Patent Document ID: 9251598
Application ID: 14249386
Patent Status: 1

Claim One:
1. A method of identifying a location of an object within a workspace, the method comprising: obtaining a plurality of 2D images of the workspace, each respective 2D image being acquired from a camera disposed at a different location within the workspace; determining, via a processor, an integrity score for each respective 2D image, the integrity score relating to at least one of an absolute pixel difference, a global or a local histogram difference, and an absolute edge difference between the respective 2D image, and a prior 2D image from the same camera; identifying a foreground portion within at least three of the plurality of 2D images; determining a principle body axis for each identified foreground portion, the principle body axis being a mean centerline of the respective foreground portion and aligned with a vanishing point of the respective image; mapping the determined principle body axis from each respective 2D image into a common ground plane that is coincident with a floor of the workspace; determining a location point within the ground plane, wherein the location point minimizes a least squares function among each mapped principle body axis, wherein the least squares function is weighted according to the integrity score for each of the respective 2D images, and wherein the location point represents a point location of the object within the workspace; projecting the foreground portion from each respective 2D image to each of a plurality of parallel space planes; identifying an area within each of the plurality of planes where a plurality of projected foreground portions overlap; combining the identified area from each of the plurality of planes to form a 3D bounding envelope of the object; and wherein the bounding envelope is a 3D probabilistic representation of the location of the object within the workspace.