US Patent 11836937 System and method for dimensioning target objects

A method comprising obtaining, from a sensor, depth data representing a target object; selecting a model to fit to the depth data; for each data point in the depth data: defining a ray from a location of the sensor to the data point; and determining an error based on a distance from the data point to the model along the ray; when the depth data does not meet a similarity threshold for the model based on the determined errors, selecting a new model and repeating the error determination for the depth data based on the new model; when the depth data meets the similarity threshold for the model, selecting the model as representing the target object; and outputting the selected model representing the target object.