Patent Document ID: 10002431
Application ID: 14930931
Patent Status: 1

Claim One:
1. A feature detection system comprising: a first electromagnetic sensor; a second electromagnetic sensor arranged in a fixed spatial relationship with the first electromagnetic sensor; a processor; a memory storing detection logic, which when executed by the processor is operable to: generate a 3D point cloud based on a data captured by at least one of first and second electromagnetic sensors; evaluate different points in the 3D point cloud to identify a group of points forming at least one predefined geometric shape in the 3D point cloud; identify boundary pixels based on a data captured by at least one of the first and second electromagnetic sensors, wherein the boundary pixels correspond to an edge of a feature; determine coefficients corresponding to the identified geometric shape using a plane fitting technique, wherein the coefficients describe a plane in free space; and project locations of the boundary pixels onto the identified geometric shape to identify 3D locations of the feature corresponding to the boundary pixels, wherein projecting the locations of the boundary pixels on the identified geometric shape comprises projecting the locations of the boundary pixels on the plane defined by the coefficients.