Systems and methods for 3D data based navigation using descriptor vectors

摘要

Systems and methods for 3D data based navigation using descriptor vectors are provided. In at least one embodiment, a method for identifying corresponding segments in different frames of data comprises identifying a first segment set in a first frame in multiple frames acquired by at least one sensor, and identifying a second segment set in a second frame in the multiple frames. The method also comprises calculating a first and second set of descriptor vectors, wherein the first and second sets of descriptor vectors comprise a descriptor vector for each segment in the respective first and second segment set, wherein a descriptor vector describes an indexed plurality of characteristics; and identifying corresponding segments by comparing the first set of descriptor vectors against the second set of descriptor vectors, wherein the corresponding segments describe characteristics of the same feature in the environment.