Patent Document ID: 9025827
Application ID: 13652622
Patent Status: 1

Claim One:
1. A method for controlling forks of a vehicle, comprising: while the forks of the vehicle are moving vertically, acquiring a series of images of a scene of a physical environment in which a plurality of pallets are visible; identifying in each image, by a computer system, one or more scored candidate objects, each potentially corresponding to a respective one of the plurality of pallets, wherein each scored candidate object has a respective associated score that is a confidence value that the scored candidate object corresponds to one or more physical structures of a pallet; for each of the one or more scored candidate objects, tracking, by the computer system, a respective location in each of at least two images of the series; determining for each of the one or more scored candidate objects a respective, associated height in the physical environment, wherein the respective, associated height for each particular one of the scored candidate objects is based on the respective locations in the each of the at least two images for that particular one scored candidate object; and stopping, by the computer system, the forks of the vehicle at a height in the physical environment based on the height of a specific one of the scored candidate objects.