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

Claim 0:
1. An apparatus for searching for a global minimum of a point cloud registration error, comprising:
memory in which at least one program is recorded; and
a processor for executing the program,
wherein:
the program performs
segmenting each of the target point cloud and the source point cloud into predetermined voxel units;
calculating normal vectors for respective voxels;
calculating multiple first transformation matrices for matching normal vectors of the target point cloud to respective normal vectors of the source point cloud;
collecting multiple registration results in which a registration error between a source point cloud and a target point cloud is a local minimum as candidates; and
selecting a registration result in which the registration error between the source point cloud and the target point cloud is a global minimum, among the candidates, and
collecting the multiple registration results comprises repeatedly performing
initializing the source point cloud and the target point cloud based on one of the multiple first transformation matrices; and
registering the initialized source point cloud to the initialized target point cloud, thereby searching for a registration result in which a registration error is a local minimum.