Patent Document ID: 20150294483
Application ID: 14249386
Patent Status: 0

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 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, and 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.