Patent ID: 9367918
Filing Date: 2016-06-14
CPC Classification: G06T,H04N

Claim Text:
1. A method for determining with one or more calibrated cameras an inventory of a plurality of objects located in an object holder, each object having a first portion located in a first plane in space and a second portion not located in the first plane, comprising: generating by the one or more calibrated cameras a first image of the plurality of objects representing a first pose relative to the object holder and a second image of the plurality of objects representing a second pose relative to the object holder; a processor transforming the second image to a warped image with a homography that maps each scene point in the first plane in the second image to a corresponding scene point in the first plane of the first image; the processor generating a cross-correlation between the first image and the warped image; and the processor determining an absence or a presence of an object at a location of the object holder, wherein the cross-correlation of a pixel (u wherein T f f N(u