Patent ID: 11893678
Assignee: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 14:
15. A method for searching for a global minimum of a point cloud registration error, comprising:
calculating multiple first transformation matrices for randomly transforming a source point cloud and a target point cloud;
initializing the source point cloud and the target point cloud based on a first one of the multiple first transformation matrices;
searching for a first registration result that makes a registration error between the initialized source point cloud and the initialized target point cloud converge to a local minimum;
adding the found first registration result to candidates;
initializing the source point cloud and the target point cloud based on a second one of the multiple first transformation matrices;
searching for a second registration result that makes a registration error between the initialized source point cloud and the initialized target point cloud converge to a local minimum;
adding the found second registration result to the candidates;
initializing the source point cloud and the target point cloud based on a third one of the multiple first transformation matrices;
searching for a third registration result that makes a registration error between the initialized source point cloud and the initialized target point cloud converge to a local minimum;
adding the found third registration result to the candidates; and
returning to initializing the source point cloud and the target point cloud based on a fourth one of the multiple first transformation matrices or selecting a registration result in which a registration error between the source point cloud and the target point cloud is a global minimum, among the candidates, depending on whether predetermined conditions for termination are satisfied,
wherein calculating the multiple first transformation matrices includes
segmenting each of the target point cloud and the source point cloud into predetermined voxel units;
calculating normal vectors for respective voxels; and
calculating multiple first transformation matrices for matching normal vectors of the target point cloud to respective normal vectors of the source point cloud.