The Measurement of Carried Cartons using Multiple Kinect Sensors

We propose a system to measure the dimensions of carton boxes carried on a conveyer belt with an accuracy of 5mm, required in logistic applications. Our system estimates the dimensions through a series of depth images with relatively low resolution taken by unsynchronized multiple sensors. To achieve the accuracy, we first obtain the dimensions via the distance between parallel planes instead of edge lengths, then correct errors caused by time lags among sensors using timestamps, and finally correct other measurement errors by regression analysis. We evaluated our method on three types of cartons carried on a conveyer belt in 0.9m/s, and confirmed the required accuracy.