Patent ID: 11887272
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A system for determining an image spatial transformation/image point cloud registration, comprising:
a spatial sensor and a controller;
the spatial sensor arranged to capture a plurality of point clouds of a field of view;
the controller in communication with the spatial sensor, the controller having an instruction set that is executable to:
identify, via the spatial sensor, a plurality of source points associated with a first point cloud;
identify, via the spatial sensor, a plurality of target points associated with a second point cloud;
execute a normal calculation for each of the plurality of target points;
categorize the plurality of target points into one of an x, y, or z dimension based upon the normal calculation;
determine an initial transform between the plurality of source points and the plurality of target points;
for each of the x, y, and z dimensions:
determine, for the plurality of source points, an association between the plurality of source points and the plurality of target points,
determine a correlation cost between the plurality of source points and the plurality of target points,
determine a new transform based upon the x, y, and z dimensions and the correlation cost between the plurality of source points and the plurality of target points, and
update source points for the x, y, and z dimensions based upon the new transform; and

determine a spatial transformation between the plurality of source points and the plurality of target points based upon updated source points for the x, y, and z dimensions.