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Method for tracking placement of products on shelves in a store

  • US 10,467,587 B2
  • Filed: 05/19/2017
  • Issued: 11/05/2019
  • Est. Priority Date: 05/19/2016
  • Status: Active Grant
First Claim
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1. A method for tracking placement of products on shelves in a store comprising:

  • accessing a first image comprising visual data recorded by a mobile robotic system at a first time, the first image associated with a first location and a first orientation of the mobile robotic system within the store at the first time;

    detecting a first shelf represented proximal a first region of the first image;

    determining an address of the first shelf based on the first location, the first orientation, and a vertical position of the first shelf within the first image;

    based on the address of the first shelf, retrieving a first list of products assigned to the first shelf by a planogram of the store;

    retrieving a first set of template images from a database of template images, each template image in the first set of template images comprising visual features of a product specified in the first list of products;

    extracting a first set of features from the first region of the first image;

    confirming presence of a unit of a first product, in the first list of products, on the first shelf in response to correlation between features in the first set of features and features in a first template image, in the first set of template images, representing the first product;

    determining that a unit of the first product is improperly stocked on the first shelf in response to deviation between features in the first set of features and features in the first template image; and

    in response to determining that the unit of the first product is improperly stocked on the first shelf, generating a first restocking prompt for the first product on the first shelf.

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