Method for scene segmentation

A method comprising:

• by a robotic system deployed in the store:
• detecting a first shelving structure within a store;
• and
• capturing a first image while occupying a first location proximal the first shelving structure;
• and
• by a computer system:
• detecting, in the first image:
• a first shelving segment;
• a first shelf face of a first shelf in the first shelving segment;
• a first segment tag, arranged on the first shelving segment;
• and
• a first slot tag arranged on the first shelf face;
• reading a first segment identifier from the first slot tag;
• retrieving a first product type assigned to a first slot associated with the first slot tag;
• defining a first region in the first image depicting the first shelving segment;
• in response to detecting a first set of product features, in the first region of the first image, analogous to a first product template of product types assigned to the first shelving segment and corresponding to a first unit of a first product type, recording the first product type as stocked in the first shelving segment;
• querying a first list of product types assigned to the first shelving segment for the first product identifier;
• and
• in response to absence of the first product identifier in the first list of product types assigned to the first shelving segment, appending the first product type to the first list of product types assigned to the first shelving segment.

A method comprising:

• by a sensor block, scanning shelving structures within a store;
• and
• by a computer system:
• detecting, in a first image captured by the sensor block during a first time period:
• a first shelving segment;
• a second shelving segment adjacent the first shelving segment;
• and
• a second segment tag arranged on the second shelving segment;
• reading a second segment identifier from the second segment tag;
• in response to detecting a first segment tag as obscured in the first image, interpolating a first segment identifier of the first segment tag based on the second segment identifier;
• defining a first region in the first image depicting the first shelving segment;
• and
• in response to detecting absence of a first set of product features, in the first region of the first image, analogous to a first product template, in a first set of product templates assigned to the first shelving segment and corresponding to a first product type in the first set of product types:
• detecting a second set of product features, in the first shelving segment depicted in the first image, analogous to a second product template corresponding to a second product type excluded from the first set of product types;
• detecting a second unit of the second product type in the first shelving segment based on the second set of product features;
• and
• prompting a store associate to audit the first shelving segment.