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 10:
11. A computerized system comprising:
a processor;
a memory coupled to the process; and
a 3D scanning device to capture an identical spatial scene at two separate instances for providing a first point cloud and a second point cloud to the computerized system,
wherein the memory and the processor together are configured to cause the computerized system to perform actions comprising:
extracting 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 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 in terms of 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 a best orientation angle for the first point cloud and the second point cloud derived from compass angles for the plurality of the matching line-pair groups;
computing 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.