System and Method for Load-Carrier Pose Estimation
AssigneeAvular Holding B.V.
InventorsGijs Dubbelman, Jonathan Broere, Guus Engels
Life of this patent
Estimating the term…
Abstract
A system for Load-carrier Pose estimation. The system includes a Load-carrier for supporting a load with Load-carrier handling indicators or Key-points, and a driving vehicle. The Pose represents a relative position and orientation of the Load-carrier with reference to the vehicle. The system includes a 2D sensor and a 3D sensor. The system is arranged to detect 2D Keypoints in images of the Load-carrier obtained with the 2D sensor, and to match these 2D Keypoints with 3D data captured with the 3D sensor to establish a 3D position and orientation of the detected Keypoints.
Claims24
A system for Load-carrier Pose estimation, the system comprising:
- a Load-carrier for supporting a load, wherein the Load-carrier is provided with Load-carrier handling indicators or Keypoints and a driving vehicle;
- a Pose representing a relative position and orientation of the Load-carrier with reference to the vehicle;
- 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, and wherein the second estimation phase is embodied with 2D key point detection and 3D matching of such 2D Keypoints.
A method for Load-carrier Pose estimation of a Load-carrier, wherein the Load-carrier comprises Load-carrier handling indicators or Keypoints, wherein the Pose represents a relative position and orientation of the Load-carrier with reference to a vehicle, the method comprising the steps of:
- employing a 2D sensor and a 3D sensor;
- executing a first estimation phase in which a Load-carrier detection is carried out;
- and
- executing a second estimation phase subsequent to the first estimation phase applying a Pose estimation and employing 2D key point detection and 3D matching of such 2D Keypoints.
A system for Load-carrier Pose estimation, comprising:
- a Load-carrier for supporting a load, wherein the Load-carrier comprises Load-carrier handling indicators or Keypoints, and a driving vehicle;
- a Pose representing a relative position and orientation of the Load-carrier with reference to the vehicle;
- a 2D sensor and a 3D sensor, wherein the system is arranged to detect 2D Keypoints in images of the Load-carrier obtained with the 2D sensor, and to match these 2D Keypoints with 3D data captured with the 3D sensor to establish a 3D position and orientation of the detected Keypoints.
Dependencies are inferred from the claim text.