Global registration method based on spherical harmonic transformation (SHT) and iterative optimization
US12412287B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 23, 2023 |
| Grant date | Sep 9, 2025 |
| Priority date | — |
| Expiry date | Apr 9, 2044 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2210/56
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A global registration method based on spherical harmonic transformation (SHT) and iterative optimization is provided. Two assumptions are provided: firstly, it is predefined that a minimum percentage of a correct matching pair in an input point cloud is represented as a limit on a quantity of outliers in the point cloud, and secondly, a distance threshold used to determine the correct matching pair is preset based on a scenario and represented as a limited distance of an outlier in the point cloud. In the algorithm provided, the point cloud first undergoes coarse registration to obtain a plurality of search domains, and the search domains are sorted based on an evaluation criterion. A branch and bound method is used to exclude an incorrect search domain and obtain a final registration result.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.