Fuente: Wipo "Sensorization" Methods, apparatus, and systems are described for quantifying space within a container using a removable scanning sensor node. The removable scanning sensor node identifies a type of the container, uses at least one depth sensor on the removable scanning sensor node to scan the space within the container to generate scan data, where the removable scanning sensor node is temporarily mounted within the container and above the space within the container, and where the depth sensor is oriented to scan the space within the container from above the space and within the container. The removable scanning sensor node then determines an unoccupied amount of the space within the container based upon the scan data.