# US 12,002,228 B2 · Systems and methods for identifying inclined regions > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,002,228 B2 - Document ID: US12002228B2 - Status: Granted - Kind: B2 - Application number: 17/402,170 - Filed: 2021-08-13 - Published: 2023-02-16 - Granted: 2024-06-04 - Earliest claimed: 2021-08-13 - Assignees: HERE Global B.V. - Applicants: HERE Global B.V. - Inventors: Priyank Sameer - Web page: https://patentgrep.com/patent/US12002228B2 ## CPC - G06T 7/507: from shading (G06T7/586 takes precedence) - G06T 3/4038: Image mosaicing, e.g. composing plane images from plane sub-images - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - G06T 7/73: using feature-based methods - G06V 20/13: Satellite images - G06V 20/17: taken from planes or by drones - G06V 20/176: {Urban or other man-made structures} - G06V 40/103: {Static body considered as a whole, e.g. static pedestrian or occupant recognition} - G06T 2207/10032: Satellite or aerial image; Remote sensing - G06T 2207/30181: Earth observation - G06T 2207/30184: Infrastructure - G06T 2207/30196: Human being; Person - G06V 2201/07: Target detection - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Systems and methods for identifying inclined regions are provided. In one aspect, a method is provided that includes receiving shadow data for at least one first ground object in a first region, wherein each first ground object is depicted in one overhead image of the first region, wherein the shadow data comprises a length of the respective first ground object as identified from the respective overhead image; receiving shadow data for at least one second comparable ground object in a second region, wherein each second ground object is depicted in one overhead image of the second region, wherein the shadow data comprises a length of the respective second ground object as identified from the respective overhead image; calculating a statistical measure describing the variability of the shadow lengths between objects in the first region and the second region; comparing the statistical measure to a predetermined threshold; and based on the comparison, identifying that the first region is inclined relative to the second region. ## Claims ### Claim 1 A computer-implemented method for identifying region incline from at least one temporally-compatible overhead image, the method comprising: receiving shadow data for at least one first ground object in a first region, wherein each first ground object is depicted in one overhead image of the first region, wherein the shadow data comprises a length of the respective first ground object as identified from the respective overhead image; receiving shadow data for at least one second comparable ground object in a second region, wherein each second ground object is depicted in one overhead image of the second region, wherein the shadow data comprises a length of the respective second ground object as identified from the respective overhead image; calculating a statistical measure describing the variability of the shadow lengths between objects in the first region and the second region; comparing the statistical measure to a predetermined threshold; and based on the comparison, identifying that the first region is inclined relative to the_second region. ### Claim 2 (depends on 1) The method of claim 1, wherein the first and second ground objects are pedestrians. ### Claim 3 (depends on 1) The method of claim 1, wherein the first and second ground objects are items of street furniture of the same type. ### Claim 4 (depends on 3) The method of claim 3, wherein the first and second ground objects are one of: streetlamps, traffic lights, road signs, telephone booths, mail boxes, street bollards, telephone poles and electricity pylons. ### Claim 5 (depends on 1) The method of claim 1, wherein the statistical measure describing the variability of the shadow lengths between objects in the first region and the second region comprises one or more of: a difference, a standard deviation, a variance, and an interquartile range. ### Claim 6 (depends on 1) The method of claim 1, wherein the type of statistical measure calculated depends on one or more of: the number of the at least one first ground objects and/or the number of the at least one second ground objects for which shadow data is received; the number of overhead images from which the at least one first ground object and at least one second ground objects have been identified; and the type of ground object. ### Claim 7 (depends on 1) The method of claim 1, wherein the type and/or value of the predetermined threshold depends on one or more of: the number of the at least one first ground objects and/or the number of the at least one second ground objects for which shadow data is received; the number of overhead images from which the at least one first ground object and at least one second ground objects have been identified; and the type of ground object. ### Claim 8 (depends on 1) The method of claim 1, wherein the at least one overhead image comprises at least one satellite image, at least one image captured by an unmanned aerial vehicle, or at least one image captured by a manned aerial vehicle. ### Claim 9 (depends on 1) The method of claim 1, wherein the at least one temporally-compatible overhead image comprises one of: a single image; two images captured on the same day at substantially the same time; two images captured on the same day within a short time threshold; and two images captured on consecutive days at substantially the same time. ### Claim 10 (depends on 1) The method of claim 1, wherein the first region is within a distance threshold of the second region. ### Claim 11 (depends on 1) The method of claim 1, wherein one of the first region and the second region is a default region for which an inclination is known. ### Claim 12 (depends on 1) The method of claim 1, wherein: the at least one first ground object comprises a first pedestrian depicted in a first overhead image of the first region, the at least one second comparable ground object comprises the same first pedestrian depicted in a second overhead image of the second region, the first overhead image and the second overhead image are captured a short time period apart on the same day, and the first pedestrian is tracked moving between the first region as depicted in the first overhead image and the second region as depicted in the second overhead image. ### Claim 13 (depends on 1) The method of claim 1, wherein all of the at least one first ground object and at least one comparable second ground object are depicted in the same one overhead image. ### Claim 14 (depends on 1) The method of claim 1, further comprising updating a geographic database to indicate that the first region is inclined relative to the second region. ### Claim 15 (depends on 1) The method of claim 1, further comprising: identifying that the first region is more inclined than the second region, based on the comparison and at least one piece of additional information. ### Claim 16 (depends on 1) The method of claim 1, wherein the identification that the first region is inclined relative to the second region is an identification that at least part of the first region is inclined relative to at least part of the second region. ### Claim 17 (depends on 16) The method of claim 16, further comprising repeating the receiving, receiving, calculating, comparing and identifying steps for a first subregion of the first region and a second subregion of the second region. ### Claim 18 A computer-implemented method for identifying region incline from overhead imagery, the method comprising: receiving shadow data for at least one first ground object depicted in a first region of an overhead image, wherein the shadow data comprises a length of the respective first ground object as identified from the overhead image; receiving shadow data for at least one second comparable ground object depicted in a second region of the overhead image, wherein the shadow data comprises a length of the respective second ground object as identified from the overhead image; calculating a statistical measure describing the variability of the shadow lengths between objects in the first region and the second region; comparing the statistical measure to a predetermined threshold; and based on the comparison, identifying that the first region is inclined relative to the_second region. ### Claim 19 An apparatus comprising at least one processor; and at least one memory including computer program code; the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to: receive shadow data for at least one first ground object in a first region, wherein each first ground object is depicted in one overhead image of the first region, wherein the shadow data comprises a length of the respective first ground object as identified from the respective overhead image; receive shadow data for at least one second comparable ground object in a second region, wherein each second ground object is depicted in one overhead image of the second region, wherein the shadow data comprises a length of the respective second ground object as identified from the respective overhead image; calculate a statistical measure describing the variability of the shadow lengths between objects in the first region and the second region; compare the statistical measure to a predetermined threshold; and based on the comparison, identify that the first region is inclined relative to the second region. ### Claim 20 A non-transitory computer-readable medium comprising computer-readable instructions which, when executed on an computer, cause the computer to: receive shadow data for at least one first ground object in a first region, wherein each first ground object is depicted in one overhead image of the first region, wherein the shadow data comprises a length of the respective first ground object as identified from the respective overhead image; receive shadow data for at least one second comparable ground object in a second region, wherein each second ground object is depicted in one overhead image of the second region, wherein the shadow data comprises a length of the respective second ground object as identified from the respective overhead image; calculate a statistical measure describing the variability of the shadow lengths between objects in the first region and the second region; compare the statistical measure to a predetermined threshold; and based on the comparison, identify that the first region is inclined relative to the second region.