Method, apparatus, and system for pole extraction from optical imagery
AssigneeHERE Global B.V.
InventorsRobert Ledner, Xiaoying Jin, Holly Russell, Joseph Tankovich
Life of this patent
Estimating the term…
Abstract
An approach is provided for pole extraction from optical imagery. The approach involves, for instance, processing a plurality of images using a machine learning model to generate a plurality of redundant observations of a pole-like object and/or their semantic keypoints respectively depicted in the plurality of images. The approach also involves performing a photogrammetric triangulation of the plurality of redundant observations to determine three-dimensional coordinate data of the pole-like object and/or their semantic keypoints. The approach further involves providing the three-dimensional coordinate data of the pole-like object as an output.
Claims14
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.
An apparatus comprising:
- at least one processor;
- and
- at least one memory including computer program code for one or more programs,
- the at least one memory and the computer program code configured to, within the at least one processor, cause the apparatus to perform at least the following:
- retrieve a machine learning model that is trained to detect one or more semantic keypoints associated with a pole-like object in a plurality of images;
- perform a photogrammetric triangulation of the plurality of redundant observations to determine three-dimensional coordinate data of the pole-like object, the one or more semantic keypoints, or a combination thereof;
- process the plurality of images using the machine learning model to generate a plurality of redundant observations of the pole-like object, wherein the plurality of redundant observations includes respective detections of the one or more semantic keypoints;
- determine 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
- provide the plurality of redundant observations as an output.
A non-transitory computer-readable storage medium carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to perform:
- processing a plurality of images using a machine learning model to generate a plurality of redundant observations of an 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 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 object as an output.
Dependencies are inferred from the claim text.