US 11,954,874 B2
Localization of elements in the space
Joachim Keinert, Erlangen (DE); and Thorsten Wolf, Erlangen (DE)
Assigned to Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., Munich (DE)
Filed by Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., Munich (DE)
Filed on Jul. 28, 2021, as Appl. No. 17/386,990.
Application 17/386,990 is a continuation of application No. PCT/EP2019/052027, filed on Jan. 28, 2019.
Prior Publication US 2021/0358163 A1, Nov. 18, 2021
Int. Cl. G06T 7/50 (2017.01); G06F 18/214 (2023.01); G06T 7/70 (2017.01); G06T 15/04 (2011.01); G06T 15/08 (2011.01); G06V 20/64 (2022.01)
CPC G06T 7/50 (2017.01) [G06F 18/214 (2023.01); G06T 7/70 (2017.01); G06T 15/04 (2013.01); G06T 15/08 (2013.01); G06V 20/647 (2022.01); G06V 20/653 (2022.01); G06T 2207/20092 (2013.01)] 35 Claims
OG exemplary drawing
 
1. A method for localizing, in a space comprising at least one determined object, an object element associated to a particular 2D representation element in a determined 2D image of the space, the method comprising:
deriving a range or interval of candidate spatial positions for the imaged object element on the basis of predefined positional relationships, wherein the range or interval of candidate spatial positions for the imaged object element is developed in a depth direction with respect to the determined 2D representation element;
restricting the range or interval of candidate spatial positions to at least one restricted range or interval of admissible candidate spatial positions, wherein restricting comprises limiting the range or interval of candidate spatial positions using at least one inclusive volume surrounding at least one determined object, wherein restricting further comprises defining at least one surface approximation, so as to limit the at least one range or interval of candidate spatial positions to the at least one restricted range or interval of admissible candidate spatial positions, wherein restricting comprises defining at least one surface-approximation-defined extremity of the at least one restricted range or interval of admissible candidate spatial positions, wherein the at least one surface-approximation-defined extremity is located at the intersection between the surface approximation and the range or interval of candidate spatial positions, wherein restricting comprises defining at least one inclusive-volume-defined extremity of the at least one restricted range or interval of admissible candidate spatial positions which is located at the intersection between the range or interval of candidate spatial position and the inclusive volume; and
retrieving, among the admissible candidate spatial positions of the restricted range or interval, a most appropriate candidate spatial position on the basis of similarity metrics.