Patent ID: 11887271
Assignee: HONG KONG APPLIED SCIENCE AND TECHNOLOGY RESEARCH INSTITUTE CO., LTD
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. A computer-implemented method for global registration between a first point cloud and a second point cloud on an identical spatial scene at two separate instances, comprising:
obtaining, by a scanning device, the first point cloud and the second point cloy d on the identical spatial scene at the two separate instances;
extracting, by a processor, a first set of discriminative line-pairs from the first point cloud and a second set of discriminative line-pairs from the second point cloud wherein the discriminative line-pair has high discriminative power compared to a randomly selected line-pair;
identifying, by the processor, a plurality of matching line-pair groups, each of the matching line-pair groups comprising a first discriminative line-pair selected from the first set of discriminative line-pairs and a second discriminative line-pair selected from the second set of discriminative line-pairs, wherein the first discriminative line-pair and the second discriminative line-pair satisfy:
at least one thresholding criterion related to between-line relationship, line geometry and line location; and
a compass angle criterion when the first discriminative line-pair is transformed to a reference coordinate by a first transformation matrix and the second discriminative line-pair is transformed to the reference coordinate by a second transformation matrix;

selecting, by the processor, a best orientation angle for the first point cloud and the second point cloud derived from compass angles for the plurality of matching line-pair groups;
computing, by the processor, a global transformation matrix based on the best orientation angle, aggregations of respective first transformation matrices and respective second transformation matrices; and
using the global transformation matrix to align the first point cloud and the second point cloud.