1. A programmable computer-implemented method for finding possible corners of a pallet in an image comprising: acquiring a grey scale image including one or more pallets; determining, using a computer, horizontal cross correlations between the image and a first step-edge template to generate a set of horizontal cross correlation results; determining, using said computer, vertical cross correlations between the image and a second step-edge template to generate a set of vertical cross correlation results; and determining, using said computer, a first set of pixels, each such pixel respectively corresponding to a possible first corner of the one or more pallets, using a first corner template, the set of horizontal cross correlation results and the set of vertical cross correlation results.