Method and system for determining an object structure of an object and control device for such a system

A control apparatus for a system, the control apparatus comprising:

• a processor;
• and
• a memory storing program instructions that, when executed by the processor, cause the control apparatus to:
• provide image data that describe an image of an environment with an object in the environment, wherein the image data are received from at least one sensor device;
• and
• feed the image data into at least one neural network that is trained to determine feature data, wherein the feature data include predetermined features relating to geometric shapes and/or colors of the object;
• a) determine edge endpoints of an object structure of the object by applying an edge endpoint determiner of the at least one neural network to the feature data, wherein the edge endpoints in each of a plurality of case mark a predetermined object end region of the object, and wherein in a Region of Interest (ROI) pooling a region of interest operation, ROI operation, is provided and/or performed on at least one surrounding region around at least one determined edge endpoint;
• b) determine intermediate graph points of the object structure by applying an intermediate graph point determiner of the at least one neural network to the feature data, wherein the intermediate graph points mark line geometric shapes of the object, and wherein each of the line geometric shapes is a part of the object structure of the object,
• wherein a) and b) are performed independently of each other;
• c) determine the object structure by way of the edge endpoints and the graph intermediate points by connecting adjacent ones of the intermediate graph points in pairs starting from a respective edge endpoint using a termination criterion and subsequently determine line segments;
• and
• d) provide the object structure to a computer vision function.