1. An automated checkout system for point-of-sale, comprising a data reader section including an optical code reader having a read volume and configured to read an optical code on an item being passed through the read volume and generate a product identifier of the item; a collection section within which items read by the optical code reader are collected after the items have been passed through the read volume; at least one camera disposed with a field of view of the collection section for capturing one or more images of the item within the collection section; a database of features and images of known objects; an image processor configured to a) extract a plurality of visual features from the one or more images of the item, b) identify matches between the extracted visual features and the features of known objects, c) generate a geometric transform between the extracted visual features and the features of known objects for a subset of known objects corresponding to the matches, and d) identify one of the known objects based on a best match of the geometric transform; and a transaction processor configured to execute at least one of a predetermined set of actions if the known object that has been identified is different than the item corresponding to the product identifier.