| 摘要 |
A method comprising: providing a first three-dimensional point cloud obtained according to a first sensing technique, a second 3D point cloud obtained according to a second sensing technique and a first radius of a sphere covering a real object underlying the second first 3D point cloud and a second radius of a sphere covering a real object underlying the second 3D point cloud; defining scales of the first 3D point cloud and the second 3D point cloud based on said first radius and second radius; searching statistically substantially similar candidate regions between the first 3D point cloud and the second 3D point cloud using an ensemble shape function (ESF) and aligning the statistically substantially similar candidate regions between the first 3D point cloud and the second 3D point cloud at least in vertical direction The aligned candidate regions are then aligned between the 3D point clouds based on their structural similarity. |
