1. A system for detecting cookware, the system comprising: a vision sensor positioned so as to collect imagery depicting a cooktop; one or more processors; and one or more non-transitory computer-readable media storing instructions that, when executed by the one or more processors, cause the one or more processors to perform operations, the operations comprising: obtaining a frame of imagery depicting the cooktop; performing background subtraction for the frame of imagery with respect to a reference frame of imagery depicting the cooktop without any objects placed thereon; after performing the background subtraction for the frame of imagery, using a classifier to classify the frame of imagery as either depicting cookware or not depicting cookware; and when the frame is classified as depicting cookware, performing one or more operations in response to the detected cookware.