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 9:
10. The method of claim 9, wherein computing the global transformation matrix comprises:
building a candidate set of transformation matrices based on a first aggregation of respective first transformation matrices, a second aggregation of respective second transformation matrices and the best orientation angle, wherein the respective first transformation matrices are aggregated from those first transformation matrices having a non-zero value within the table column corresponding to the best orientation angle and the respective second transformation matrices are aggregated from those second transformation matrices from the same table column;
computing estimated pose for each line in the plurality of matching line-pair groups from the second set of discriminative line-pairs by using corresponding transformation matrices from the candidate set of transformation matrices;
forming line clusters from the second set of discriminative line-pairs by finding similar estimated pose; and
averaging transformation matrices of the line clusters to obtain the global transformation matrix.