In the enterprise warehouse,viewing the amount of available space is an important link in the process of allocating cargo. Asfor the fixed warehouse,its total capacity is fixed,soyou can calculate the existing amount of the warehouse cargo,and then the remainingavailable space can be obtained by reducing the two phases. For calculating the volume
of the warehouse cargo, we first use theRealSense depth camera to obtain the initial point cloud of the cargo scene. Because the acquired initial point cloud data is often noisy,
some preprocessing is needed during the cargo volume calculation. The point cloud of the cargo is obtained, and then calculated andmeasured by the projection method and
integral method. In view of the different sizes of the warehouse,we propose two schemes. First,for small cargo piles ( cargo with a volume less than 2 cubic meters) ,we use a camera to capture the top and ground of the cargo from topto bottom,and then use statistical analysis,projection,and integration to obtain the cargo volume. Second,for large
cargo piles ( cargowith a volume greater than or equal to 2 cubic meters) ,it is difficult to obtain the top surface of the cargo. Therefore,two cameras with acertain distance are
used to obtain the two sides of the cargo pile,and then the method in Scheme 1 is deformed to obtain the cargovolume. The experimental results show that the difference?
between the volume of cargo measured by the proposed method and the actualvolume of goods shall not exceed 3% ,which meets the requirements of low cost and high
precision measurement in the logistics site.