Abstract: This disclosure provides a retail environment robotic system including a vertically oriented/scanning LIDAR (Light Detection and Ranging) unit mounted to a mobile base which travels along the aisles of a retail environment such as a store. According to an exemplary embodiment, the LIDAR unit vertically scans product display units along the aisles to generate a depth map associated with detected objects which is further processed to detect missing products, product/shelving tags, shelves, etc.

Abstract: A system to detect and maintain retail store promotional price tags (PPTs) includes a heuristic PPT description extractor module, a heuristic rule deriver module, a store shelf image acquisition system, a barcode locator and recognizer module, and a heuristic PPT classifier module. The heuristic PPT description extractor module extracts heuristic descriptions of PPTs. The heuristic rule deriver module derives a set of heuristic parameters for the PPTs. The barcode locator and recognizer module analyzes images acquired by the store shelf image acquisition system to localize and recognize barcodes. The heuristic PPT description classifier module extracts heuristic attributes from the images acquired by the store shelf image acquisition system using the set of PPT parameters supplied by the heuristic rule deriver module.

Abstract: A method for profiling a location of an image capture device in a region of interest. The method comprises acquiring an image captured by an image capture device. The method comprises acquiring a reported position and pose of the image capture device. The method comprises processing the captured image to detect an object in the captured image. The method comprises identifying a set of interest points characterizing the captured object. The method comprises generating a relative position and pose of the interest points based on dimensional information associated with the captured object. The method comprises computing an estimated position and pose of the image capture device to the object using the reported position and pose of the image capture device and the relative position of the interest points. The method comprises computing the estimated position and pose of the mobile imaging device based on the estimated distance.

Abstract: A system for acquiring multi-angle images of a product includes a workstation having a working surface for placing a product, a camera supporting member having a vertical axis, and an image capturing device movably attached to the camera supporting member so that it may move along the vertical axis of the camera supporting member. The system captures and analyzes a digital image of a product to detect the vertical center of the product, and adjusts the position of the image capturing device along the vertical axis so that the vertical center of the product is proximate to the vertical center of the image. The system may also have a turntable and additionally rotate the turntable at multiple capturing angles and capture one or more additional digital images of the product at various capturing angles and store the one or more additional images in a product database.

Abstract: A method for profiling a location of an image capture device in a region of interest. The method comprises acquiring an image captured by an image capture device. The method comprises acquiring a reported position and pose of the image capture device. The method comprises processing the captured image to detect an object in the captured image. The method comprises identifying a set of interest points characterizing the captured object. The method comprises generating a relative position and pose of the interest points based on dimensional information associated with the captured object. The method comprises computing an estimated position and pose of the image capture device to the object using the reported position and pose of the image capture device and the relative position of the interest points. The method comprises computing the estimated position and pose of the mobile imaging device based on the estimated distance.

Abstract: Direction and speed of robotic data acquisition systems engaged in acquiring data in mapped or route-planned environments, and/or environments having reference features (e.g., shelves, walls, curbs or other structure) enabling additional guidance and control, are disclosed. A mobile base can include wheels adapted to navigate an environment. At least one sensor (e.g., imaging camera, acoustic, passive infrared, etc.) can be mounted on the mobile base and acquires data (e.g., images) of items associated with or located along fixed structures defining the pathways within the environment. A computer can control mobile base movement and orientation with respect to the at least one structure utilizing range sensors and PID controllers, track mobile base location, and organize acquired data. Range sensors under the control of the at least one computer can be adapted to control mobile base movement in a straight line and at a constant speed with respect to a fixed structure.

Abstract: A system and method for detecting electronic device use by a driver of a vehicle including acquiring an image including a vehicle from an associated image capture device positioned to view oncoming traffic, locating a windshield region of the vehicle in the captured image, processing pixels of the windshield region of the image for computing a feature vector describing the windshield region of the vehicle, applying the feature vector to a classifier for classifying the image into respective classes including at least classes for candidate electronic device use and candidate electronic device non-use, and outputting the classification.

Abstract: This disclosure provides an image processing method and system for recognizing barcodes and/or product labels. According to an exemplary embodiment, the method uses a multifaceted detection process that includes both image enhancement of a candidate barcode region and other product label information associated with a candidate barcode region to identify a product label, where the candidate barcode region includes a nonreadable barcode. According to one exemplary application, a store profile is generated based on the identifications of the product labels which are associated with a location of a product within a store.

Abstract: A system and method for object tracking and timing across multiple camera views includes local and global tracking modules for tracking the location of objects as they traverse particular regions of interest within an area of interest. A local timing module measures the time spent with each object within the area captured by a camera. A global timing module measures the time taken by the tracked object to traverse the entire area of interest or the length of the stay of the object within the area of interest.

Abstract: Eliminate or reduce the impact of glare in printed information tag recognition applications using single- and multi-pose external illumination coupled with intelligent processing. A shelf imager can acquire shelf images for printed information tag localization and recognition. An external illuminator can provide at least one illumination condition/pose for shelf image acquisition in addition to lighting associated with the enclosed environment. A glare region of interest (ROI) detector can analyze all or a portion of the acquired shelf images for glare to determine whether additional images need to be acquired using different illumination conditions provided by the single- or multi-pose external illuminator or whether full or portion of acquired images need to be analyzed by a printed information tag locator and recognizer. A printed information tag locator and recognizer can analyze all or a portion of the acquired images to localize and recognize data printed on the printed information tags.

Abstract: A store profile generation system includes a mobile base and an image capture assembly mounted on the base. The assembly includes at least one image capture device for acquiring images of product display units in a retail environment. A control unit acquires the images captured by the at least one image capture device at a sequence of locations of the mobile base in the retail environment. The control unit extracts product-related data from the acquired images and generates a store profile indicating locations of products and their associated tags throughout the retail environment, based on the extracted product-related data. The store profile can be used for generating new product labels for a sale in an appropriate order for a person to match to the appropriate locations in a single pass through the store.

Abstract: A configuration system generates a calibration target to be printed, the target including a set of machine-readable and visually-identifiable landmarks and associated location-encoding marks which encode known locations of the landmarks. A plurality of test images of the printed calibration target is acquired by the system from an image capture assembly. Positions of the landmarks in the acquired test images and the location-encoding marks in the acquired test images are detected by the system. The system decodes the locations of the landmarks from the detected location-encoding marks and spatially characterizes the image capture assembly, based on the detected positions of the landmarks in the acquired test images and their decoded known locations.

Abstract: A system to detect and maintain retail store promotional price tags (PPTs) includes a heuristic PPT description extractor module, a heuristic rule deriver module, a store shelf image acquisition system, a barcode locator and recognizer module, and a heuristic PPT classifier module. The heuristic PPT description extractor module extracts heuristic descriptions of PPTs. The heuristic rule deriver module derives a set of heuristic parameters for the PPTs. The barcode locator and recognizer module analyzes images acquired by the store shelf image acquisition system to localize and recognize barcodes. The heuristic PPT description classifier module extracts heuristic attributes from the images acquired by the store shelf image acquisition system using the set of PPT parameters supplied by the heuristic rule deriver module.

Abstract: Methods and devices acquire images using a stereo camera or camera network aimed at a first location. The first location comprises multiple parallel primary lanes merging into a reduced number of at least one secondary lane, and moving items within the primary lanes initiate transactions while in the primary lanes and complete the transactions while in the secondary lane. Such methods and devices calculate distances of the moving items from the camera to identify in which of the primary lanes each of the moving items was located before merging into the secondary lane. These methods and devices then order the transactions in a merge order corresponding to a sequence in which the moving items entered the secondary lane from the primary lanes. Also, the methods and devices output the transactions in the merge.

Abstract: The present disclosure relates to systems and methods for use in a retail store. An example system includes a mobile base, a printer, an image capture subsystem on the mobile base and coupled to the printer, the image capture system including at least one image capture device and at least one image processor, the image capture device configured to obtain images of items in the retail store, the image processor configured to derive item identification data from the images of items, and a control subsystem coupled to the printer and to the image capture subsystem, where the control subsystem is configured to receive information identifying items requiring signage, acquire item identification data from the image capture subsystem, determine, based on the information identifying items requiring signage and on the item identification data, items requiring signage, and to direct the printer to print signage for the items requiring signage.

Abstract: Eliminate or reduce the impact of glare in printed information tag recognition applications using single- and multi-pose external illumination coupled with intelligent processing. A shelf imager can acquire shelf images for printed information tag localization and recognition. An external illuminator can provide at least one illumination condition/pose for shelf image acquisition in addition to lighting associated with the enclosed environment. A glare region of interest (ROI) detector can analyze all or a portion of the acquired shelf images for glare to determine whether additional images need to be acquired using different illumination conditions provided by the single- or multi-pose external illuminator or whether full or portion of acquired images need to be analyzed by a printed information tag locator and recognizer. A printed information tag locator and recognizer can analyze all or a portion of the acquired images to localize and recognize data printed on the printed information tags.

Abstract: A system to detect and maintain retail store promotional price tags (PPTs) includes a heuristic PPT description extractor module, a heuristic rule deriver module, a store shelf image acquisition system, a barcode locator and recognizer module, and a heuristic PPT classifier module. The heuristic PPT description extractor module extracts heuristic descriptions of PPTs. The heuristic rule deriver module derives a set of heuristic parameters for the PPTs. The barcode locator and recognizer module analyzes images acquired by the store shelf image acquisition system to localize and recognize barcodes. The heuristic PPT description classifier module extracts heuristic attributes from the images acquired by the store shelf image acquisition system using the set of PPT parameters supplied by the heuristic rule deriver module.

Abstract: A method for detecting settle-down time in a space includes acquiring a sequence of frames capturing a select space from a first camera. The method includes determining an initial time for computing a duration it takes for an associated occupant to settle into a seat in the select space. The method includes determining one or more candidate frames from the sequence of frames where one or both of a sitting behavior and seat occupancy is observed at the seat. The method includes determining a final frame and a final time associated with the final frame from the one or more candidate frames. The method includes computing the settle-down time using the initial and the final times.

Abstract: A method and system for adaptable video-based object tracking includes acquiring video data from a scene of interest and identifying an initial instance of an object of interest in the acquired video data. A representation of a target object is then established. One or more motion parameters associated with said scene of interest are used to adjust the size of a search neighborhood associated with said target object. The target object is then tracked frame-by-frame in the video data.

Abstract: The present disclosure relates to systems and methods for use in a retail store. An example system includes a mobile base, a printer, an image capture subsystem on the mobile base and coupled to the printer, the image capture system including at least one image capture device and at least one image processor, the image capture device configured to obtain images of items in the retail store, the image processor configured to derive item identification data from the images of items, and a control subsystem coupled to the printer and to the image capture subsystem, where the control subsystem is configured to receive information identifying items requiring signage, acquire item identification data from the image capture subsystem, determine, based on the information identifying items requiring signage and on the item identification data, items requiring signage, and to direct the printer to print signage for the items requiring signage.