×

Method and apparatus for determining the geometric correspondence between multiple 3D rangefinder data sets

  • US 7,403,268 B2
  • Filed: 02/09/2006
  • Issued: 07/22/2008
  • Est. Priority Date: 02/11/2005
  • Status: Active Grant
First Claim
Patent Images

1. A method for obtaining the geometric correspondence between at least two 3D range data sets obtained using a 3D rangefinder device, comprising:

  • acquiring a first 3D range data set by using a first 3D rangefinder device to scan a scene and generate the first 3D range data set, wherein the first 3D range data set includes, for each pixel, at least three measured dimension values;

    acquiring a second 3D range data set by using one of the first 3D rangefinder device and a second 3D rangefinder device to scan the scene and generate the second 3D range data set, wherein the second 3D range data set includes, for each pixel, at least three measured dimension values;

    representing the first 3D range data set as a first 2D displayed image;

    representing the second 3D range data set as a second displayed image selected from the group consisting of a second 2D displayed image and a 3D displayed image;

    specifying corresponding features within the first 2D displayed image and within the second displayed image respectively; and

    computing a 3D transformation between the first 3D range data set and the second 3D range data set based on the geometry of the specified corresponding features, such that the geometric correspondence between the two 3D range data sets is determined.

View all claims
  • 4 Assignments
Timeline View
Assignment View
    ×
    ×