Method, system and apparatus for recovering label positions

A computing device for recovering label positions, comprising:

• a memory;
• and
• an imaging controller connected to the memory, the imaging controller configured to:
• receive (i) a definition of a plane containing edges of a support structure, and (ii) a plurality of initial label indicators having locations on the plane, where an initial label indicator indicates a single physical label in one image frame of a plurality of image frames;
• assign the plurality of initial label indicators among a plurality of candidate subsets of initial label indicators, each candidate subset of initial label indicators representing the single physical label;
• for each candidate subset of initial label indicators:
• generate, for each of a plurality of projection depths relative to the plane, a set of projections of the initial label indicators in the candidate subset of initial label indicators;
• select, as a recovered depth for the candidate subset of initial label indicators, one of the projection depths based on the sets of projections;
• and
• generate a recovered position for the candidate subset of initial label indicators based on the recovered depth;
• and
• the imaging controller further configured to store the recovered positions in the memory.