Variable environment high integrity registration transformation system and related method

US9513130B1 · kind B1 · utility

Assignee

• Rockwell Collins, Inc. · US

Inventors

• Christopher M. Boggs · Gainesville, US
• William T. Kirchner · Ashburn, US
• Keith M. Allen · Centreville, US
• Gregory J. Kelsey · Cedar Rapids, US
• Yingyue Xu · Gainesville, US

Key dates

• Filing date: Sep 24, 2014
• Grant date: Dec 6, 2016
• Expiry date: Dec 4, 2034

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D1/0808
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A registration solution between two or more sets of point cloud data is provided to register a first target set of point cloud data with a second source set of point cloud data. Through error propagation, degrees of freedom masking and transformation filtering, a system may provide an intelligent method of enabling and disabling degrees of freedom in a real-time registration application. A system may adapt to varying environments (feature-rich and featureless) ensuring a high-integrity registration estimate through providing estimates of the observable parameters. By optionally and iteratively masking zero or more degrees of freedom from the registration estimate, a system may locate desirable data to use in a registration estimate. Then, the system may blend updates from the registration estimates to achieve the best available registration solution applied to the original second source set as well as additional sets of point cloud data.