公开(公告)号：US20210012528A1

公开(公告)日：2021-01-14

申请号：US16955428

申请日：2018-12-19

Applicant: AIRBUS DEFENCE AND SPACE SAS

Inventor： Roland BROCHARD ,  Cyril ROBIN

IPC: G06T7/73 ,  G06T7/55 ,  G06K9/00

Abstract: A method for locating a three-dimensional target with respect to a vehicle is disclosed including capturing an image of the target, and from a three-dimensional mesh of the target, and from an estimation of the pose of the target, determining a set of projecting edges of the mesh of the target in the pose. The step of determining the projecting edges of the mesh of the target includes positioning the mesh of the target according to the pose, projecting in two dimensions the mesh so positioned, scanning the projection of the mesh in a plurality of scanning rows and, for each scanning row: defining a set of segments, each segment corresponding to the intersection of a face of the mesh with the scanning row and being defined by its ends, analyzing the relative depths of the ends of the segments, the depth being the position along a third dimension orthogonal to the two dimensions of the projection, in order to select a set of end points of segments corresponding to projecting edges of the mesh.