1. A method performed by a computing device for generating clusters of segments of common objects, the method comprising: accessing by the computing device images collected from containers containing objects; for each image, generating by the computing device a segmentation of the image, each segmentation having segments; generating by the computing device clusters of the segments of the images based on similarity among the segments, wherein each cluster contains segments of images collected from multiple containers; and designating by the computing device each cluster that satisfies an object criterion as representing a common object of the containers.