Patent Document ID: 9870617
Application ID: 14637191
Patent Flag: 1

Claim One:
1. A non-transitory computer-readable storage medium having instructions embodied thereon, the instructions being executable by a processing apparatus to configure a process enabled to track an object in a plurality of images each comprised of pixels, wherein the instructions, when executed by the processing apparatus cause the process to: evaluate a pixel chromaticity distribution for pixels of a given image of the plurality of images, the evaluation of the pixel chromaticity distribution comprising a reconstruction of the given image and an assignment of a saliency value within the reconstructed image; based at least on the evaluation, identify a portion of pixels of the given image, the identification of the portion of pixels being based on the assigned saliency value within the reconstructed image; provide positions corresponding respectively to individual pixels of the portion to the process; and based on the provided positions, navigate a robotic apparatus in communication with the processing apparatus; wherein: the portion of pixels corresponds to a representation of the object in the given image; the provided positions are configured to enable the process to determine a location of the object in a subsequent image of the plurality of images; the evaluation of the pixel chromaticity distribution comprises a determination of a histogram of occurrence of pixel chromaticity within the given image.