Invention Grant
US08538138B2 Global registration of multiple 3D point sets via optimization on a manifold
有权
通过在歧管上进行优化来全局注册多个3D点集
- Patent Title: Global registration of multiple 3D point sets via optimization on a manifold
- Patent Title (中): 通过在歧管上进行优化来全局注册多个3D点集
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Application No.: US12893404Application Date: 2010-09-29
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Publication No.: US08538138B2Publication Date: 2013-09-17
- Inventor: Shankar Krishnan , Pei Yean Lee , John Barrett Moore , Suresh Venkatasubramanian
- Applicant: Shankar Krishnan , Pei Yean Lee , John Barrett Moore , Suresh Venkatasubramanian
- Applicant Address: US GA Atlanta
- Assignee: AT&T Intellectual Property II, L.P.
- Current Assignee: AT&T Intellectual Property II, L.P.
- Current Assignee Address: US GA Atlanta
- Agency: Wolff & Samson, PC
- Main IPC: G06K9/00
- IPC: G06K9/00 ; G06T15/00
Abstract:
A method for registering multiple 3D point sets by determining optimal relative positions and orientations of the 3D point sets. Initial values are determined for the rotation matrices corresponding to the relative orientations of reference frames of the 3D point sets. A registration error cost function is optimized on a product manifold of all of the rotation matrices to determine optimal values of the rotation matrices. The optimal values of the rotation matrices are used to determine optimal values for translation vectors corresponding to the relative positions of the reference frames of the 3D point sets. The 3D point sets are registered on a common reference frame using the optimal rotation matrices and the optimal translation vectors.
Public/Granted literature
- US20110012898A1 Global Registration of Multiple 3D Point Sets Via Optimization on a Manifold Public/Granted day:2011-01-20
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