US 12,462,557 B2
Method, apparatus, and system for pole extraction from optical imagery
Robert Ledner, Boulder, CO (US); Xiaoying Jin, Boulder, CO (US); Holly Russell, Lafayette, CO (US); and Joseph Tankovich, Chicago, IL (US)
Assigned to HERE Global B.V., Eindhoven (NL)
Filed by HERE Global B.V., Eindhoven (NL)
Filed on Jun. 29, 2022, as Appl. No. 17/853,445.
Claims priority of provisional application 63/293,360, filed on Dec. 23, 2021.
Prior Publication US 2023/0206625 A1, Jun. 29, 2023
Int. Cl. G06V 20/10 (2022.01); G01C 11/08 (2006.01); G06V 10/82 (2022.01)
CPC G06V 20/176 (2022.01) [G01C 11/08 (2013.01); G06V 10/82 (2022.01)] 14 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
processing a plurality of images using a machine learning model to generate a plurality of redundant observations of a pole-like object respectively depicted in the plurality of images;
performing a photogrammetric triangulation of the plurality of redundant observations to determine three-dimensional coordinate data of the pole-like object, wherein the machine learning model generates the plurality of redundant observations based on detecting one or more semantic keypoints comprising a geometric representation of the pole-like object, and wherein the three-dimensional coordinate data include respective three-dimensional coordinates of the one or more semantic keypoints;
determining a location, a geometric attribute, or a combination thereof of the pole-like object based on the three-dimensional coordinate data; wherein the geometric attribute includes a length, an orientation, or a combination thereof; and
providing the three-dimensional coordinate data and the geometric attribute of the pole-like object as an output.