Device and method for merging 3D point clouds from sparsely distributed viewpoints
US9858640B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 15, 2015 |
| Grant date | Jan 2, 2018 |
| Priority date | — |
| Expiry date | Jan 12, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2210/56
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for merging 3D point clouds from sparsely distributed viewpoints includes collecting a plurality of 3D point cloud data sets using a 3D sensor, each 3D point cloud data set in a local reference frame of a viewpoint of the 3D sensor, downsampling the 3D point cloud data sets, registering the downsampled 3D point cloud data sets to a global reference frame using an initial transform Tv for rotating and translating each downsampled 3D point cloud data set from the local reference frame to the global reference frame, deriving estimated transforms Tv until the last derived transform Tv converges to a stable transform Tv, registering the plurality of 3D point cloud data sets to the global reference frame using the stable transform Tv, and deriving second estimated transforms Tv until the last derived transform Tv converges to a second stable transform Tv.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.