	US 12,190,589 B2
	Homography error correction using sensor locations
Shahmeer Ali Mirza, Celina, TX (US); Sailesh Bharathwaaj Krishnamurthy, Irving, TX (US); and Kyle Dalal, Coppell, TX (US)
Assigned to 7-ELEVEN, INC., Irving, TX (US)
Filed by 7-Eleven, Inc., Irving, TX (US)
Filed on Feb. 10, 2022, as Appl. No. 17/650,639.
Application 17/650,639 is a continuation of application No. 17/105,230, filed on Nov. 25, 2020, granted, now 11,301,691.
Application 17/105,230 is a continuation in part of application No. 16/663,710, filed on Oct. 25, 2019, granted, now 11,188,763, issued on Nov. 30, 2021.
Application 17/105,230 is a continuation in part of application No. 16/663,766, filed on Oct. 25, 2019, granted, now 11,132,550, issued on Sep. 28, 2021.
Application 17/105,230 is a continuation in part of application No. 16/663,451, filed on Oct. 25, 2019, granted, now 10,943,287, issued on Mar. 9, 2021.
Application 17/105,230 is a continuation in part of application No. 16/663,794, filed on Oct. 25, 2019, granted, now 11,367,124.
Application 17/105,230 is a continuation in part of application No. 16/663,822, filed on Oct. 25, 2019, granted, now 11,113,837, issued on Sep. 7, 2021.
Application 17/105,230 is a continuation in part of application No. 16/941,415, filed on Jul. 28, 2020, granted, now 11,430,222.
Application 16/663,710 is a continuation of application No. 16/794,057, filed on Feb. 18, 2020, granted, now 10,769,451, issued on Sep. 8, 2020.
Application 16/794,057 is a continuation of application No. 16/663,472, filed on Oct. 25, 2019, granted, now 10,614,318, issued on Apr. 7, 2020.
Application 17/650,639 is a continuation in part of application No. 16/663,856, filed on Oct. 25, 2019, granted, now 10,956,777, issued on Mar. 23, 2021.
Application 17/650,639 is a continuation in part of application No. 16/664,160, filed on Oct. 25, 2019, granted, now 11,568,554.
Application 17/650,639 is a continuation in part of application No. 17/071,262, filed on Oct. 25, 2020, granted, now 11,974,077, issued on Mar. 23, 2021.
Application 16/663,856 is a continuation of application No. 16/857,990, filed on Apr. 24, 2020, granted, now 10,853,663, issued on Dec. 1, 2020.
Application 16/857,990 is a continuation of application No. 16/793,998, filed on Feb. 18, 2020, granted, now 10,685,237, issued on Jun. 16, 2020.
Application 16/793,998 is a continuation of application No. 16/663,500, filed on Oct. 25, 2019, granted, now 10,621,444, issued on Apr. 14, 2020.
Application 17/650,639 is a continuation in part of application No. 16/857,990, filed on Apr. 24, 2020, granted, now 10,853,663, issued on Dec. 1, 2020.
Application 16/857,990 is a continuation of application No. 16/793,998, filed on Feb. 18, 2020, granted, now 10,685,237, issued on Jun. 16, 2020.
Application 16/793,998 is a continuation of application No. 16/663,500, filed on Oct. 25, 2019, granted, now 10,621,444, issued on Apr. 14, 2020.
Application 17/650,639 is a continuation in part of application No. 16/664,219, filed on Oct. 25, 2019, granted, now 11,107,226, issued on Aug. 31, 2021.
Application 17/650,639 is a continuation in part of application No. 16/664,269, filed on Oct. 25, 2019, granted, now 11,004,219, issued on May 11, 2021.
Application 17/650,639 is a continuation in part of application No. 16/664,332, filed on Oct. 25, 2019, granted, now 11,176,686, issued on Nov. 16, 2021.
Application 17/650,639 is a continuation in part of application No. 16/664,363, filed on Oct. 25, 2019, granted, now 11,080,529, issued on Aug. 3, 2021.
Application 17/650,639 is a continuation in part of application No. 16/664,391, filed on Oct. 25, 2019, granted, now 11,062,147, issued on Jul. 13, 2021.
Application 17/650,639 is a continuation in part of application No. 16/664,426, filed on Oct. 25, 2019, granted, now 11,308,630.
Application 17/650,639 is a continuation in part of application No. 16/884,434, filed on May 27, 2020, granted, now 11,205,277, issued on Dec. 21, 2021.
Application 16/664,219 is a continuation of application No. 16/663,533, filed on Oct. 25, 2019, granted, now 10,789,720, issued on Sep. 29, 2020.
Application 17/650,639 is a continuation in part of application No. 16/663,901, filed on Oct. 25, 2019, granted, now 11,430,046.
Application 17/650,639 is a continuation in part of application No. 16/663,948, filed on Oct. 25, 2019, granted, now 11,257,225, issued on Feb. 22, 2022.
Prior Publication US 2022/0165063 A1, May 26, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06V 20/52 (2022.01); G06Q 20/20 (2012.01); G06Q 30/0601 (2023.01); G06T 7/215 (2017.01); G06T 7/223 (2017.01); G06T 7/246 (2017.01); G06T 7/292 (2017.01)

CPC G06V 20/52 (2022.01) [G06Q 20/20 (2013.01); G06Q 30/0633 (2013.01); G06T 7/215 (2017.01); G06T 7/223 (2017.01); G06T 7/246 (2017.01); G06T 7/292 (2017.01); G06T 2207/10021 (2013.01); G06T 2207/30232 (2013.01)]

17 Claims

1. An object tracking system, comprising:

a first sensor configured to capture frames of a global plane for at least a first portion of a space, wherein:

the global plane represents (x,y) coordinates for the at least a portion of the space; and

each frame comprises a plurality of pixels;

a second sensor configured to capture frames of the global plane for at least a second portion of the space; and

a tracking system operably coupled to the first sensor and the second sensor, comprising:

one or more memories operable to store:

a first homography associated with the first sensor, wherein the first homography comprises coefficients that translate between pixel locations in a frame from the first sensor and (x,y) coordinates in the global plane; and

a second homography associated with the second sensor, wherein the second homography comprises coefficients that translate between pixel locations in a frame from the second sensor and (x,y) coordinates in the global plane; and

one or more processors operably coupled to the one or more memories, configured to:

store a first (x,y) coordinate for a first marker in the global plane, wherein the first marker is within a first frame associated with the first sensor;

store a second (x,y) coordinate for a second marker in the global plane, wherein the second marker is within a second frame associated with the second sensor;

determine a computed distance between the first (x,y) coordinate and the second (x,y) coordinate;

determine a distance difference between the computed distance and an actual distance between the first marker and the second marker;

compare the distance difference to a difference threshold level; and

recompute at least one of the first homography and the second homography in response to determining that the distance difference exceeds the difference threshold level.