公开(公告)号：US20240420371A1

公开(公告)日：2024-12-19

申请号：US18704221

申请日：2022-11-07

Applicant: SAAB AB

Inventor： Astrid LUNDMARK

IPC: G06T7/73 ,  G01C21/00

Abstract: The present disclosure relates to a method for determining a pose. The method (100) comprises capturing (110), utilizing at least one camera (311), at least a first image (220) at a first pose and a second image (230) at a second pose; obtaining (120) digital surface model, DSM, data (210), wherein said DSM data (210) represents a part of Earth's surface corresponding to said first pose and said second pose; determining (130) at least one set of hypothetical camera poses, wherein each set of hypothetical camera poses is a candidate for the first and the second poses; calculating (140) a matching score for each set of hypothetical camera poses based on matching said first image (220) and second image (230), wherein matching is based on said obtained DSM data (210) and said set of hypothetical camera poses; and determining (150) the first pose based on the matching score of the at least one set of hypothetical camera poses.