US 12,493,969 B2
Autoregistration of three-dimensional digital structures
Bilian Smardanski, Mannheim (DE); and Stefan Boettner, Muehltal (DE)
Assigned to EXOCAD GMBH, Darmstadt (DE)
Filed by EXOCAD GMBH, Darmstadt (DE)
Filed on May 17, 2023, as Appl. No. 18/198,398.
Prior Publication US 2024/0386582 A1, Nov. 21, 2024
Int. Cl. G06T 7/30 (2017.01); G06T 17/20 (2006.01)
CPC G06T 7/30 (2017.01) [G06T 17/20 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for registering a first three-dimensional digital structure and a second three-dimensional digital structure, the first three-dimensional digital structure representing first scan data of a three-dimensional physical structure, the second three-dimensional digital structure representing second scan data of the three-dimensional physical structure,
the method comprising:
receiving the first three-dimensional digital structure;
receiving the second three-dimensional digital structure;
determining first structural features of the first three-dimensional digital structure using one or more predefined structural criteria;
determining second structural features of the second three-dimensional digital structure using the one or more predefined structural criteria;
defining a first plurality of first feature sets of first structural features, each of the first feature sets comprising n first structural features of the determined first structural features with the n first structural features being descriptive of a first n-gon, wherein n is a natural number of three or more;
defining a second plurality of second feature sets of second structural features, each of the second feature set comprising n second structural features of the determined second structural features with the n second structural features being descriptive of a second n-gon;
identifying pairs of first and second feature sets describing first and second n-gons satisfying a congruence criterion;
assigning to each pair of first and second feature set a point in a transformation space, the assigned point being descriptive for a rigid spatial transformation registering the first n-gon and second n-gon described by the respective pair of first and second feature set;
determining a rigid spatial transformation for registering the first three-dimensional digital structure with the second three-dimensional digital structure using a clustering of the points assigned in the transformation space;
registering the first three-dimensional digital structure and the second three-dimensional digital structure using the determined rigid spatial transformation.