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

Claim 16:
17. 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; and
creating a transform based on the registration
wherein said aligning of the sectors comprises:
determining if the members are adjacent based on at least on a distance between selected data points between the members;
determining if the members are aligned based at least on coordinates of each of the corners of each of the members;
determining a coordinate transform for each of the corners of each of the members; and
applying the coordinate transforms associated with a first member of the members to a second member of the members based at least on whether the first member and the second member are adjacent and misaligned; and
wherein said determining if members are aligned comprises:
determining distances between the corners of the members based on the coordinates;
determining a relationship between the corner distances in adjacent corners of the members, the relationship being associated with a line connecting the corners;
if the relationship yields a value that is less than or equal to a third threshold, marking the members as aligned;
if the relationship yields the value that is greater than the third threshold, evaluating alignment between all adjacent members; and
sorting the members based on a number of aligned of the members that are also adjacent to the members.