US Patent 10096131 Dimensional acquisition of packages

The present disclosure relates to methods and systems for calculating dimensions of objects on loaded or partially loaded pallets for purposes of billing in shipping and transportation applications using depth-sensing imaging devices. A plurality of depth maps of an object are retrieved from one or more imaging devices. The depth maps are filtered and transformed into a world co-ordinate system based on calibration of the imaging devices. A point cloud is generated and a minimum volume bounding box is determined. The edge lengths and height of the object are calculated, and a volume may be determined to associate a volume with the object.