Patents by Inventor Miroslav Trajkovic

Miroslav Trajkovic has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 11335105
    Abstract: Methods and systems to focus an imager for machine vision applications are disclosed. A disclosed example machine vision method includes: capturing, via an imaging assembly, an image of an indicia appearing within a field of view (FOV) of the imaging assembly; recognizing, via a controller, the indicia as a focus adjustment trigger, the focus adjustment trigger operative to trigger an adjustment of at least one focus parameter associated with the imaging assembly; adjusting the at least one focus parameter based at least in part on the indicia; locking the at least one focus parameter such that the at least one focus parameter remains unaltered for a duration; and responsive to the locking of the at least one focus parameter, capturing, via the imaging assembly, at least one subsequent image of an object of interest.
    Type: Grant
    Filed: October 8, 2019
    Date of Patent: May 17, 2022
    Assignee: Zebra Technologies Corporation
    Inventors: Igor Vinogradov, Miroslav Trajkovic, Heng Zhang
  • Publication number: 20210295043
    Abstract: Systems and methods for object recognition with limited input are disclosed herein. An example method includes updating a neural network trained to perform object recognition on a first rendition of an object, so that the neural network performs object recognition on a second rendition of the object, using a limited set of input images. The method includes receiving a limited set of model images of the second rendition of the object, accessing a corresponding image mapping, and generating a large number of training images from the limited set, where image mappings include geometric, illumination, and/or obscuration transformations. The neural network is then trained, from this initial small set, to classify the second rendition of the object.
    Type: Application
    Filed: June 7, 2021
    Publication date: September 23, 2021
    Inventors: Duanfeng He, Miroslav Trajkovic
  • Publication number: 20210264630
    Abstract: Three-dimensional (3D) imaging systems and methods are described for implementing virtual grading of package walls in commercial trailer loading. The 3D imaging systems and methods comprise capturing, by a 3D-depth camera, 3D image data of a vehicle storage area. A package wall is determined, based on the set of 3D image data and by a 3D data analytics application (app) executing on one or more processors communicatively coupled to the 3D-depth camera, a package wall within the vehicle storage area. A wall grade is assigned to the package wall, where the package wall is defined within the set of 3D image data by a plurality of packages each having a similar depth dimension, and wherein the package wall has a wall height.
    Type: Application
    Filed: February 26, 2020
    Publication date: August 26, 2021
    Inventors: Adithya H. Krishnamurthy, Justin F. Barish, Miroslav Trajkovic
  • Patent number: 11062104
    Abstract: A barcode reader is provided. The barcode reader includes a first image acquisition assembly having a first imager assembly configured to capture infrared (IR) light and an IR illumination assembly configured to emit IR light over at least a portion of a first field of view (FOV) of the first imager assembly so as to illuminate targets within the first FOV. The barcode reader further includes a second image acquisition assembly having a second imager assembly configured to capture visible light and a visible-light illumination assembly configured to emit visible light over at least a portion of a second FOV of the second imager assembly so as to illuminate targets within the second FOV.
    Type: Grant
    Filed: July 8, 2019
    Date of Patent: July 13, 2021
    Assignee: Zebra Technologies Corporation
    Inventors: Duanfeng He, Miroslav Trajkovic
  • Patent number: 11062138
    Abstract: Systems and methods for object recognition with limited input are disclosed herein. An example method includes updating a neural network trained to perform object recognition on a first rendition of an object, so that the neural network performs object recognition on a second rendition of the object, using a limited set of input images. The method includes receiving a limited set of model images of the second rendition of the object, accessing a corresponding image mapping, and generating a large number of training images from the limited set, where image mappings include geometric, illumination, and/or obscuration transformations. The neural network is then trained, from this initial small set, to classify the second rendition of the object.
    Type: Grant
    Filed: November 19, 2019
    Date of Patent: July 13, 2021
    Assignee: Zebra Technologies Corporation
    Inventors: Duanfeng He, Miroslav Trajkovic
  • Publication number: 20210150210
    Abstract: Systems and methods for object recognition with limited input are disclosed herein. An example method includes updating a neural network trained to perform object recognition on a first rendition of an object, so that the neural network performs object recognition on a second rendition of the object, using a limited set of input images. The method includes receiving a limited set of model images of the second rendition of the object, accessing a corresponding image mapping, and generating a large number of training images from the limited set, where image mappings include geometric, illumination, and/or obscuration transformations. The neural network is then trained, from this initial small set, to classify the second rendition of the object.
    Type: Application
    Filed: November 19, 2019
    Publication date: May 20, 2021
    Inventors: Duanfeng He, Miroslav Trajkovic
  • Patent number: 11003804
    Abstract: Embodiments of the present invention are generally directed to system and methods for estimating the time associated with completion of loading and/or unloading of a container. In an embodiment, the present invention is a method of estimating an estimated time to completion (ETC) of loading a container. The method includes: capturing, via an image capture apparatus, a three-dimensional image representative of a three-dimensional formation, the three-dimensional image having a plurality of points with three-dimensional point data; based at least in part on a first sub-plurality of the points, determining an active load time for the container; based at least in part on a second sub-plurality of the points, determining a fullness of the container; and estimating, by a controller, the ETC based on the active load time and on the fullness.
    Type: Grant
    Filed: December 22, 2017
    Date of Patent: May 11, 2021
    Assignee: Symbol Technologies, LLC
    Inventors: Adithya H. Krishnamurthy, Miroslav Trajkovic
  • Patent number: 10977813
    Abstract: A system and method for performing robust depth calculations with time of flight (ToF) sensors using multiple exposure times is disclosed. A three-dimensional (3D) depth sensor assembly captures a first array of n point values, where each point value of the first array has a respective first-array depth component and a respective first-array quality component. The 3D depth sensor assembly then captures a second array of n point values, where each point value of the second array has a respective second-array depth component and a respective second-array quality component. A processor then renders a 3D point cloud comprising a third array of n point values, where each point value of the third array has a respective third-array depth component. The respective third-array depth component for each point value of the third array is based on either the corresponding respective first-array depth component or the corresponding respective second-array depth component.
    Type: Grant
    Filed: August 9, 2019
    Date of Patent: April 13, 2021
    Assignee: Zebra Technologies Corporation
    Inventors: Miroslav Trajkovic, Adithya H. Krishnamurthy, Bryn P. Martino
  • Patent number: 10977514
    Abstract: A method and apparatus for template matching to find a predetermined pattern in an image is disclosed. A first visual boundary is detected in the captured image, and a second boundary concentric with the first boundary is calculated. The first and second boundaries define a portion of the captured image. The portion of the captured image is incrementally scanned about the center of the second boundary for a predetermined pattern having a predetermined orientation within the portion that match a template image. Alternatively, the portion of the captured image is unwrapped into a linear band image such that the first and second boundaries form a linear top and linear bottom of the linear band image, and the linear band image of the portion of the captured image is scanned for a predetermined pattern that matches a template image.
    Type: Grant
    Filed: November 16, 2018
    Date of Patent: April 13, 2021
    Assignee: Zebra Technologies Corporation
    Inventors: Miroslav Trajkovic, Heng Zhang
  • Publication number: 20210103754
    Abstract: Methods and systems to focus an imager for machine vision applications are disclosed. A disclosed example machine vision method includes: capturing, via an imaging assembly, an image of an indicia appearing within a field of view (FOV) of the imaging assembly; recognizing, via a controller, the indicia as a focus adjustment trigger, the focus adjustment trigger operative to trigger an adjustment of at least one focus parameter associated with the imaging assembly; adjusting the at least one focus parameter based at least in part on the indicia; locking the at least one focus parameter such that the at least one focus parameter remains unaltered for a duration; and responsive to the locking of the at least one focus parameter, capturing, via the imaging assembly, at least one subsequent image of an object of interest.
    Type: Application
    Filed: October 8, 2019
    Publication date: April 8, 2021
    Inventors: Igor Vinogradov, Miroslav Trajkovic, Heng Zhang
  • Publication number: 20210042982
    Abstract: A system and method for performing robust depth calculations with time of flight (ToF) sensors using multiple exposure times is disclosed. A three-dimensional (3D) depth sensor assembly captures a first array of n point values, where each point value of the first array has a respective first-array depth component and a respective first-array quality component. The 3D depth sensor assembly then captures a second array of n point values, where each point value of the second array has a respective second-array depth component and a respective second-array quality component. A processor then renders a 3D point cloud comprising a third array of n point values, where each point value of the third array has a respective third-array depth component. The respective third-array depth component for each point value of the third array is based on either the corresponding respective first-array depth component or the corresponding respective second-array depth component.
    Type: Application
    Filed: August 9, 2019
    Publication date: February 11, 2021
    Inventors: Miroslav Trajkovic, Adithya H. Krishnamurthy, Bryn P. Martino
  • Publication number: 20210012070
    Abstract: A barcode reader is provided. The barcode reader includes a first image acquisition assembly having a first imager assembly configured to capture infrared (IR) light and an IR illumination assembly configured to emit IR light over at least a portion of a first field of view (FOV) of the first imager assembly so as to illuminate targets within the first FOV. The barcode reader further includes a second image acquisition assembly having a second imager assembly configured to capture visible light and a visible-light illumination assembly configured to emit visible light over at least a portion of a second FOV of the second imager assembly so as to illuminate targets within the second FOV.
    Type: Application
    Filed: July 8, 2019
    Publication date: January 14, 2021
    Inventors: Duanfeng He, Miroslav Trajkovic
  • Publication number: 20200160092
    Abstract: A method and apparatus for template matching to find a predetermined pattern in an image is disclosed. A first visual boundary is detected in the captured image, and a second boundary concentric with the first boundary is calculated. The first and second boundaries define a portion of the captured image. The portion of the captured image is incrementally scanned about the center of the second boundary for a predetermined pattern having a predetermined orientation within the portion that match a template image. Alternatively, the portion of the captured image is unwrapped into a linear band image such that the first and second boundaries form a linear top and linear bottom of the linear band image, and the linear band image of the portion of the captured image is scanned for a predetermined pattern that matches a template image.
    Type: Application
    Filed: November 16, 2018
    Publication date: May 21, 2020
    Inventors: Miroslav Trajkovic, Heng Zhang
  • Patent number: 10657666
    Abstract: A three-dimensional (3D) depth imaging system is provided for use in commercial trailer loading applications. A 3D-depth camera may be configured and oriented to capture 3D image data of a vehicle storage area. A depth-detection application executing on one or more processors may determine, based on the 3D image data, at least a wall data region and a non-wall data region. Based on the determination of the wall data and the non-wall data region, the depth-detection application generates a wall indicator that indicates a wall is situated at a discrete depth within the vehicle storage area.
    Type: Grant
    Filed: December 22, 2017
    Date of Patent: May 19, 2020
    Assignee: Symbol Technologies, LLC
    Inventors: Miroslav Trajkovic, Justin F. Barish, Adithya H. Krishnamurthy
  • Patent number: 10628772
    Abstract: A method and apparatus for using a three-dimensional (3D) depth imaging system for use in commercial trailer loading is disclosed. The method and apparatus may be configured to determine a load-efficiency score for a trailer in a variety of ways. In one embodiment, the method and apparatus may determine the score by receiving a set of point cloud data based on 3D image data, analyzing the set of point cloud data, generating a set of data slices based on the set of point cloud data each data slice corresponding to a portion of the 3D image data, estimating a set of missing data points in each data slice in the set of data slices, and calculating a load-efficiency score based on the generated set of data slices and estimated set of missing data points.
    Type: Grant
    Filed: December 22, 2017
    Date of Patent: April 21, 2020
    Assignee: Symbol Technologies, LLC
    Inventors: Adithya H. Krishnamurthy, Justin F. Barish, Miroslav Trajkovic
  • Publication number: 20190197716
    Abstract: A three-dimensional (3D) depth imaging system is provided for use in commercial trailer loading applications. A 3D-depth camera may be configured and oriented to capture 3D image data of a vehicle storage area. A depth-detection application executing on one or more processors may determine, based on the 3D image data, at least a wall data region and a non-wall data region. Based on the determination of the wall data and the non-wall data region, the depth-detection application generates a wall indicator that indicates a wall is situated at a discrete depth within the vehicle storage area.
    Type: Application
    Filed: December 22, 2017
    Publication date: June 27, 2019
    Inventors: Miroslav Trajkovic, Justin F. Barish, Adithya H. Krishnamurthy
  • Publication number: 20190197455
    Abstract: A method and apparatus for using a three-dimensional (3D) depth imaging system for use in commercial trailer loading is disclosed. The method and apparatus may be configured to determine a load-efficiency score for a trailer in a variety of ways. In one embodiment, the method and apparatus may determine the score by receiving a set of point cloud data based on 3D image data, analyzing the set of point cloud data, generating a set of data slices based on the set of point cloud data each data slice corresponding to a portion of the 3D image data, estimating a set of missing data points in each data slice in the set of data slices, and calculating a load-efficiency score based on the generated set of data slices and estimated set of missing data points.
    Type: Application
    Filed: December 22, 2017
    Publication date: June 27, 2019
    Inventors: Adithya H. Krishnamurthy, Justin F. Barish, Miroslav Trajkovic
  • Publication number: 20190197195
    Abstract: Embodiments of the present invention are generally directed to system and methods for estimating the time associated with completion of loading and/or unloading of a container. In an embodiment, the present invention is a method of estimating an estimated time to completion (ETC) of loading a container. The method includes: capturing, via an image capture apparatus, a three-dimensional image representative of a three-dimensional formation, the three-dimensional image having a plurality of points with three-dimensional point data; based at least in part on a first sub-plurality of the points, determining an active load time for the container; based at least in part on a second sub-plurality of the points, determining a fullness of the container; and estimating, by a controller, the ETC based on the active load time and on the fullness.
    Type: Application
    Filed: December 22, 2017
    Publication date: June 27, 2019
    Inventors: Adithya H. Krishnamurthy, Miroslav Trajkovic
  • Patent number: 10140496
    Abstract: Barcode fragments of a barcode symbol to be read by an imaging-based presentation workstation are stitched together by capturing a plurality of images, each containing a barcode fragment and a plurality of features located adjacent to the barcode fragment. The features in each captured image are detected and matched. The barcode fragments are stitched together based on the matched features in the captured images. The barcode symbol is read from the stitched barcode fragments.
    Type: Grant
    Filed: December 2, 2014
    Date of Patent: November 27, 2018
    Assignee: Symbol Technologies, LLC
    Inventors: Miroslav Trajkovic, Heng Zhang
  • Publication number: 20180300519
    Abstract: Barcode fragments of a barcode symbol to be read by an imaging-based presentation workstation are stitched together by capturing a plurality of images, each containing a barcode fragment and a plurality of features located adjacent to the barcode fragment. The features in each captured image are detected and matched. The barcode fragments are stitched together based on the matched features in the captured images. The barcode symbol is read from the stitched barcode fragments.
    Type: Application
    Filed: December 2, 2014
    Publication date: October 18, 2018
    Applicant: SYMBOL TECHNOLOGIES, INC.
    Inventors: MIROSLAV TRAJKOVIC, HENG ZHANG