A method for detection of a target swap body having a front plane , a side plane and four legs (201 1 -201 4 ), to be picked up by a vehicle equipped with a fusion and labelling system and at least one sensor (101-105), wherein the method is triggered when the vehicle reaches a first location within a range of the target swap body, the method comprising: - receiving from the fusion and labelling system a pointcloud formed from data provided by the at least one sensor; the method being characterized in that it further comprises: - processing the received pointcloud by: - if the front and the side plane of the target swap body are detected, creating a model, or updating a current model for the target swap body; - if the front plane and at least three of the four legs of the target swap body are detected, creating a model, or updating the current model for the target swap body; - if at least three of the four legs of the target swap body are detected and no front plane is detected, updating the current model for the target swap body as regard the calculated orientation for the target swap body; and - if a model for the target swap body has been created or updated, providing the current model for the target swap body to a navigation system of the vehicle , wherein the current model comprises a calculated location and orientation for the target swap body; and - repeating the receiving and processing to assist the vehicle navigate from the first location to a second location enabling picking up the target swap body . - receiving from the fusion and labelling system a pointcloud formed from data provided by the at least one sensor; - processing the received pointcloud by: - if the front and the side plane of the target swap body are detected, creating a model, or updating a current model for the target swap body; - if the front plane and at least three of the four legs of the target swap body are detected, creating a model, or updating the current model for the target swap body; - if at least three of the four legs of the target swap body are detected and no front plane is detected, updating the current model for the target swap body as regard the calculated orientation for the target swap body; and - if a model for the target swap body has been created or updated, providing the current model for the target swap body to a navigation system of the vehicle , wherein the current model comprises a calculated location and orientation for the target swap body; and - if the front and the side plane of the target swap body are detected, creating a model, or updating a current model for the target swap body; - if the front plane and at least three of the four legs of the target swap body are detected, creating a model, or updating the current model for the target swap body; - if at least three of the four legs of the target swap body are detected and no front plane is detected, updating the current model for the target swap body as regard the calculated orientation for the target swap body; and - if a model for the target swap body has been created or updated, providing the current model for the target swap body to a navigation system of the vehicle , wherein the current model comprises a calculated location and orientation for the target swap body; and - repeating the receiving and processing to assist the vehicle navigate from the first location to a second location enabling picking up the target swap body . <EOS>