Method for Registering 3D Points with 3D Planes

摘要

Three-dimensional points acquired of an object in a sensor coordinate system are registered with planes modeling the object in a world coordinate system by determining correspondences between the points and the planes. Points are transformed to an intermediate coordinate system using the correspondences and transformation parameters. The planes are transformed to an intermediate world coordinate system using world rotation and translation parameters. Intermediate rotation and translation parameters are determined by applying coplanarity constraints and orthogonality constraints to the points in the intermediate sensor coordinate system and the planes in the intermediate world coordinate system. Then, rotation and translation parameters between the sensor and world coordinate systems are determined to register the points with the planes.