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the illumination is not so important, but they should be constant (avoid interfering light).

  • In a first step I would try to detect the box based on the outer contours, or place the box on a fixed position and define a mask
  • Second define a roi and calculate the profile for this roi, before you can apply a e.g. median filter to eliminate noise (see images below)
  • Third, for each tube, cup or empty there is a unique profile characteristics
  • Fourth, compare the unique characteristics with a current one based on a distance measure

Instead of comparing the profiles you can also try to do a template matching approach.

Image with ROI including background

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Image with ROI within box

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Image with applied median filter before

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