Detecting and identifying misplaced items using a sensor array

An object tracking method, comprising:

• receiving a first frame of a global plane for at least a first portion of a space from a first sensor, wherein:
• the global plane represents (x,y) coordinates for the at least a portion of the space;
• the first frame comprises a plurality of pixels;
• each pixel from the plurality of pixels is associated with a pixel location comprising a pixel row and a pixel column;
• each pixel in the first frame is associated with a pixel value that indicates a distance between the first sensor and a surface in the space;
• identifying the object within the first frame;
• determining a first pixel location for the object, wherein the first pixel location comprises a first pixel row and a first pixel column of the first frame;
• determining a first pixel value at the first pixel location;
• determining the object is within the overlap region with a second sensor based on the first pixel location, wherein the second sensor configured to capture a second frame of at least a second portion of the space;
• in response to determining that the object is within the overlap region with the second sensor:
• applying a first homography to the first pixel value to determine a first height for the object, wherein:
• the first homography is configured to translate between pixel locations in the first frame and (x,y) coordinates in the global plane;
• and
• the first homography is configured to translate between pixel values in the first frame and z-coordinates in the global plane;
• identifying an object identifier for the object from a first tracking list, wherein the first tracking list identifies:
• an object identifier for an object being tracked by the first sensor;
• and
• pixel location information corresponding with a location of the object in the first frame;
• and
• storing the object identifier for the object in a second tracking list associated with the second sensor.

A non-transitory computer readable medium storing instructions that when executed by a processor cause the processor to:

• receive a first frame of a global plane for at least a first portion of a space from a first sensor, wherein:
• the global plane represents (x,y) coordinates for the at least a portion of the space;
• the first frame comprises a plurality of pixels;
• each pixel from the plurality of pixels is associated with a pixel location comprising a pixel row and a pixel column;
• and
• each pixel in the first frame is associated with a pixel value that indicates a distance between the first sensor and a surface in the space;
• identify the object within the first frame;
• determine a first pixel location for the object, wherein the first pixel location comprises a first pixel row and a first pixel column of the first frame;
• determine a first pixel value at the first pixel location;
• determine the object is within the overlap region with a second sensor based on the first pixel location, wherein the second sensor configured to capture a second frame of at least a second portion of the space;
• in response to determining that the object is within the overlap region with the second sensor:
• apply a first homography to the first pixel value to determine a first height for the object, wherein:
• the first homography is configured to translate between pixel locations in the first frame and (x,y) coordinates in the global plane;
• and
• the first homography is configured to translate between pixel values in the first frame and z-coordinates in the global plane;
• identify an object identifier for the object from a first tracking list, wherein the first tracking list identifies:
• the object identifier for an object being tracked by the first sensor;
• and
• pixel location information corresponding with a location of the object in the first frame;
• and
• store the object identifier for the object in a second tracking list associated with the second sensor.