公开(公告)号：US12002227B1

公开(公告)日：2024-06-04

申请号：US17376313

申请日：2021-07-15

Applicant: Apple Inc.

Inventor： Donghoon Lee ,  Thorsten Gernoth ,  Onur C. Hamsici ,  Shuo Feng

IPC: G06T7/33 ,  G06N3/08 ,  G06T15/20

CPC classification number: G06T7/344 ,  G06N3/08 ,  G06T15/205 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: Devices, systems, and methods are disclosed for partial point cloud registration. In some implementations, a method includes obtaining a first set of three-dimensional (3D) points corresponding to an object in a physical environment, the first set of 3D points having locations in a first coordinate system, obtaining a second set of 3D points corresponding to the object in the physical environment, the second set of 3D points having locations in a second coordinate system, predicting, via a machine learning model, locations of the first set of 3D points in the second coordinate system, and determining transform parameters relating the first set of 3D points and the second set of 3D points based on the predicted location of the first set of 3D points in the second coordinate system.