(19)

(11)

EP 3 906 502 A1

(12)

(43) Date of publication: 10.11.2021 Bulletin 2021/45 (21) Application number: 19906605.1 (22) Date of filing: 30.12.2019

(51) International Patent Classification (IPC):  G06K 9/00(2006.01) G06T 7/10(2017.01) G01C 11/06(2006.01) G06K 9/32(2006.01) G01C 11/02(2006.01) G01S 17/89(2020.01) (52) Cooperative Patent Classification (CPC): G01S 7/4808; G06T 2207/10028; G01S 17/89; G01S 7/4802; G01C 11/02; G06T 7/0008; G06K 9/00637; G06T 2207/30188; F41G 3/02 (86) International application number: PCT/FI2019/050924 (87) International publication number: WO 2020/141257 (09.07.2020 Gazette 2020/28)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA ME Designated Validation States: KH MA MD TN (30) Priority: 31.12.2018 FI 20186141 (71) Applicant: Oy Arbonaut Ltd. 80130 Joensuu (FI)	(72) Inventors: LEPPÄNEN, Vesa 81120 Katajaranta (FI) PUUMALAINEN, Tuomo 80230 Joensuu (FI) (74) Representative: Papula Oy  P.O. Box 981 00101 Helsinki 00101 Helsinki (FI)