AUTOMATIC REGISTRATION

摘要

A method, system, apparatus, article of manufacture, and computer-readable storage medium provide the ability to merge multiple point cloud scans. A first raw scan file and a second raw scan file (each including multiple points) are imported. The scan files are segmented by extracting segments. Features are extracted from the segments. A set of candidate matching feature pairs are acquired by registering/matching/pairing features from one scan to features from another scan. The candidate pairs are refined based on an evaluation of all of the matching pairs. The candidate pairs are further refined by extracting sample points from the segments (within the matched pairs) and refining the pairs based on the points. The feature pairs are scored and then merged based on the scores.

主权项

1. A computer-implemented method for merging multiple point cloud scans, comprising:
(a) importing a first raw scan file and a second raw scan file, wherein each raw scan file comprises multiple points; (b) segmenting the first raw scan file and the second raw scan file by extracting first segments from the first raw scan file and second segments from the second raw scan file; (c) extracting first features from the first segments and second features from the second segments; (d) coarsely registering one or more of the first features to one or more of the second features to acquire a set of candidate matching feature pairs; (e) refining the registering based on all of the candidate matching feature pairs; (f) further refining the registering by:
(1) extracting sample points from the extracted first segments and the extracted second segments based on the registering; and(2) utilizing the extracted sample points to refine the candidate matching feature pairs; (g) scoring the candidate matching feature pairs; and (h) merging the first raw scan file with the second raw scan file based on the scoring.