1. WO2026174362 - PLIABILITY ESTIMATION

Publication Number WO/2026/174362

Publication Date 27.08.2026

International Application No. PCT/AU2026/050146

International Filing Date 23.02.2026

IPC

G06V 20/64 2022.1

G	PHYSICS
06	COMPUTING; CALCULATING OR COUNTING
V	IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
20	Scenes; Scene-specific elements
60	Type of objects
64	Three-dimensional objects

G01S 17/89 2020.1

G	PHYSICS
01	MEASURING; TESTING
S	RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17	Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88	Lidar systems, specially adapted for specific applications
89	for mapping or imaging

G05D 1/246 2024.1

G	PHYSICS
05	CONTROLLING; REGULATING
D	SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1	Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
20	Control system inputs
24	Arrangements for determining position or orientation
246	using environment maps, e.g. simultaneous localisation and mapping

G05D 1/617 2024.1

G	PHYSICS
05	CONTROLLING; REGULATING
D	SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1	Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
60	Intended control result
617	Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards

G06T 17/05 2011.1

G	PHYSICS
06	COMPUTING; CALCULATING OR COUNTING
T	IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
17	3D modelling for computer graphics
05	Geographic models

G06V 20/10 2022.1

G	PHYSICS
06	COMPUTING; CALCULATING OR COUNTING
V	IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
20	Scenes; Scene-specific elements
10	Terrestrial scenes

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G06V 20/64 2022.1

G	PHYSICS
06	COMPUTING; CALCULATING OR COUNTING
V	IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
20	Scenes; Scene-specific elements
60	Type of objects
64	Three-dimensional objects

G01S 17/89 2020.1

G	PHYSICS
01	MEASURING; TESTING
S	RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17	Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88	Lidar systems, specially adapted for specific applications
89	for mapping or imaging

G05D 1/246 2024.1

G	PHYSICS
05	CONTROLLING; REGULATING
D	SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1	Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
20	Control system inputs
24	Arrangements for determining position or orientation
246	using environment maps, e.g. simultaneous localisation and mapping

G05D 1/617 2024.1

G	PHYSICS
05	CONTROLLING; REGULATING
D	SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1	Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
60	Intended control result
617	Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards

G06T 17/05 2011.1

G	PHYSICS
06	COMPUTING; CALCULATING OR COUNTING
T	IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
17	3D modelling for computer graphics
05	Geographic models

G06V 20/10 2022.1

G	PHYSICS
06	COMPUTING; CALCULATING OR COUNTING
V	IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
20	Scenes; Scene-specific elements
10	Terrestrial scenes

G06V 20/56 2022.1

G	PHYSICS
06	COMPUTING; CALCULATING OR COUNTING
V	IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
20	Scenes; Scene-specific elements
50	Context or environment of the image
56	exterior to a vehicle by using sensors mounted on the vehicle

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Applicants

• COMMONWEALTH SCIENTIFIC AND INDUSTRIAL RESEARCH ORGANISATION [AU]/[AU]

Inventors

• LOWE, Thomas
• COX, Mark
• LIANG, Sisi

Agents

• DAVIES COLLISON CAVE PTY LTD

Priority Data

2025900524

24.02.2025

AU

Publication Language English (en)

Filing Language English (en)

Designated States

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AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CV, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IQ, IR, IS, IT, JM, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, MG, MK, MN, MU, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UY, UZ, VC, VN, WS, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, CV, GH, GM, KE, LR, LS, MU, MW, MZ, NA, RW, SC, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, ME, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)

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Title

(EN) PLIABILITY ESTIMATION

(FR) ESTIMATION DE SOUPLESSE

Abstract

(EN) A method for estimating the pliability of environmental features, the method including: acquiring, from a mapping system including a mapping device moving along a trajectory through an environment, mapping data including: a 3D point cloud of the environment; and, a trajectory of the mapping device relative to the environment; obtaining, from an imaging device associated with the mapping system, image data indicative of images of the environment captured by the imaging device as the imaging device moves through the environment; analysing the image data to determine image feature categories by categorising one or more image features; labelling a subset of points of the point cloud with the image feature categories; using the labelled subset of points to identify an environmental feature; calculating a geometry of the environmental feature; using the geometry and image feature categories of the environmental feature to calculate a pliability estimate for the environmental feature.

(FR) L'invention concerne un procédé d'estimation de la souplesse de caractéristiques environnementales, le procédé consistant à : acquérir, en provenance d'un système de mappage comprenant un dispositif de mappage se déplaçant le long d'une trajectoire à travers un environnement, des données de mappage comprenant un nuage de points 3D de l'environnement et une trajectoire du dispositif de mappage par rapport à l'environnement ; obtenir, en provenance d'un dispositif d'imagerie associé au système de mappage, des données d'image indiquant des images de l'environnement capturées par le dispositif d'imagerie lorsque le dispositif d'imagerie se déplace à travers l'environnement ; analyser les données d'image pour déterminer des catégories de caractéristiques d'image par catégorisation d'une ou de plusieurs caractéristiques d'image ; étiqueter un sous-ensemble de points du nuage de points avec les catégories de caractéristiques d'image ; utiliser le sous-ensemble de points étiqueté pour identifier une caractéristique environnementale ; calculer une géométrie de la caractéristique environnementale ; et utiliser les catégories de caractéristiques de géométrie et d'image de la caractéristique environnementale pour calculer une estimation de souplesse pour la caractéristique environnementale.

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