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International application No. Applicant's or agent's file reference
PCT/EP2019/052027 FH190107PCT
International filing date (day/month/year) (Earliest) Priority Date (day/month/year)
28 January 2019
FOR FURTHER ACTION: See Form PCT/ISA/220 as well as, where applicable, item 5 below.
This international search report has been prepared by this International Searching Authority and is transmitted to the applicant according to Article 18. A copy is being transmitted to the International Bureau.
It is also accompanied by a copy of each prior art document cited in this report.
1. Basis of the report
a. With regard to the language, the international search was carried out on the basis of:
the international application in the language in which it was filed.
a translation of the international application into                                          which is the language of a translation furnished for the purposes of international search (Rules 12.3(a) and 23.1(b)).
This international search report has been established taking into account the rectification of an obvious mistake authorized by or notified to this Authority under Rule 91 (Rule 43.6bis(a)).
With regard to any nucleotide and/or amino acid sequence disclosed in the international application, the international search was carried out on the basis of a sequence listing:
2. Certain claims were found unsearchable
3. Unity of invention is lacking
This International Searching Authority found multiple inventions in this international application, as follows:
1. claims: 1-6, 76-81
Method for localizing wherein there is more than one object.
2. claims: 7, 8
How to handle occlusions?
3. claims: 9-18
Procedure for multi-camera consistency aware depth computation
4. claims: 19-25
How to obtain a less calculation-power-demanding localization?
5. claims: 26-68
How to distinguish, whether a ray (or another range of candidate spatial positions) hits a surface approximation at the most preferable side?
6. claim: 69
How to ensure reliability of values?
7. claims: 70-75
How to graphically refining localization?
As all required additional search fees were timely paid by the applicant, this international search report covers all searchable claims.
As all searchable claims could be searched without effort justifying additional fees, this Authority did not invite payment of additional fees.
As only some of the required additional search fees were timely paid by the applicant, this international search report covers only those claims for which fees were paid, specifically claims Nos.: 1-68, 70-81
No required additional search fees were timely paid by the applicant. Consequently, this international search report is restricted to the invention first mentioned in the claims; it is covered by claims Nos.:
Remark on Protest
The additional search fees were accompanied by the applicant’s protest and, where applicable, the payment of a protest fee.
The additional search fees were accompanied by the applicant’s protest but the applicable protest fee was not paid within the time limit specified in the invitation.
No protest accompanied the payment of additional search fees.
4. Title of the invention
The text is approved as submitted by the applicant.
The text has been established by this Authority to read as follows:
5. Abstract
The text is approved as submitted by the applicant.
The text has been established, according to Rule 38.2, by this Authority as it appears in Box No. IV. The applicant may, within one month from the date of mailing of this international search report, submit comments to this Authority.
6. Drawings
The figure of the drawings to be published with the abstract is Figure No.     3    
as suggested by the applicant.
as selected by this Authority, because the applicant failed to suggest a figure.
as selected by this Authority, because this figure better characterizes the invention.
none of the figures is to be published with the abstract.


     G06T 7/557 (2017.01)i; H04N 13/128 (2018.01)i; H04N 13/00 (2018.01)i
According to International Patent Classification (IPC) or to both national classification and IPC


Minimum documentation searched (classification system followed by classification symbols):
     G06T; H04N
Documentation searched other than minimum documentation to the extent that such documents are included in the fields searched:
Electronic data base consulted during the international search (name of data base and, where practicable, search terms used):
EPO-Internal, WPI Data


Category* Citation of document, with indication, where appropriate, of the relevant passages Relevant to claim No.
US 2012155743 A1 (KIM KAP-KEE [KR]) 21 June 2012 (2012-06-21)
paragraph [0009]
paragraph [0024] - paragraph [0040]
US 2013258062 A1 (NOH JUNYONG [KR] ET AL) 03 October 2013 (2013-10-03)
WO 2012084277 A1 (THOMSON LICENSING [FR]; SCHLOSSER MARKUS [DE] ET AL.) 28 June 2012 (2012-06-28)
US 2013176300 A1 (ROBERT PHILIPPE [FR] ET AL) 11 July 2013 (2013-07-11)
paragraph [0038] - paragraph [0039]
paragraph [0073] - paragraph [0081]
US 2015269737 A1 (LAM CHE YUEN BRIAN [HK] ET AL) 24 September 2015 (2015-09-24)
paragraph [0047] - paragraph [0053]
US 2011096832 A1 (ZHANG RONG [US] ET AL) 28 April 2011 (2011-04-28)
paragraph [0094] - paragraph [0116]
US 2018342076 A1 (CHEN TZU-HUNG [TW] ET AL) 29 November 2018 (2018-11-29)
paragraph [0023] - paragraph [0024]
Special categories of cited documents:
document defining the general state of the art which is not considered to be of particular relevance
document cited by the applicant in the international application
earlier application or patent but published on or after the international filing date
document which may throw doubts on priority claim(s) or which is cited to establish the publication date of another citation or other special reason (as specified)
document referring to an oral disclosure, use, exhibition or other means
document published prior to the international filing date but later than the priority date claimed
later document published after the international filing date or priority date and not in conflict with the application but cited to understand the principle or theory underlying the invention
document of particular relevance; the claimed invention cannot be considered novel or cannot be considered to involve an inventive step when the document is taken alone
document of particular relevance; the claimed invention cannot be considered to involve an inventive step when the document is combined with one or more other such documents, such combination being obvious to a person skilled in the art
document member of the same patent family


Patent document cited in search report Publication date
Patent family member(s) Publication date
US 2012155743 A1
21 June 2012
KR 20120067188 A
US 2012155743 A1
25 June 2012
21 June 2012
US 2013258062 A1
03 October 2013
KR 20130110339 A
US 2013258062 A1
10 October 2013
03 October 2013
WO 2012084277 A1
28 June 2012
EP 2656613 A1
US 2013272582 A1
WO 2012084277 A1
30 October 2013
17 October 2013
28 June 2012
US 2013176300 A1
11 July 2013
US 2015269737 A1
24 September 2015
CN 104023220 A
US 2015269737 A1
03 September 2014
24 September 2015
US 2011096832 A1
28 April 2011
CN 102598674 A
EP 2491722 A2
JP 5575908 B2
JP 2013509104 A
KR 20120071407 A
TW 201130306 A
US 2011096832 A1
WO 2011050304 A2
18 July 2012
29 August 2012
20 August 2014
07 March 2013
02 July 2012
01 September 2011
28 April 2011
28 April 2011
US 2018342076 A1
29 November 2018
CN 108961427 A
TW 201902211 A
US 2018342076 A1
07 December 2018
01 January 2019
29 November 2018
Name and mailing address of the ISA/:
European Patent Office
P.B. 5818, Patentlaan 2, 2280 HV Rijswijk,
Telephone No. (+31-70)340-2040
Facsimile No. (+31-70)340-3016
Date of the actual completion of the international search:
09 December 2019
Date of mailing of the international search report:
18 December 2019
Authorized officer:
Cooke, Edward
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