Patents by Inventor Vlad Gorodetsky
Vlad Gorodetsky 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).
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Patent number: 11587238Abstract: A method of barrier detection in an imaging controller includes: obtaining an image of a support structure configured to support a plurality of items on a support surface extending between a shelf edge and a shelf back; extracting frequency components representing pixels of the image; based on the extracted frequency components, identifying a barrier region of the image, the barrier region containing a barrier adjacent to the shelf edge; and detecting at least one empty sub-region within the barrier region, wherein the empty sub-region is free of items between the barrier and the shelf back.Type: GrantFiled: October 27, 2020Date of Patent: February 21, 2023Assignee: Zebra Technologies CorporationInventors: Eliezer Azi Ben-Lavi, Qifeng Gan, Vlad Gorodetsky
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Publication number: 20220414926Abstract: A method includes obtaining a point cloud captured by a depth sensor, and image data captured by an image sensor, the point cloud and the image data representing a support structure bearing a set of objects; obtaining an image boundary corresponding to an object from the set of objects; determining a portion of the point cloud corresponding to the image boundary; selecting, from the determined portion, a subset of points corresponding to a forward surface of the object; and generating a three-dimensional position of the object based on the forward surface.Type: ApplicationFiled: August 31, 2022Publication date: December 29, 2022Inventors: Vlad Gorodetsky, Giorgio Gallina, Anshul V. Joshi, Richard Jeffrey Rzeszutek, Joseph Lam
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Patent number: 11450024Abstract: A method includes obtaining a point cloud captured by a depth sensor, and image data captured by an image sensor, the point cloud and the image data representing a support structure bearing a set of objects; obtaining an image boundary corresponding to an object from the set of objects; determining a portion of the point cloud corresponding to the image boundary; selecting, from the determined portion, a subset of points corresponding to a forward surface of the object; and generating a three-dimensional position of the object based on the forward surface.Type: GrantFiled: July 17, 2020Date of Patent: September 20, 2022Assignee: Zebra Technologies CorporationInventors: Vlad Gorodetsky, Giorgio Gallina, Anshul V. Joshi, Richard Jeffrey Rzeszutek, Joseph Lam
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Patent number: 11354886Abstract: A method of label detection includes: obtaining, by an imaging controller, an image depicting a shelf; increasing an intensity of a foreground subset of image pixels exceeding an upper intensity threshold, and decreasing an intensity of a background subset of pixels below a lower intensity threshold; responsive to the increasing and the decreasing, (i) determining gradients for each of the pixels and (ii) selecting a candidate set of the pixels based on the gradients; overlaying a plurality of shelf candidate lines on the image derived from the candidate set of pixels; identifying a pair of the shelf candidate lines satisfying a predetermined sequence of intensity transitions; and generating and storing a shelf edge bounding box corresponding to the pair of shelf candidate lines.Type: GrantFiled: November 13, 2019Date of Patent: June 7, 2022Assignee: Symbol Technologies, LLCInventors: Richard Jeffrey Rzeszutek, Vlad Gorodetsky
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Patent number: 11341663Abstract: A method in an imaging controller of detecting obstructions on a front of a support structure includes: obtaining (i) a point cloud of the support structure and an obstruction, and (ii) a support structure plane corresponding to the front of the support structure; for each of a plurality of selection depths: selecting a subset of points from the point cloud based on the selection depth; detecting obstruction candidates from the subset of points and, for each obstruction candidate: responsive to a dimensional criterion being met, determining whether the obstruction candidate meets a confirmation criterion; when the obstruction candidate meets the confirmation criterion, identifying the obstruction candidate as a confirmed obstruction; and presenting obstruction detection output data including the confirmed obstructions.Type: GrantFiled: June 3, 2019Date of Patent: May 24, 2022Assignee: Zebra Technologies CorporationInventors: Vlad Gorodetsky, Joseph Lam, Richard Jeffrey Rzeszutek
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Publication number: 20220130050Abstract: A method of barrier detection in an imaging controller includes: obtaining an image of a support structure configured to support a plurality of items on a support surface extending between a shelf edge and a shelf back; extracting frequency components representing pixels of the image; based on the extracted frequency components, identifying a barrier region of the image, the barrier region containing a barrier adjacent to the shelf edge; and detecting at least one empty sub-region within the barrier region, wherein the empty sub-region is free of items between the barrier and the shelf back.Type: ApplicationFiled: October 27, 2020Publication date: April 28, 2022Inventors: Eliezer Azi Ben-Lavi, Qifeng Gan, Vlad Gorodetsky
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Publication number: 20220020170Abstract: A method includes obtaining a point cloud captured by a depth sensor, and image data captured by an image sensor, the point cloud and the image data representing a support structure bearing a set of objects; obtaining an image boundary corresponding to an object from the set of objects; determining a portion of the point cloud corresponding to the image boundary; selecting, from the determined portion, a subset of points corresponding to a forward surface of the object; and generating a three-dimensional position of the object based on the forward surface.Type: ApplicationFiled: July 17, 2020Publication date: January 20, 2022Inventors: Vlad Gorodetsky, Giorgio Gallina, Anshul V. Joshi, Richard Jeffrey Rzeszutek, Joseph Lam
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Publication number: 20200380706Abstract: A method in an imaging controller of detecting obstructions on a front of a support structure includes: obtaining (i) a point cloud of the support structure and an obstruction, and (ii) a support structure plane corresponding to the front of the support structure; for each of a plurality of selection depths: selecting a subset of points from the point cloud based on the selection depth; detecting obstruction candidates from the subset of points and, for each obstruction candidate: responsive to a dimensional criterion being met, determining whether the obstruction candidate meets a confirmation criterion; when the obstruction candidate meets the confirmation criterion, identifying the obstruction candidate as a confirmed obstruction; and presenting obstruction detection output data including the confirmed obstructions.Type: ApplicationFiled: June 3, 2019Publication date: December 3, 2020Inventors: Vlad Gorodetsky, Joseph Lam, Richard Jeffrey Rzeszutek
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Patent number: 10832436Abstract: A method of recovering label positions in an imaging controller includes: receiving (i) a definition of a plane containing edges of the shelf, and (ii) a plurality of initial label indicators having locations on the plane; assigning the initial label indicators among a plurality of candidate subsets each representing a single physical label; for each candidate subset of initial indicators: generating, for each of a plurality of projection depths relative to the plane, a set of projections of the initial indicators in the candidate subset; determining an aggregate surface area for each set of projections; selecting, as a recovered depth for the candidate subset, one of the projection depths corresponding to the minimum aggregate surface area; and generating a recovered position for the candidate subset based on the recovered depth; and storing the recovered positions.Type: GrantFiled: April 5, 2018Date of Patent: November 10, 2020Assignee: Symbol Technologies, LLCInventors: Joseph Lam, Vlad Gorodetsky, Richard Jeffrey Rzeszutek
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Publication number: 20200082202Abstract: A method of label detection includes: obtaining, by an imaging controller, an image depicting a shelf; increasing an intensity of a foreground subset of image pixels exceeding an upper intensity threshold, and decreasing an intensity of a background subset of pixels below a lower intensity threshold; responsive to the increasing and the decreasing, (i) determining gradients for each of the pixels and (ii) selecting a candidate set of the pixels based on the gradients; overlaying a plurality of shelf candidate lines on the image derived from the candidate set of pixels; identifying a pair of the shelf candidate lines satisfying a predetermined sequence of intensity transitions; and generating and storing a shelf edge bounding box corresponding to the pair of shelf candidate lines.Type: ApplicationFiled: November 13, 2019Publication date: March 12, 2020Inventors: Richard Jeffrey Rzeszutek, Vlad Gorodetsky
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Patent number: 10489677Abstract: A method of label detection includes: obtaining, by an imaging controller, an image depicting a shelf; increasing an intensity of a foreground subset of image pixels exceeding an upper intensity threshold, and decreasing an intensity of a background subset of pixels below a lower intensity threshold; responsive to the increasing and the decreasing, (i) determining gradients for each of the pixels and (ii) selecting a candidate set of the pixels based on the gradients; overlaying a plurality of shelf candidate lines on the image derived from the candidate set of pixels; identifying a pair of the shelf candidate lines satisfying a predetermined sequence of intensity transitions; and generating and storing a shelf edge bounding box corresponding to the pair of shelf candidate lines.Type: GrantFiled: September 7, 2017Date of Patent: November 26, 2019Assignee: Symbol Technologies, LLCInventors: Richard Jeffrey Rzeszutek, Vlad Gorodetsky
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Publication number: 20190311489Abstract: A method of recovering label positions in an imaging controller includes: receiving (i) a definition of a plane containing edges of the shelf, and (ii) a plurality of initial label indicators having locations on the plane; assigning the initial label indicators among a plurality of candidate subsets each representing a single physical label; for each candidate subset of initial indicators: generating, for each of a plurality of projection depths relative to the plane, a set of projections of the initial indicators in the candidate subset; determining an aggregate surface area for each set of projections; selecting, as a recovered depth for the candidate subset, one of the projection depths corresponding to the minimum aggregate surface area; and generating a recovered position for the candidate subset based on the recovered depth; and storing the recovered positions.Type: ApplicationFiled: April 5, 2018Publication date: October 10, 2019Inventors: Joseph Lam, Vlad Gorodetsky, Richard Jeffrey Rzeszutek
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Publication number: 20190073559Abstract: A method of label detection includes: obtaining, by an imaging controller, an image depicting a shelf; increasing an intensity of a foreground subset of image pixels exceeding an upper intensity threshold, and decreasing an intensity of a background subset of pixels below a lower intensity threshold; responsive to the increasing and the decreasing, (i) determining gradients for each of the pixels and (ii) selecting a candidate set of the pixels based on the gradients; overlaying a plurality of shelf candidate lines on the image derived from the candidate set of pixels; identifying a pair of the shelf candidate lines satisfying a predetermined sequence of intensity transitions; and generating and storing a shelf edge bounding box corresponding to the pair of shelf candidate lines.Type: ApplicationFiled: September 7, 2017Publication date: March 7, 2019Inventors: Richard Jeffrey Rzeszutek, Vlad Gorodetsky