公开(公告)号：US20250022376A1

公开(公告)日：2025-01-16

申请号：US18585893

申请日：2024-02-23

Applicant: ABB Schweiz AG

Inventor： Bruno ARSENALI ,  Stefano MARANÒ ,  Deran MAAS

IPC: G08G3/00 ,  G06T7/73 ,  G06T11/00

Abstract: A method and a system for determining a precise value of at least one pose parameter of an ego vessel, on which a camera is arranged, is provided. The method includes receiving image data of an image captured by the camera, the image showing at least one solid object and at least one solid object interface between the solid object and the sky, or between the solid object and a water surface of a waterbody, on which the ego vessel sails, determining a first representation of the solid object interface, determining a coarse position of the ego vessel, determining reference data based on the coarse position of the ego vessel, determining a second representation of the solid object interface from the reference data, determining a difference between the first and second representation, and determining the precise value of the pose parameter of the ego vessel depending on the difference.