Patent SG-11201906824Q-A (SG)
Title: Apparatus, method, and system for alignment of 3d datasets
Inventor: SELVIAH DAVID R
IPC: G06T7/33
Filed: 2018-01-26
Abstract: INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date 02 August 2018 (02.08.2018) WIP0 I PCT 0111111010 0111 °nolo oil! mom° oimIE (10) International Publication Number WO 2018/138516 Al (51) International Patent Classification: GO6T 7/33 (2017.01) (21) International Application Number: PCT/GB2018/050233 (22) International Filing Date: 26 January 2018 (26.01.2018) (25) Filing Language: English (26) Publication Language: English (30) Priority Data: 1701383.0 27 January 2017 (27.01.2017) GB (71) Applicant: UCL BUSINESS PLC [GB/GB]; The Network Building, 97 Tottenham Court Road, London Greater Lon- don W1T 4TP (GB). (72) Inventors: SELVIAH, David R.; Department of Electron- ic and Electrical Engineering, University College London, UCL, Torrington Place, London Greater London WC1E 7JE (GB). WILLMAN, Eero; c/o UCL Business PLC, The Net- work Building, 97 Tottenham Court Road, London Greater London W1T 4TP (GB). (74) Agent: HUTCHISON, James; c/o Haseltine Lake LLP, 300 High Holborn, London Greater London WC1V 7JH (GB). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, (54) Title: APPARATUS, METHOD, AND SYSTEM FOR ALIGNMENT OF 3D DATASETS image image 3D image acquisition unit 12 rotational alignment processor 16 storage unit 14 10 angles of rotation rotational y aligned images FIG. 1 (57) : The present invention lies in the field of 3D surveying, mapping, and imaging. In particular, the present invention relates to the rotational alignment of 3D datasets. Embodiments include an apparatus method and program for rotations! and optionally also transnational alignment of 3D datasets. The 3D datasets being stored as point clouds, transformed into vector sets, and the vector sets being represented as a unit sphere or Gaussian sphere and compared for best alignment. The found best alignment is used to rotate the two 3D datasets into rotational and translational alignment with one another. [Continued on next page] WO 2018/138516 Al MIDEDIMOMOIDEIREEMOMOMOMBROIROMEEN UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: with international search report (Art. 21(3)) before the expiration of the time limit for amending the claims and to be republished in the event of receipt of amendments (Rule 48.2(h))