Patent Document ID: 9972067
Application ID: 15290429
Patent Status: 1

Claim One:
1. A method for three-dimensional point cloud registration, the method comprising: generating, with a processor, a three-dimensional point cloud of a scanned object using data received from a three-dimensional imaging sensor and storing the three-dimensional point cloud in a first memory location; generating, with the processor, a two-dimensional image of the scanned object using data received from a two-dimensional imaging sensor and storing the two-dimensional image in a second memory location; comparing the three-dimensional point cloud and the two-dimensional image, with the processor, and aligning the three-dimensional point cloud with the two-dimensional image according to at least three common points that are common to both the three-dimensional point cloud and the two-dimensional image; generating, with the processor, a first upsampled three-dimensional point cloud by identifying, with the processor, at least one missing point in the three-dimensional point cloud, determining, with the processor, an intensity of neighboring pixels in the two-dimensional image neighboring the at least one missing point in the three-dimensional point cloud, and filling, with the processor, the at least one missing point in the three-dimensional point cloud with a filler point using depth information from depth values in the three-dimensional point cloud that correspond with the neighboring pixels in the two-dimensional image where the neighboring pixels have intensities that correspond with an intensity of a point in the two-dimensional image associated with a respective missing point in the three-dimensional point cloud; generating, with the processor, a second upsampled three-dimensional point cloud by determining, with the processor, at least one local area of the first upsampled three-dimensional point cloud, determining, with the processor, entropies of pixels in the two-dimensional image that correspond with the at least one local area of the first upsampled three-dimensional point cloud, and adding, with the processor, at least one point to the at least one local area of the first upsampled three-dimensional point cloud based on the entropies of pixels in the two-dimensional image that correspond with the at least one local area and a scaled entropy threshold; and registering, with the processor, the second upsampled three-dimensional point cloud with a predetermined three-dimensional model of the scanned object.