Sensor mapping to a global coordinate system

A sensor mapping method, comprising:

• receiving a first (x,y) coordinate identifying a first x-value and a first y-value in a global plane where a first marker is located in a space, wherein:
• the global plane represents (x,y) coordinates for the at least a portion of the space;
• and
• the first marker is a first object identifying a first location in the space;
• receiving a second (x,y) coordinate identifying a second x-value and a second y-value in the global plane where a second marker is located in the space, wherein the second marker is a second object identifying a second location in the space;
• receiving a first frame of the global plane for at least a portion of the space from a first sensor, wherein:
• the first frame comprises a plurality of pixels;
• and
• each pixel from the plurality of pixels is associated with a pixel location comprising a pixel row and a pixel column;
• identifying the first marker and the second marker within the first frame;
• determining a first pixel location in the first frame for the first marker, wherein the first pixel location comprises a first pixel row and a first pixel column of the first marker;
• determining a second pixel location in the first frame for the second marker, wherein the second pixel location comprises a second pixel row and a second pixel column of the second marker;
• and
• generating a first homography based on the first (x,y) coordinate, the second (x,y) coordinate, the first pixel location, and the second pixel location, wherein the first homography comprises coefficients that translate between pixel locations in the first frame and (x,y) coordinates in the global plane.

A computer program comprising executable instructions stored in a non-transitory computer readable medium that when executed by a processor causes the processor to:

• receive a first (x,y) coordinate identifying a first x-value and a first y-value in a global plane where a first marker is located in a space, wherein:
• the global plane represents (x,y) coordinates for the at least a portion of the space;
• and
• the first marker is a first object identifying a first location in the space;
• receive a second (x,y) coordinate identifying a second x-value and a second y-value in the global plane where a second marker is located in the space, wherein the second marker is a second object identifying a second location in the space;
• receive a first frame of the global plane for at least a portion of the space from a first sensor, wherein:
• the first frame comprises a plurality of pixels;
• and
• each pixel from the plurality of pixels is associated with a pixel location comprising a pixel row and a pixel column;
• identify the first marker and the second marker within the first frame;
• determine a first pixel location in the first frame for the first marker, wherein the first pixel location comprises a first pixel row and a first pixel column of the first marker;
• determine a second pixel location in the first frame for the second marker, wherein the second pixel location comprises a second pixel row and a second pixel column of the second marker;
• and
• generate a first homography based on the first (x,y) coordinate, the second (x,y) coordinate, the first pixel location, and the second pixel location, wherein the first homography comprises coefficients that translate between pixel locations in the first frame and (x,y) coordinates in the global plane.