Method, System and Apparatus for Detecting Support Structure Obstructions

摘要: A method in an imaging controller of detecting obstructions on a front support structure includes: obtaining (i) point cloud the and obstruction, (ii) plane corresponding to structure; for each plurality selection depths: selecting subset points from based depth; obstruction candidates and, candidate: responsive dimensional criterion being met, determining whether candidate meets confirmation criterion; when criterion, identifying as confirmed obstruction; presenting detection output data including obstructions.