In the current furniture production line, the level of automation in the stage of loading and unloading is not high enough. In order to improve its automation, a novel integer programming based method for automatically segment-ing board is proposed and a multi-sensor configuration is given. In such a configuration, we include multiple cam-eras and Lidar sensors. The cameras attached on each board are used to collect quick response (QR) code informa-tion, while Lidar sensors can obtain each board's contours information. We then formulate each board's segmenta-tion as the integer programming problem. The experimental results show that our method can achieve a very high segmentation accuracy of 95% on average.