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

Claim 15:
16. A method for determining an image spatial transformation, the method comprising:
capturing, via a spatial sensor, a plurality of point clouds of a field of view;
identifying a plurality of source points associated with a first point cloud;
identifying a plurality of target points associated with a second point cloud;
executing, via a controller, a normal calculation for each of the plurality of target points;
categorizing the plurality of target points into one of an x, y, or z dimension based upon the normal calculation;
determining an initial transform between the plurality of source points and the plurality of target points; and
for each of the x, y, and z dimensions:
determining, for the plurality of source points, an association between the plurality of source points and the plurality of target points,
determining a correlation cost between the plurality of source points and the plurality of target points,
determining 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
updating source points for the x, y, and z dimensions based upon the new transform; and

determining 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.