Patent ID: 11887336
Assignee: ARGO AI, LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 11:
12. The method according to claim 1, wherein when none of the 2D contour proposals fulfills the predefined matching criterion based on the comparing, the method further comprises:
providing, by an object estimation module, an estimate of an object type, an object size, and a spatial orientation of the object based on the camera image;
back-projecting a digital object template of a corresponding object type, object size, and spatial orientation inside the frustum;
varying a projection distance and generating, for each value of the projection distance, a 2D contour proposal by forward-projecting the back-projected digital object template onto an image plane of the camera image, until a value for the projection distance is found for which the 2D contour proposal fulfills the predefined matching criterion; and
determining the relative position of the object based on the value for the projection distance found for which the 2D contour proposal fulfills the predefined matching criterion.