Granted Patent B2

US 12,307,701 · App. 17/316,471 · Granted May 20, 2025

Inventor: Daniel Alejandro Moreno (Northbridge, MA)

G06T7/62G06T17/00G06V20/647G06T2200/04

Abstract

Claims (64)

1. A computerized method for determining an estimated volume of an object captured by a three-dimensional (3D) point cloud, the method comprising:

receiving a 3D point cloud comprising a plurality of 3D points and a reference plane in spatial relation to the 3D point cloud;

configuring a 2D grid of bins along the reference plane, wherein each bin of the 2D grid comprises a length and width that extends along the reference plane;

determining, for each bin of the 2D grid, a number of 3D points in the bin and heights of the 3D points in a reference direction from the reference plane, the reference direction perpendicular to the reference plane;

determining a height of the bin in the reference direction from the reference plane based on the heights of the 3D points; and

calculating, based on the determined number of 3D points in each bin and the height of each bin, an estimated volume of an object captured by the 3D point cloud.

2. The method of claim 1 , wherein:

determining the number of 3D points and height of each bin of the 2D grid comprises determining, for each bin of the 2D grid:

a first number of 3D points in the bin on a first side of the reference plane; and

a first height of the bin from the first side; and

calculating the estimated volume of the object comprises calculating a first estimated volume of the object.

3. The method of claim 2 , further comprising:

determining, for each bin of the 2D grid:

a second number of 3D points in the bin on a second side of the reference plane opposite the first side, and a second height of the bin from the second side; and

calculating a second estimated volume of the object.

4. The method of claim 3 , wherein calculating the estimated volume comprises adding the first estimated volume and the second estimated volume.

5. The method of claim 1 , wherein determining the number of 3D points of each bin comprises ignoring 3D points of the plurality of 3D points within a threshold distance of the reference plane.

6. The method of claim 1 , wherein calculating the estimated volume of the object based on the determined number of 3D points in each bin and the height of each bin comprises:

calculating, based on the 3D points in each bin, a mean number of 3D points in the bins of the 2D grid.

7. The method of claim 6 , further comprising:

for each bin of the 2D grid:

determining, based on a number of 3D points in the bin and the mean number of 3D points in the bins, a fill weight of the bin; and

determining a mean height of the 3D points in the bin from the reference plane; and

calculating the estimated volume based on the fill weight of each bin and the mean height of each bin.

8. The method of claim 7 , wherein calculating the estimated volume comprises:

calculating an estimated volume of each bin by computing the product of (a) the fill weight of the bin, (b) the mean height of the 3D points of the bin, and (c) the common area of the bins of the 2D grid; and

summing the estimated volume of each bin to compute the estimated volume of the object.

9. The method of claim 1 , further comprising orienting the point cloud based on the reference plane.

10. The method of claim 9 , wherein orienting the point cloud based on the reference plane comprises:

determining a reference direction of the reference plane; and

aligning an axis of a coordinate system of the 3D point cloud with the reference direction.

11. The method of claim 10 , wherein aligning the axis of the coordinate system of the 3D point cloud to the reference direction of the reference plane comprises:

determining a transform that maps the axis to the reference direction; and

mapping, using the transform, the 3D points of the point cloud to the reference plane.

12. The method of claim 11 ,

wherein the axis is a Z axis; and

the method further comprises determining, for each bin, the height of the bin based on the Z axis value for each of the 3D points in the bin.

13. The method of claim 1 , further comprising:

receiving data indicative of a desired resolution of the estimated volume; and

determining the length and width of the bins of the 2D grid based on the desired resolution.

14. A non-transitory computer-readable media comprising instructions that, when executed by one or more processors on a computing device, are operable to cause the one or more processors to determine an estimated volume of an object captured by a three-dimensional (3D) point cloud, comprising performing:

receiving a 3D point cloud comprising a plurality of 3D points and a reference plane in spatial relation to the 3D point cloud;

configuring a 2D grid of bins along the reference plane, wherein each bin of the 2D grid comprises a length and width that extends along the reference plane;

determining, for each bin of the 2D grid, a number of 3D points in the bin and heights of the 3D points in a reference direction from the reference plane, the reference direction perpendicular to the reference plane;

determining a height of the bin in the reference direction from the reference plane based on the heights of the 3D points; and

calculating, based on the determined number of 3D points in each bin and the height of each bin, an estimated volume of an object captured by the 3D point cloud.

15. The non-transitory computer-readable media of claim 14 , wherein:

determining the number of 3D points and height of each bin of the 2D grid comprises determining, for each bin of the 2D grid:

a first number of 3D points in the bin on a first side of the reference plane; and

a first height of the bin from the first side; and

calculating the estimated volume of the object comprises calculating a first estimated volume of the object.

16. The non-transitory computer-readable media of claim 14 , wherein determining the number of 3D points of each bin comprises ignoring 3D points of the plurality of 3D points within a threshold distance of the reference plane.

17. The non-transitory computer-readable media of claim 14 , wherein calculating the estimated volume of the object based on the determined number of 3D points in each bin and the height of each bin comprises:

calculating, based on the 3D points in each bin, a mean number of 3D points in the bins of the 2D grid.

18. The non-transitory computer-readable media of claim 14 , wherein the instructions are further configured to cause the one or more processors to perform orienting the point cloud based on the reference plane.

19. The non-transitory computer-readable media of claim 14 , wherein the instructions are further configured to cause the one or more processors to perform:

receiving data indicative of a desired resolution of the estimated volume; and

determining the length and width of the bins of the 2D grid based on the desired resolution.

20. A system comprising a memory storing instructions, and at least one processor configured to execute the instructions to determine an estimated volume of an object captured by a three-dimensional (3D) point cloud, comprising performing:

receiving a 3D point cloud comprising a plurality of 3D points and a reference plane in spatial relation to the 3D point cloud;

configuring a 2D grid of bins along the reference plane, wherein each bin of the 2D grid comprises a length and width that extends along the reference plane;

determining, for each bin of the 2D grid, a number of 3D points in the bin and heights of the 3D points in a reference direction from the reference plane, the reference direction perpendicular to the reference plane;

determining a height of the bin in the reference direction from the reference plane based on the heights of the 3D points; and

calculating, based on the determined number of 3D points in each bin and the height of each bin, an estimated volume of an object captured by the 3D point cloud.

Assignments (1)

Continuity (3)

References Cited (13)