Method for determining projecting edges of a target on an image
US11069087B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 19, 2018 |
| Grant date | Jul 20, 2021 |
| Priority date | — |
| Expiry date | Dec 19, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for locating a three-dimensional target with respect to a vehicle is disclosed including capturing an image of the target, and from a three-dimensional mesh of the target, and from an estimation of the pose of the target, determining a set of projecting edges of the mesh of the target in the pose. The step of determining the projecting edges of the mesh of the target includes positioning the mesh of the target according to the pose, projecting in two dimensions the mesh so positioned, scanning the projection of the mesh in a plurality of scanning rows and, for each scanning row: defining a set of segments, each segment corresponding to the intersection of a face of the mesh with the scanning row and being defined by its ends, analyzing the relative depths of the ends of the segments, the depth being the position along a third dimension orthogonal to the two dimensions of the projection, in order to select a set of end points of segments corresponding to projecting edges of the mesh.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.