Patent attributes
A method of label detection includes: obtaining, by an imaging controller, an image depicting a shelf; increasing an intensity of a foreground subset of image pixels exceeding an upper intensity threshold, and decreasing an intensity of a background subset of pixels below a lower intensity threshold; responsive to the increasing and the decreasing, (i) determining gradients for each of the pixels and (ii) selecting a candidate set of the pixels based on the gradients; overlaying a plurality of shelf candidate lines on the image derived from the candidate set of pixels; identifying a pair of the shelf candidate lines satisfying a predetermined sequence of intensity transitions; and generating and storing a shelf edge bounding box corresponding to the pair of shelf candidate lines.
