Zebra Technologies Corporation
Method, System and Apparatus for Depth Sensor Artifact Removal

Abstract:

A method in an imaging controller of detecting depth sensor artifacts includes: obtaining, from first and second sensors, first and second pluralities of points defined by respective (i) planar positions and depths in a common frame of reference, and (ii) scan angles relative to field of view centers of the first or second sensors; for each of a subset of candidate points from the first plurality of points: searching the second plurality of points for a validator point having (i) a planar position within a threshold distance of a planar position of the candidate point, and (ii) a scan angle smaller than a scan angle of the candidate point; responsive to identifying the validator point: when the depth of the validator point exceeds the depth of the candidate point, classifying the candidate point as an artifact.