Self checkout with visual recognition

• US 7,909,248 B1
• Filed: 08/18/2008
• Issued: 03/22/2011
• Est. Priority Date: 08/17/2007
• Status: Active Grant

• Current Assignee: Datalogic Adc, Inc. (Datalogic S.p.A.)
• Original Assignee: Evolution Robotics Retail Incorporated (Datalogic ADC Incorporated)
• Inventors: Goncalves, Luis
• Primary Examiner(s): Le; Thien M.
• Assistant Examiner(s): VO, TUYEN KIM
• Application Number:
  US12/229,069
• Time in Patent Office: 946 Days
• Field of Search: 235/375, 235/383, 235/385, 23546201-46249, 23547201-47203
• US Class Current: 235/383
• CPC Class Codes: G07G 1/0063 with means for detecting the geometric dimensions of the article of which the code is read, such as its size or height, for the verification of the registration
• CPC Class Codes: G07G 1/0072 with means for detecting the weight of the article of which the code is read, for the verification of the registration weighing combined with recording means, e.g. in weighing scale, G01G19/415
• CPC Class Codes: G07G 3/006 False operation

Abstract

A system and method is disclosed for using object recognition/verification and weight information to confirm the accuracy of a UPC scan, or to provide an affirmative recognition where no UPC scan was made. In the preferred embodiment, the checkout system comprises: a universal product code (UPC) scanner configured to generate a product identifier; at least one camera for capturing one or more image of an item; a database of features and images of known objects; an image processor configured to: extract a plurality of geometric point features from the one or more images; identifying matches between the extracted geometric point features and the features of known objects; generate a geometric transform between the extracted geometric point features and the features of known objects for a subset of known objects corresponding to matches; and identify one of the known objects based on a best match of the geometric transform; and a transaction processor configured to execute one of a predetermined set of actions if the identified object is different than the product identifier.

Claims

1. An automated self-checkout system for point-of-sale, comprising

a data reader section including an optical code reader having a read volume and configured to read an optical code on an item being passed by a user through the read volume and generate a product identifier of the item;

a downstream collection section comprising a bagging area within which items read by the optical code reader are collected as placed therein by the user after the user having passed the items through the read volume;

at least one camera disposed with a field of view of the collection section for capturing one or more images of the item within the bagging area;

a database of features and images of known objects;

an image processor configured to

a) extract a plurality of visual features from the one or more images of the item,

b) identify matches between the extracted visual features and the features of known objects,

c) generate a geometric transform between the extracted visual features and the features of known objects for a subset of known objects corresponding to the matches, and

d) identify one of the known objects based on a best match of the geometric transform; and

a transaction processor configured to execute at least one of a predetermined set of actions if the known object that has been identified is different than the item corresponding to the product identifier.

2. The checkout system of claim 1, wherein the image processor is further configured to:

determine a correlation between the one or more images and images of the subset of known objects; and

identify one of the known objects based, in part, on the determined correlation.

3. The checkout system of claim 1, wherein the geometric transform is a homography transform.

4. The checkout system of claim 1, wherein the geometric transform is affine transform.

5. The checkout system of claim 1, wherein the geometric point features are scale-invariant feature transform (SIFT) features.

6. The checkout system of claim 1, wherein the predetermined set of actions is selected from the group consisting of:

prompting the user to read the optical code, prompting the user to re-read the optical code, adding a price of the item to a checkout list, increasing an alert level, preventing a payment system from processing payment, and alerting a cashier.

7. The checkout system of claim 1, wherein the predetermined set of actions comprises taking action based at least in part on the value of a difference in price between the known object and the item corresponding to the product identifier.

8. The checkout system of claim 1, wherein the predetermined set of actions comprises prompting the user to remove the item from the bagging area and replacing the item back into the bagging area.

9. The checkout system of claim 1, further comprising a bag disposed within the bagging area, wherein the camera is disposed with a field of view of an opening of the bag, wherein the processor is further configured to verify that an item placed in the bag corresponds to an item previously read by the optical code reader.

10. The checkout system of claim 9, wherein the predetermined set of actions comprises prompting the user to remove the item from the bag and replacing the item back into the bag.

11. The checkout system of claim 1, wherein the visual features that are extracted consist of geometric point features.

12. The checkout system of claim 1 further comprising an optical flow module configured to detect movement in the bagging area.

13. The checkout system of claim 12 wherein the optical flow module is configured to detect motion of an item out of the bag and capture images corresponding to removal of an item from the bag, wherein the images are processed to confirm that a selected item has been removed from the bag.

14. A method of self-checkout at point of sale station, the station having (1) a data reader section including an optical code reader with a read volume and configured to read an optical code on an item being passed by a user through the read volume and generate a product identifier of the item and (2) a downstream collection section comprising a bagging section within which items read by the optical code reader are collected as placed therein by the user after having passed them through the read volume, the method comprising the steps of

a user passing an item bearing an optical code through the read volume of the optical code reader within the data reader section;

reading the optical code with the optical code reader, the optical code reader generating a product identifier of the item;

the user placing an item into the bagging section;

by means of at least one camera disposed with a field of view of the bagging section, capturing one or more images of the item placed into the bagging section; and

by means of a processor, (a) accessing a database of features and images of known objects, (b) extracting a plurality of visual features from the one or more images of the item, (c) identifying matches between the extracted visual features and the features of known objects, (d) generating a geometric transform between the extracted visual features and the features of known objects for a subset of known objects corresponding to the matches, (e) identifying one of the known objects based on a best match of the geometric transform; and

executing one of a predetermined set of actions if the known object that has been identified from the extracted visual features is different than the item corresponding to the product identifier.

15. A method according to claim 14, wherein the predetermined set of actions is selected from the group consisting of:

prompting the user to read the optical code, prompting the user to re-read the optical code, adding a price of the item to a checkout list, increasing an alert level, preventing a payment system from processing payment, and alerting a cashier.

16. A method according to claim 14, wherein the predetermined set of actions comprises taking action based at least in part on the value of a difference in price between the known object and the item corresponding to the product identifier.

17. A method according to claim 14, wherein a bag is disposed within the bagging section, and wherein the camera is disposed with a field of view of an opening of the bag, the method further comprising by means of the processor, verifying that an item placed in the bag corresponds to an item previously read by the optical code reader.

18. A method according to claim 17, wherein if a known object is unable to be identified, prompting the user to remove the item from the bag and replace the item back into the bag repeating the step of capturing one or more images of the item placed into the bagging section.

19. A method according to claim 17 further comprising generating a list of items that do not require verifying.

20. A method according to claim 14, wherein the step of extracting a plurality of visual features from the one or more images of the item comprises extracting geometric point features.

21. A method according to claim 14, wherein the predetermined set of actions comprises increasing an alert level and generating an alert if the alert level exceeds a given threshold.

22. A method of self-checkout at point of sale station, the station having (1) a data reader section including an optical code reader with a read volume and configured to read an optical code on an item being passed by a user through the read volume and generate a product identifier of the item and (2) a downstream collection section comprising at least one of a bagging area and a conveyor section within which items read by the optical code reader are collected having been placed therein by the user after having passed them through the read volume, the method comprising the steps of

via the optical code reader, identifying items by attempting to read the optical code on each item as it is passed through the read volume;

the user moving an item into the collection section;

by means of at least one camera disposed with a field of view of the collection section, capturing one or more images of the item moved into the downstream section;

by means of a processor, (a) accessing a database of features and images of known objects, (b) extracting a plurality of visual features from the one or more images of the item, (c) identifying matches between the extracted visual features and the features of known objects, (d) generating a geometric transform between the extracted visual features and the features of known objects for a subset of known objects corresponding to the matches, (e) identifying one of the known objects based on a best match of the geometric transform;

determining whether the known object identified in the collection section does not correspond to any item having been identified by the optical code reader in a current transaction;

if the known object identified in the collection section is determined to not correspond to any item having been identified by the optical code reader in a current transaction, taking a remedial action selected from the group consisting of;

adding the known object identified to a list of items being purchased, and inquiring of the user whether the known object identified is desired to be added the list of items being purchased.

23. A method according to claim 22 wherein the step of taking a remedial action selected from the group comprising adding the known object identified to the list of items being purchased, notifying the user that the known object identified has been so added.