A method for guiding an automatically guided robot, the method comprising: receiving an image of a portion of an environment around the automatically guided robot from a sensor system associated with the automatically guided robot; identifying a group of pixels from an array of pixels in the image for processing; for each pixel in the group of pixels, performing the steps of: determining whether a pixel in the group of pixels meets a standard; wherein the standard comprises a number of criteria for a pixel value of the pixel; incrementing a pixel counter in response to the pixel meeting the standard to count the number of pixels that meet the standard; and incrementing a coordinate counter by a coordinate value for the pixel in response to the pixel meeting the standard to count the different coordinate values for the pixels that meet the standard, the method further comprising: determining an average coordinate value for the set of pixels that meet the standard by dividing the coordinate counter by the pixel counter; identifying a centroid for the set of pixels that meets the standard, where the centroid is the average coordinate value for the set of pixels; and generating a number of commands for guiding the automatically guided robot within the environment based on the centroid, wherein the number of commands includes a command to turn the automatically guided robot right or left when the centroid is located to the right or left respectively of a center coordinate of the image, and wherein the number of commands includes a command to perform one or more operations at the current location, including at least a command to deliver a payload. receiving an image of a portion of an environment around the automatically guided robot from a sensor system associated with the automatically guided robot; identifying a group of pixels from an array of pixels in the image for processing; for each pixel in the group of pixels, performing the steps of: determining whether a pixel in the group of pixels meets a standard; determining whether a pixel in the group of pixels meets a standard; wherein the standard comprises a number of criteria for a pixel value of the pixel; incrementing a pixel counter in response to the pixel meeting the standard to count the number of pixels that meet the standard; and incrementing a coordinate counter by a coordinate value for the pixel in response to the pixel meeting the standard to count the different coordinate values for the pixels that meet the standard, incrementing a pixel counter in response to the pixel meeting the standard to count the number of pixels that meet the standard; and incrementing a coordinate counter by a coordinate value for the pixel in response to the pixel meeting the standard to count the different coordinate values for the pixels that meet the standard, the method further comprising: determining an average coordinate value for the set of pixels that meet the standard by dividing the coordinate counter by the pixel counter; identifying a centroid for the set of pixels that meets the standard, where the centroid is the average coordinate value for the set of pixels; and generating a number of commands for guiding the automatically guided robot within the environment based on the centroid, wherein the number of commands includes a command to turn the automatically guided robot right or left when the centroid is located to the right or left respectively of a center coordinate of the image, and wherein the number of commands includes a command to perform one or more operations at the current location, including at least a command to deliver a payload. determining an average coordinate value for the set of pixels that meet the standard by dividing the coordinate counter by the pixel counter; identifying a centroid for the set of pixels that meets the standard, where the centroid is the average coordinate value for the set of pixels; and generating a number of commands for guiding the automatically guided robot within the environment based on the centroid, wherein the number of commands includes a command to turn the automatically guided robot right or left when the centroid is located to the right or left respectively of a center coordinate of the image, and wherein the number of commands includes a command to perform one or more operations at the current location, including at least a command to deliver a payload.