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US07403268B2 Method and apparatus for determining the geometric correspondence between multiple 3D rangefinder data sets 有权
用于确定多个3D测距仪数据集之间的几何对应关系的方法和装置

Method and apparatus for determining the geometric correspondence between multiple 3D rangefinder data sets
摘要：
A method, computer program product, and apparatus for obtaining the geometric correspondence between at least two 3D range data sets obtained using a 3D rangefinder device. First and second 3D range data sets are provided. The first 3D range data set is displayed as a 2D displayed image. The second 3D range data set is displayed as one of a second 2D displayed image and a 3D displayed image. Corresponding features within the first 2D displayed image and within the second displayed image are respectively specified. A 3D transformation between the first 3D range data set and the second 3D range data set is computed based on the geometry of the specified corresponding features. As such, that the geometric correspondence between the two 3D range data sets may be determined.
摘要（中）：

一种用于获得使用3D测距装置获得的至少两个3D距离数据集之间的几何对应关系的方法，计算机程序产品和装置。 提供了第一和第二3D范围数据集。 第一3D范围数据集显示为2D显示图像。 第二3D范围数据集被显示为第二2D显示图像和3D显示图像之一。 分别指定第一2D显示图像内和第二显示图像内的相应特征。 基于指定的对应特征的几何形状来计算第一3D范围数据集和第二3D范围数据集之间的3D变换。 这样，可以确定两个3D范围数据集之间的几何对应关系。

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