US 12,450,771 B2
System and method for load-carrier pose estimation
Gijs Dubbelman, Eindhoven (NL); Jonathan Broere, Eindhoven (NL); and Guus Engels, Eindhoven (NL)
Assigned to Avular Holding B.V., Eindhoven (NL)
Filed by Avular Holding B.V., Eindhoven (NL)
Filed on Aug. 12, 2022, as Appl. No. 17/886,839.
Claims priority of application No. 2032176 (NL), filed on Jun. 15, 2022.
Prior Publication US 2023/0410360 A1, Dec. 21, 2023
Int. Cl. G06T 7/73 (2017.01)
CPC G06T 7/74 (2017.01) [G06T 2207/10028 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30268 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A system for Load-carrier Pose estimation, the system comprising:
a driving vehicle;
a Load-carrier for supporting a load, wherein the Load-carrier comprises Load-carrier handling indicators or Keypoints; and
a 2D sensor and a 3D sensor, wherein the system is arranged to carry out a first estimation phase in which a Load-carrier detection is carried out, followed by a second estimation phase wherein a Pose estimation is applied, the Pose representing a relative position and orientation of the Load-carrier with reference to the vehicle, and wherein the second estimation phase is embodied with 2D key point detection and 3D matching of such 2D Keypoints, and wherein in a third estimation phase the system employs Pose estimation using 3D template matching initialized by the Pose estimation resulting from the second phase.