US 12,315,098 B2
Method for multi-view point cloud registration for whole aircraft based on spherical harmonic feature (SHF)
Jun Wang, Jiangsu Province (CN); Yuan Zhang, Jiangsu Province (CN); Hu Li, Jiangsu Province (CN); and Zikuan Li, Jiangsu Province (CN)
Assigned to Nanjing University of Aeronautics and Astronautics, Jiangsu Province (CN)
Filed by Nanjing University of Aeronautics and Astronautics, Jiangsu Province (CN)
Filed on Feb. 16, 2023, as Appl. No. 18/169,985.
Claims priority of application No. 202210261663.3 (CN), filed on Mar. 17, 2022.
Prior Publication US 2023/0298296 A1, Sep. 21, 2023
Int. Cl. G06T 19/20 (2011.01); G06T 3/08 (2024.01); G06T 5/70 (2024.01); G06T 7/64 (2017.01)
CPC G06T 19/20 (2013.01) [G06T 3/08 (2024.01); G06T 5/70 (2024.01); G06T 7/64 (2017.01); G06T 2207/10028 (2013.01); G06T 2219/2004 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A method for multi-view point cloud registration for a whole aircraft based on a spherical harmonic feature (SHF), specifically comprising the following steps:
step S1: developing a measurement solution for a whole aircraft, and performing data preprocessing after point cloud data of the whole aircraft is obtained;
step S2: calculating a preprocessed point cloud based on step S1, performing local spherical projection on each point, and calculating a local SHF based on spherical harmonic transform; and
step S3: calculating a constraint correspondence between overlapping point cloud views based on the local SHF calculated in step S2, filtering the established constraint correspondence to remove an incorrect constraint correspondence, and based on an equation of an optimization graph, resolving transformation of point clouds from different viewing angles to implement multi-view point cloud registration.