Accel Robotics Corporation

Kaylee Feigum

Csaba Petre

Marius Buibas

John Quinn

Martin Alan Cseh

Michael Brandon Maseda

Filip Lukasz Piekniewski

Aleksander Bapst

Chin-Chang Kuo

Soheyl Yousefisahi

A projected image item tracking system that analyzes projected camera images to determine items taken from, placed on, or moved on a shelf or other area in an autonomous store. The items and actions performed on them may then be attributed to a shopper near the area. Projected images may be combined to generate a 3D volume difference between the state of the area before and after shopper interaction. The volume difference may be calculated using plane-sweep stereo, or using convolutional neural networks. Because these methods may be computationally intensive, the system may first localize a change volume where items appear to have been displaced, and then generate a volume difference only within that change volume. This optimization results in significant savings in power consumption and in more rapid identification of items. The 3D volume difference may also indicate the quantity of items displaced, for example from a vertical stack.

Multi-surface image projection item tracking system

Person and projected image item tracking system

A system that integrates camera images and quantity sensors to determine items taken from, placed on, or moved on a shelf or other area in an autonomous store. The items and actions performed may then be attributed to a shopper near the area. Shelves may be divided into storage zones, such as bins or lanes, and a quantity sensor may measure the item quantity in each zone. Quantity changes indicate that a shopper has taken or placed items in the zone. Distance sensors, such as LIDAR, may be used for shelves that push items towards the front. Strain gauges may be used for bins or hanging rods. Quantity changes may trigger analysis of camera images of the shelf to identify the items taken or replaced. Images from multiple cameras that view a shelf may be projected to a vertical plane at the front of the shelf to simplify analysis.

Camera-based tracking and authorization extension system

Smart shelf system that integrates images and quantity sensors

Projected image item tracking system

An autonomous store system that analyzes camera images to track people and their interactions with items using a processor that obtains a 3D model of a store that contains items and item storage areas. Receives images from cameras captured over a time period and analyzes the images and the 3D model of the store to detect a person in the store based on the images, calculates a trajectory of the person, identifies an item storage area proximal to the trajectory of the person during an interaction time period, analyzes two or more images to identify an item within the item storage area that is moved during the interaction time period. The images are captured within or proximal in time to the interaction time period, and the images contain views of the item storage area, and attribute motion of the item to the person. Enables calibration and placement algorithms for cameras.

Autonomous store system that analyzes camera images to track people and their interactions with items

A system that analyzes camera images to track a person in an autonomous store, and to determine when a tracked person takes or moves items in the store. The system may associate a field of influence volume around a person's location; intersection of this volume with an item storage area, such as a shelf, may trigger the system to look for changes in the items on the shelf. Items that are taken from, placed on, or moved on a shelf may be determined by a neural network that processes before and after images of the shelf. Person tracking may be performed by analyzing images from fisheye ceiling cameras projected onto a plane horizontal to the floor. Projected ceiling camera images may be analyzed using a neural network trained to recognize shopper locations. The autonomous store may include modular ceiling and shelving fixtures that contain cameras, lights, processors, and networking.

Autonomous store tracking system

A system that analyzes camera images to track a person from a point where the person obtains an authorization to a different point where the authorization is used. The authorization may be extended in time and space from the point where it was initially obtained. Scenarios enabled by embodiments include automatically opening a locked door or gate for an authorized person and automatically charging items taken by a person to that person's account. Supports automated stores that allow users to enter, take products and exit without explicitly paying. An illustrative application is an automated, unmanned gas station that allows a user to pay at the pump and then enter a locked on-site convenience store or a locked case with products the user can take for automatic purchase. Embodiments may also extend authorization to other people, such as occupants of the same vehicle.

Growing community of inventors

San Diego, CA, United States of America

Kaylee Feigum