A system and method of determining fluid levels in containers is disclosed. In a particular embodiment, a first value of infrared energy associated with an empty portion of a container is detected and the container is scanned to detect a second value of infrared energy that is different from the first value of infrared energy. The method also includes to store an upper limit value associated with a vertical location of an upper surface of a fluid level when the second value of infrared energy is detected and to scan the container to detect a third value of infrared energy that is different from the second value of infrared energy. In addition, a lower limit value associated with a vertical location of a lower surface of the fluid relative to the upper surface is stored when the third value of infrared energy is detected. A height of the fluid is determined using a difference between the upper limit value and the lower limit value.