Abstract: A system includes a self-learning module for creating a self-learned planogram based on images of shelving units at a location and shelving unit tracking. The self-learned planogram includes shelving unit locations for the shelving units. The system also includes a training module for training the merchandise tracking model based on merchandise-shelving unit clustering. The merchandise-shelving unit clustering is based on the self-learned planogram and sensor readings received from sensors at the location. The sensor readings are associated with items at the location. The system further includes a tracking module for tracking and storing locations of the items based on the sensor readings and the merchandise tracking model. The system also includes a planogram compliance module for determining planogram compliance based on comparing the self-learned planogram to the item locations.