of the vision sensors. Using this target information, along with the relationship described above, the system determines a suitable trajectory for the nonholonomic degrees of freedom of the base to follow towards the target object.