Patent application EP20164521A (EP), filed 2020-03-20
Publication number: EP3754363A1
Title: METHOD AND APPARATUS FOR REGISTERING THREE-DIMENSIONAL POINT CLOUDS
Abstract: [0001]    A method of registering three-dimensional (3D) point clouds may include obtaining a first 3D point cloud acquired at a first location; obtaining a second 3D point cloud acquired at a second location; calculating a first normal vector for each point of the first 3D point cloud to create a plurality of normal vectors; calculating, for each point of the first 3D point cloud, a normal deviation amount of the corresponding normal vector to other normal vectors in a predetermined neighborhood of the point; selecting, from the first 3D point cloud, a first registration region based on whether the normal deviation amount of each point meets a deviation threshold; and registering the first 3D point cloud and the second 3D point cloud to create the composite 3D point cloud, the registration utilizing the first registration region in place of the first 3D point cloud.
IPC codes: G06T  17/    05            A I
G01S  17/    86            A I
G01S  17/    87            A I
G01S  17/    89            A I
G01S   7/    48            A I
G06T   7/    33            A I
Claims: number: 1
text: A method of registering three-dimensional (3D) point clouds of an area to create a composite 3D point cloud of the area, the method comprising:
number: 2
text: The method of claim 1, wherein the predetermined condition is a first deviation threshold.
number: 3
text: The method of claim 2, wherein the selecting a first registration region comprises:
number: 4
text: The method of claim 2, wherein the selecting a first registration region comprises:
number: 5
text: The method of claim 1, wherein the predetermined neighborhood comprises a predetermined number of nearest neighboring first points among the plurality of first points.
number: 6
text: The method of claim 5, wherein the predetermined neighborhood comprises the 20 closest first points of the plurality of first points.
number: 7
text: The method of claim 1, further comprising:
number: 8
text: The method of claim 1, wherein
number: 9
text: The method of claim 1, wherein the 3D scanner comprises a light source, a beam steering mechanism, and a light receiver;
number: 10
text: The method of claim 9, wherein the 3D scanner further comprises a photogrammetry camera;
number: 11
text: The method of claim 1, wherein
number: 12
text: A three-dimensional measuring system comprising:
number: 13
text: The three-dimensional measuring system of claim 12, further comprising:
number: 14
text: A non-transitory computer-readable medium storing thereon computer-executable instructions that, when executed by a computer, cause the computer to perform:
Office action: search_report, dated 2020-12-23
Rejection reasons: novelty_epc_54
Prior art cited: ref_id: US2012069352A1
ref_type: patent
severity: background
ref_id: US8705012B2
ref_type: patent
severity: background
ref_id: US2015323672A1
ref_type: patent
severity: background
ref_id: US2018075643A1
ref_type: patent
severity: background
ref_id: GB2559157A
ref_type: patent
severity: background
ref_id: US2015323672
ref_type: patent
severity: novelty_destroying
ref_id: US2018075643
ref_type: patent
severity: background
ref_id: GB2559157
ref_type: patent
severity: background
Final disposition: pending (2020-12-23)