Patent ID: 11893759
Assignee: 7-ELEVEN, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 14:
15. A non-transitory computer readable medium storing instructions that when executed by a processor cause the processor to:
receive a first frame from a first sensor, wherein the first sensor is configured to capture frames of a global plane for at least a first portion of a space, wherein:
the global plane represents (x,y) coordinates for the at least a portion of the space; and
each frame comprises a plurality of pixels;

identify a first pixel location for a marker within the first frame;
determine an (x,y) coordinate for the marker in the global plane by applying a first homography to the first pixel location, wherein:
the first homography is associated with the first sensor; and
the first homography comprises coefficients that translate between pixel locations in a frame from the first sensor and (x,y) coordinates in the global plane;

identify a second pixel location for the marker by applying a second homography to the (x,y) coordinate, wherein:
the second sensor is configured to capture frames of the global plane for at least a second portion of the space;
the second homography is associated with the second sensor; and
the second homography comprises coefficients that translate between pixel locations in a frame from the second sensor and (x,y) coordinates in the global plane;

identify a third pixel location by applying a disparity mapping to the first pixel location, wherein the disparity mapping maps pixel locations from the first sensor to pixel locations from the second sensor;
determine a distance difference between the second pixel location and the third pixel location;
compare the distance difference to a difference threshold level; and
recompute at least one of the first homography and the second homography in response to determining that the distance difference exceeds the difference threshold level.