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International application No. Applicant's or agent's file reference
PCT/US2020/040670 44027-0037WO1
International filing date (day/month/year) (Earliest) Priority Date (day/month/year)
02 July 2020 11 July 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
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.     1    
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 7/30 (2017.01)i; G06T 17/05 (2011.01)i; G06N 3/08 (2006.01)i; G06N 3/04 (2006.01)i
According to International Patent Classification (IPC) or to both national classification and IPC


Minimum documentation searched (classification system followed by classification symbols):
Documentation searched other than minimum documentation to the extent that such documents are included in the fields searched:
Korean utility models and applications for utility models
Japanese utility models and applications for utility models
Electronic data base consulted during the international search (name of data base and, where practicable, search terms used):
eKOMPASS(KIPO internal) & Keywords: surveying sensor, visual appearance, point cloud, neural network, similarity measure, matching algorithm, triplet loss objective function


Category* Citation of document, with indication, where appropriate, of the relevant passages Relevant to claim No.
US 2019-0206071 A1 (BAIDU ONLINE NETWORK TECHNOLOGY (BEIJING) CO., LTD.) 04 July 2019 paragraphs [0030]-[0031], [0044], [0055], [0057]; claim 1; and figure 2
SERGEY ZAKHAROV et al., `3D Object Instance Recognition and Pose Estimation Using Triplet Loss with Dynamic Margin`, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2017, pages 552-559, ISSN 2153-0866 page 554
US 9052721 B1 (JONATHAN BALDWIN DOWDALL et al.) 09 June 2015 column 3, lines 5-23
US 8290305 B2 (KATHLEEN MINEAR et al.) 16 October 2012 claim 1
JIAN WANG et al., `Deep Metric Learning with Angular Loss`, 2017 IEEE International Conference on Computer Vision, October 2017, pages 2612-2620, ISSN 2380-7504 pages 2613-2614
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 2019-0206071 A1
04 July 2019
CN 108198145 A
EP 3506161 A1
JP 2019-149149 A
JP 6745328 B2
KR 10-2019-0082066 A
KR 10-2126724 B1
22 June 2018
03 July 2019
05 September 2019
26 August 2020
09 July 2019
25 June 2020
US 9052721 B1
09 June 2015
US 8290305 B2
16 October 2012
CA 2751265 A1
CN 102317972 A
EP 2396769 A1
JP 2012-517651 A
KR 10-2011-0120317 A
US 2010-0209013 A1
WO 2010-093675 A1
19 August 2010
11 January 2012
21 December 2011
02 August 2012
03 November 2011
19 August 2010
19 August 2010
Name and mailing address of the ISA/:
Korean Intellectual Property Office
189 Cheongsa-ro, Seo-gu, Daejeon Metropolitan City, 302-701
Republic of Korea
Facsimile No. +82-42-481-8578
Date of the actual completion of the international search:
15 October 2020
Date of mailing of the international search report:
22 October 2020
Authorized officer:
KIM, Sung Hoon
Telephone No. +82-42-481-8710
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