Article processing apparatus, system and method therefor

An imaging processing device comprising:

• processing means, wherein the processing means is configured to:
• a. receive an image of a region of interest comprising a first article in response to the article being placed on a belt wherein the belt is configured to convey the article along a path between an origin and a destination;
• b. determine a plurality of coordinates in three-dimensional space associated with the region of interest;
• c. determine from the plurality of coordinates:
• i. whether a tub has been placed on the belt;
• ii. that the first article is conveyable along the path in response to a determination that a tub has been placed on the belt;
• and/or
• d. determine from the plurality of coordinates:
• i. whether the first article has an irregular shape;
• and/or
• ii. whether a second article has been placed on the belt;
• iii. that the first article is not conveyable along the path in response to a determination that the first article has an irregular shape or that a second article has been placed on the belt.