The empty vs. non-empty status of a cargo container is detected based on boundary analysis of a wide-angle image obtained by a monocular vision system. The wide-angle image is warped to remove distortion created by the vision system optics, and the resulting image is edge-processed to identify the boundaries of the container floor. If package boundaries are detected within the floor space, or a large foreground package is blocking the floor boundaries, the cargo status is set to non-empty. If floor boundaries are detected and no package boundaries are detected within the floor space, the cargo status is set to empty.