Patent attributes
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for on-shelf merchandise detection are provided. One of the methods includes: obtaining a plurality of depth images associated with a shelf from a first camera; obtaining a plurality of images from one or more second cameras associated with each of a plurality of tiers of the shelf; detecting motions of a user's hand comprising reaching into and moving away from the shelf; determining one of the tiers of the shelf associated with the detected motions, a first point of time associated with reaching into the shelf, and a second point of time associated with moving away from the shelf; identifying a first image captured before the first point in time and a second image captured after the second point in time; and comparing the first image and the second image to determine one or more changes to merchandise.
