Patent ID: 9740711
Date: 2017-08-22
CPC Classifications: G06F,G06K,G06T

Claim:
1. A computer-implemented method for merging multiple point cloud scans, comprising: (a) importing a first raw scan file and a second raw scan file, wherein each raw scan file comprises multiple points; (b) segmenting the first raw scan file and the second raw scan file by extracting first segments from the first raw scan file and second segments from the second raw scan file; (c) extracting first features from the first segments and second features from the second segments; (d) coarsely registering one or more of the first features to one or more of the second features to acquire a set of candidate matching feature pairs; (e) refining the registering based on all of the candidate matching feature pairs; (f) further refining the registering by: (g) scoring the candidate matching feature pairs; and (h) merging the first raw scan file with the second raw scan file based on the scoring.