US 12,243,185 B2
Systems and methods for point cloud registration
Minghan Zhu, Ann Arbor, MI (US); Maani Ghaffari, Ann Arbor, MI (US); and Huei Peng, Ann Arbor, MI (US)
Assigned to THE REGENTS OF THE UNIVERSITY OF MICHIGAN, Ann Arbor, MI (US)
Filed by THE REGENTS OF THE UNIVERSITY OF MICHIGAN, Ann Arbor, MI (US)
Filed on Jun. 29, 2022, as Appl. No. 17/852,636.
Claims priority of provisional application 63/216,042, filed on Jun. 29, 2021.
Prior Publication US 2022/0414821 A1, Dec. 29, 2022
Int. Cl. G06K 9/00 (2022.01); G06T 3/14 (2024.01); G06T 7/33 (2017.01)
CPC G06T 3/14 (2024.01) [G06T 7/344 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for point cloud registration, comprising:
accessing point cloud input data that includes at least a first point cloud and a second point cloud,
wherein the second point cloud is rotated from the first point cloud about an origin;
subjecting the point cloud input data to an equivariant encoder to extract features from the point cloud input data;
performing shape reconstruction by subjecting the extracted features to a decoder;
performing registration in feature space by aligning the decoded features for the first point cloud and second point cloud;
determining an optimized rotation matrix to translate between the first point cloud and the second point cloud.