The definition of poverty changes with circumstance.
The poor in America live better than most Kings lived throughout history.
Today's American poor have cars, often cell phones, their diseases are cured, their life expediencies longer than the monarchs of history, and the biggest threat they face is obesity from over-eating.
"The theory of Dual Morality" teaches us that one side of our moral outlook will always find any inequality as troubling.
As long as there are some who have more than others, the people who have less will be categorized as POOR.
Part of us will feel guilty if the lower 10% of the population lives in only 1000 square foot heated apartments while the richer folks live in mansions.
So poverty can never be eliminated. It is a moral target that we will never fail to find.