US 11,893,678 B2
Apparatus and method for searching for global minimum of point cloud registration error
Hyuk-Min Kwon, Daejeon (KR); Hyun-Cheol Kim, Sejong-si (KR); Jeong-Il Seo, Daejeon (KR); Sang-Woo Ahn, Daejeon (KR); and Seung-Jun Yang, Sejong-si (KR)
Assigned to ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE, Daejeon (KR)
Filed by ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE, Daejeon (KR)
Filed on Jan. 25, 2022, as Appl. No. 17/583,691.
Claims priority of application No. 10-2021-0015602 (KR), filed on Feb. 3, 2021.
Prior Publication US 2022/0254095 A1, Aug. 11, 2022
Int. Cl. G06T 15/08 (2011.01); G06T 15/10 (2011.01)
CPC G06T 15/08 (2013.01) [G06T 15/10 (2013.01); G06T 2210/56 (2013.01)] 17 Claims
OG exemplary drawing
 
1. An apparatus for searching for a global minimum of a point cloud registration error, comprising:
memory in which at least one program is recorded; and
a processor for executing the program,
wherein:
the program performs
segmenting each of the target point cloud and the source point cloud into predetermined voxel units;
calculating normal vectors for respective voxels;
calculating multiple first transformation matrices for matching normal vectors of the target point cloud to respective normal vectors of the source point cloud;
collecting multiple registration results in which a registration error between a source point cloud and a target point cloud is a local minimum as candidates; and
selecting a registration result in which the registration error between the source point cloud and the target point cloud is a global minimum, among the candidates, and
collecting the multiple registration results comprises repeatedly performing
initializing the source point cloud and the target point cloud based on one of the multiple first transformation matrices; and
registering the initialized source point cloud to the initialized target point cloud, thereby searching for a registration result in which a registration error is a local minimum.