US 11,818,508 B2
Systems and methods for automated design of camera placement and cameras arrangements for autonomous checkout
Nagasrikanth Kallakuri, San Francisco, CA (US); Akshay Malhotra, Fremont, CA (US); Luis Yoichi Morales Saiki, San Francisco, CA (US); Tushar Dadlani, Pleasanton, CA (US); and Dhananjay Singh, San Francisco, CA (US)
Assigned to STANDARD COGNITION, CORP., San Francisco, CA (US)
Filed by STANDARD COGNITION, CORP.
Filed on Feb. 25, 2022, as Appl. No. 17/681,505.
Application 17/681,505 is a continuation of application No. 17/358,864, filed on Jun. 25, 2021, granted, now 11,303,853.
Claims priority of provisional application 63/044,971, filed on Jun. 26, 2020.
Prior Publication US 2022/0279144 A1, Sep. 1, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/70 (2017.01); H04N 7/18 (2006.01); A47F 10/02 (2006.01); G06Q 20/20 (2012.01); G06N 20/00 (2019.01)
CPC H04N 7/181 (2013.01) [A47F 10/02 (2013.01); G06N 20/00 (2019.01); G06Q 20/208 (2013.01); G06T 7/70 (2017.01); A47F 2010/025 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/30232 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A computer-implemented method for determining an improved camera coverage plan including a number, a placement, and a pose of cameras that are arranged to track puts and takes of items by subjects in a three-dimensional real space, the computer-implemented method including:
beginning with an initial number and initial pose of a plurality of cameras and a camera model including characteristics of the cameras, iteratively applying a machine learning process to an objective function of number and poses of cameras, and subject to a set of constraints, to obtain, an improved camera coverage plan using one or more of: (i) a changed number of cameras, and (ii) a changed number of camera poses, and having an improved coverage score and concurrently using a same or reduced number of cameras, wherein applying a machine learning process to an objective function of number and poses of cameras, and subject to a set of constraints to obtain the improved camera coverage plan includes:
determining a set of camera coverage maps per camera including one of a first set of occupied voxels representing positions on a shelf in field of view; and
aggregating camera coverage maps to obtain a first aggregate coverage map for the shelf based upon the first set of occupied voxels; and
providing the improved camera coverage plan to an installer to arrange cameras to track puts and takes of items by subjects in the three-dimensional real space.