Zebra Technologies Corporation
Method, System and Apparatus for Detecting Product Facings

Abstract:

A method of detecting product facings from captured depth and image data includes: obtaining, at an imaging controller, (i) depth measurements representing a support structure supporting a plurality of product facings, (ii) image data representing the support structure, and (iii) a set of region of interest (ROI) indicators each indicating a position of a plurality of the product facings; generating a first set of candidate facing edges from the depth measurements; generating a second set of candidate facing edges from the image data; generating a third set of candidate facing edges by combining the first and second sets; generating, for each adjacent pair of the third set of candidate facing edges, a candidate facing boundary; selecting a subset of output facing boundaries from the candidate facing boundaries, based on the ROI indicators; and storing the output facing boundaries in a memory coupled to the imaging controller.