E. Brauntain, J. Lam and M. Greenspan, “Method, System and Apparatus for Detecting Item Facings”, United States Patent no. 16/713508, filed 11th February 2020.

M. Greenspan, “Method and Apparatus for Positional Error Correction in a Robotic Pool System Using a Cue-Aligned Local Camera”, United States Patent no. 7,831,337, Nov. 9, 2010.

M. Greenspan, “Method for Recognizing 3D Objects in Range Images”, United States Patent no. 6,026,189, Feb. 15, 2000.

M. Greenspan and N. Burtnyk, “Real Time Collision Detection”, Canadian Patent no. 2,120,534, May 4, 2004.

N. Burtnyk and M. Greenspan, “System for Determining the Pose of An Object Which Utilizes Range Profiles and Synthetic Profiles Derived from a Model”, United States Patent no. 5,471,541, Nov. 28, 1995.

M. Greenspan and N. Burtnyk, “Real Time Collision Detection”, United States Patent no. 5,347,459, Sept. 13, 1994.