Measuring object dimensions using mobile computer

1. A mobile computer comprising:

a microprocessor;

a memory;

a user interface;

a motion sensing device configured to determine spatial position and orientation, the motion sensing device comprising at least one of an accelerometer and/or a gyroscope;

a dimensioning program executable by said microprocessor;

wherein said mobile computer running said dimensioning program is configured to initiate a trajectory tracking mode responsive to receiving a first user interface action;

wherein said mobile computer operating in said trajectory tracking mode is configured to record a trajectory of said mobile computer at least partially around a physical object comprising storing in said memory a plurality of motion sensing data items outputted by said motion sensing device, and said plurality of motion sensing data items defining a series of spatial points that represent the recorded trajectory of said mobile computer at least partially around the physical object;

wherein said mobile computer running said dimensioning program is further configured to exit said trajectory tracking mode responsive to receiving a second user interface action; and

wherein said mobile computer running said dimensioning program is further configured to calculate dimensions of said physical object based on at least some spatial points of said series of spatial points that represent the recorded trajectory of said mobile computer at least partially around the physical object.

2. The mobile computer of claim 1 , wherein said mobile computer running said dimensioning program is further configured to calculate three dimensions of at least one of: a minimum perimeter bounding box corresponding to said physical object, a minimum surface bounding box corresponding to said physical object, a minimum volume bounding box corresponding to said physical object.

3. The mobile computer of claim 2 , wherein said mobile computer running said dimensioning program is further configured to construct said minimum bounding box by cycling through all edges E i connecting two spatial points of the series of spatial points defined by said plurality of motion sensing data items;

wherein said mobile computer running said dimensioning program is further configured, for each edge E i , to construct a bounding box having an edge E collinear with said selected edge E i , said bounding box further having and at least one corner coinciding with one end of said selected edge E E i ; and

wherein said mobile computer running said dimensioning program is further configured to select, among said constructed bounding boxes, one of: a minimum perimeter bounding box corresponding to said physical object, a minimum surface bounding box corresponding to said physical object, a minimum volume bounding box corresponding to said physical object.

4. The mobile computer of claim 1 , wherein said motion sensing device comprises a 3-axis accelerometer.

5. The mobile computer of claim 1 , wherein said motion sensing device comprises is provided by at least three accelerometers configured to measure proper acceleration values along at least three mutually-perpendicular directions.

6. The mobile computer of claim 1 , wherein said motion sensing device comprises by a 9-DOF (degree of freedom) motion sensing unit containing a 3-axis accelerometer, a 3-axis magnetometer, and a 3-axis gyroscope.

7. The mobile computer of claim 1 , wherein said motion sensing device comprises a 3-axis gyroscope configured to determine orientation of said mobile computer.

8. The mobile computer of claim 1 , wherein each motion sensing data item of said plurality of motion sensing data items is stored in memory along with a corresponding timestamp.

9. The mobile computer of claim 1 , wherein the physical object comprises a package or a parcel.

10. The mobile computer of claim 1 , wherein the series of spatial points comprise points along edges of the physical object and/or points corresponding to corners of the physical object.

11. A method of estimating dimensions of a physical object by a mobile computer including a microprocessor, a memory, and a motion sensing device, said method comprising the steps of:

said mobile computer initiating a trajectory tracking mode responsive to receiving a first user interface action;

said mobile computer operating in said trajectory tracking mode recording a trajectory of said mobile computer at least partially around a physical object comprising storing in said memory a plurality of motion sensing data items outputted by said motion sensing device, said motion sensing device comprising at least one of an accelerometer and/or a gyroscope and configured to determine spatial position and orientation, and said plurality of motion sensing data items defining a series of spatial points that represent the recorded trajectory of said mobile computer at least partially around the physical object;

said mobile computer exiting said trajectory tracking mode responsive to receiving a second user interface action; and

said mobile computer calculating dimensions of said physical object based on at least some spatial points of said series of spatial points that represent the recorded trajectory of said mobile computer at least partially around the physical object.

12. The method of claim 11 , wherein said step of calculating dimensions of said physical object comprises calculating three dimensions of at least one of: a minimum perimeter bounding box corresponding to said physical object, a minimum surface bounding box corresponding to said physical object, a minimum volume bounding box corresponding to said physical object.

13. The method of claim 11 , wherein said step of constructing said minimum bounding box comprises:

cycling through all edges E i connecting two spatial points of the series of spatial points defined by said plurality of motion sensing data items;

for each edge E i , constructing a bounding box having an edge E collinear with said selected edge E i , said bounding box further having and at least one corner coinciding with one end of said selected edge E i , and

selecting, among said constructed bounding boxes, one of: a minimum perimeter bounding box corresponding to said physical object, a minimum surface bounding box corresponding to said physical object, a minimum volume bounding box corresponding to said physical object.

14. The method of claim 11 , wherein said motion sensing device comprises a 3-axis accelerometer.

15. The method of claim 11 , wherein said motion sensing device comprises at least three accelerometers configured to measure proper acceleration values along at least three mutually-perpendicular directions.

16. The method of claim 11 , wherein said motion sensing device comprises a 9-DOF (degree of freedom) motion sensing unit containing a 3-axis accelerometer, a 3-axis magnetometer, and a 3-axis gyroscope.

17. The method of claim 11 , wherein said motion sensing device comprises a 3-axis gyroscope configured to determine orientation of said mobile computer.

18. The method of claim 11 , wherein said step of storing in said memory said plurality of motion sensing data items comprises storing a timestamp corresponding to each motion sensing data item of said plurality of motion sensing data items.

19. The method of claim 11 , wherein the physical object comprises a package or a parcel.

20. The method of claim 11 , wherein the series of spatial points comprise points along edges of the physical object and/or points corresponding to corners of the physical object.