2D to 3D line-based registration with unknown associations
US11393127B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 30, 2020 |
| Grant date | Jul 19, 2022 |
| Priority date | — |
| Expiry date | Jun 19, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A system for determining the rigid-body transformation between 2D image data and 3D point cloud data includes a first sensor configured to capture image data of an environment, a second sensor configured to capture point cloud data of the environment; and a computing device communicatively coupled to the first sensor and the second sensor. The computing device is configured to receive image data from the first sensor and point cloud data from the second sensor, parameterize one or more 2D lines from image data, parameterize one or more 3D lines from point cloud data, align the one or more 2D lines with the one or more 3D lines by solving a registration problem formulated as a mixed integer linear program to simultaneously solve for a projection transform vector and a data association set, and generate a data mesh comprising the image data aligned with the point cloud data.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.