Patent ID: 9734401
Date: 2017-08-15
CPC Classifications: G05B,G06K,G06T

Claim:
1. A method to detect and track item features, the method comprising: selecting a plurality of perspectives from randomly distributed locations in a substantially umbrella-shaped formation centered over an item; detecting one or more edges and one or more corners of the item from a first perspective of the plurality of perspectives; determining whether the one or more edges and the one or more corners of the item are detectable from at least a second perspective of the plurality of perspectives; in response to a determination that the one or more edges and the one or more corners of the item are detectable from the at least the second perspective of the plurality of perspectives, marking the one or more edges and the one or more corners of the item as features to be tracked; and tracking the item through at least two captured image frames based on a correlation of the one or more edges and the one or more corners.