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1.发明申请Global Registration of Multiple 3D Point Sets Via Optimization on a Manifold 有权通过在一个歧管上优化的多个3D点集的全局注册公开(公告)号：US20110012898A1
公开(公告)日：2011-01-20
申请号：US12893404
申请日：2010-09-29
Applicant: Shankar Krishnan , Pei Yean Lee , John Barrett Moore , Suresh Venkatasubramanian
Inventor： Shankar Krishnan , Pei Yean Lee , John Barrett Moore , Suresh Venkatasubramanian
IPC: G06T15/00
CPC classification number: G06K9/00214 , G06K9/6211 , G06T7/30 , G06T17/00 , G06T2207/10028
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.
Abstract translation: 一种用于通过确定3D点集合的最佳相对位置和取向来登记多个3D点集的方法。 对于与3D点集的参考帧的相对取向相对应的旋转矩阵确定初始值。 在所有旋转矩阵的乘积歧管上优化注册误差成本函数，以确定旋转矩阵的最佳值。 旋转矩阵的最佳值用于确定对应于3D点集的参考帧的相对位置的平移向量的最优值。 使用最佳旋转矩阵和最优平移向量将3D点集登记在公共参考帧上。
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2.发明授权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点集公开(公告)号：US08538138B2
公开(公告)日：2013-09-17
申请号：US12893404
申请日：2010-09-29
Applicant: Shankar Krishnan , Pei Yean Lee , John Barrett Moore , Suresh Venkatasubramanian
Inventor： Shankar Krishnan , Pei Yean Lee , John Barrett Moore , Suresh Venkatasubramanian
CPC classification number: G06K9/00214 , G06K9/6211 , G06T7/30 , G06T17/00 , G06T2207/10028
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.
Abstract translation: 一种用于通过确定3D点集合的最佳相对位置和取向来登记多个3D点集的方法。 对于与3D点集的参考帧的相对取向相对应的旋转矩阵确定初始值。 在所有旋转矩阵的乘积歧管上优化注册误差成本函数，以确定旋转矩阵的最佳值。 旋转矩阵的最佳值用于确定对应于3D点集的参考帧的相对位置的平移向量的最优值。 使用最佳旋转矩阵和最优平移向量将3D点集登记在公共参考帧上。
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3.发明授权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点集公开(公告)号：US07831090B1
公开(公告)日：2010-11-09
申请号：US11480044
申请日：2006-06-30
Applicant: Shankar Krishnan , Pei Yean Lee , John Barrett Moore , Suresh Venkatasubramanian
Inventor： Shankar Krishnan , Pei Yean Lee , John Barrett Moore , Suresh Venkatasubramanian
CPC classification number: G06K9/00214 , G06K9/6211 , G06T7/30 , G06T17/00 , G06T2207/10028
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.
Abstract translation: 一种用于通过确定3D点集合的最佳相对位置和取向来登记多个3D点集的方法。 对于与3D点集的参考帧的相对取向相对应的旋转矩阵确定初始值。 在所有旋转矩阵的乘积歧管上优化注册误差成本函数，以确定旋转矩阵的最佳值。 旋转矩阵的最佳值用于确定对应于3D点集的参考帧的相对位置的平移向量的最优值。 使用最佳旋转矩阵和最优平移向量将3D点集登记在公共参考帧上。
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