Patent ID: 11861855
Assignee: DEKA PRODUCTS LIMITED PARTNERSHIP
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. A method for registration of three-dimensional (3D) ground point cloud (PC) data to 3D aerial PC data for vehicle navigation, the method comprising:
locating surfaces in the 3D ground PC data;
dividing the 3D ground PC data with located surfaces into members of a sector set;
aligning the members with each other;
locating like features in the 3D aerial PC data and the aligned members of the sector set;
registering the like features in the 3D ground PC data with the 3D aerial PC data;
creating a transform based on the registration;
wherein aligning the sectors with each other comprises:
determining coordinates and coordinate transforms for each corner of each of the members of the sector set;
determining, based on the coordinates, a first member of the members, the first member being adjacent to and not aligned with a second member of the members; and
applying the coordinate transforms associated with the first member to the coordinates of the second member; and

applying a combination of multiple of the coordinate transforms to the second member based at least on a third member of the members.