Patent ID: 8290305
Filing Date: 2012-10-16
Classification: G06T

Abstract:
1. A method for registration of a plurality of images, comprising: acquiring for a common scene a two dimensional image data and a three-dimensional image data; cropping a three-dimensional volume of point cloud data comprising said three-dimensional image data to remove a portion of said point cloud data comprising a ground surface within said scene; dividing said three-dimensional volume into a plurality of m sub-volumes, where m is greater than or equal to one; edge-enhancing said two-dimensional image data; for each qualifying sub-volume, creating a filtered density image, calculating a two-dimensional correlation surface based on said filtered density image and said two-dimensional image data that has been edge enhanced, finding a peak of the two-dimensional correlation surface, determining a corresponding location of said peak within the two-dimensional image, define a correspondence point set; and storing said correspondence point set in a point set list; finding a transformation that minimizes the error between a plurality of said correspondence point sets contained in said point set list; and applying the transformation to said points in a target data selected from group consisting of the three-dimensional image data and said two-dimensional image data.