Patent Document ID: 9886754
Application ID: 15090646
Patent Status: 1

Claim One:
1. A method, comprising: receiving a pair of image frames from a camera disposed on a rope mine shovel configured to carry a mining load, wherein the pair of image frames comprises a first image frame and a second image frame; detecting a corresponding tooth line region for the pair of image frames to generate a pair of tooth line regions based on a shovel template set, wherein the shovel template set comprises a plurality of bucket template images, a plurality of tooth line images, a plurality of locations corresponding to the plurality of bucket template images, and a plurality of locations of tooth line images, and wherein the pair of tooth line regions comprises a first tooth line region in the first image and a second tooth line region in the second image; determining a difference image based on the pair of tooth line regions; determining a response map representative of possible tooth positions based on the difference image using a tooth template matching technique; selecting a tooth line among a plurality of candidate tooth lines based on the response map; determining a tooth condition based on the tooth line and the difference image and notifying the tooth condition to an operator of the rope mine shovel.