1. A method to detect an object in an image comprising: retrieving a first image of a first object and a second image of a search area; determining a first score based on a first chamfer distance between first edges of the first object in the first image and second edges in the second image of the search area, the first chamfer distance being a first measure of pixel distances between portions of the first edges and the second edges; determining a second score corresponding to a second chamfer distance between the second edges of the search area and a mathematical representation of a plurality of shapes, the second score representing a similarity between the second edges of the search area and the plurality of shapes observed simultaneously, the second chamfer distance being a second measure of pixel distances between portions of the second edges and the mathematical representation of the plurality of shapes; determining a normalized score by normalizing the first score based on the second score; and detecting a presence of a second object in the second image of the search area matching the first object when the normalized score satisfies a threshold score.