公开(公告)号：US11893678B2

公开(公告)日：2024-02-06

申请号：US17583691

申请日：2022-01-25

Applicant: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE

Inventor： Hyuk-Min Kwon ,  Hyun-Cheol Kim ,  Jeong-Il Seo ,  Sang-Woo Ahn ,  Seung-Jun Yang

IPC: G06T15/08 ,  G06T15/10

CPC classification number: G06T15/08 ,  G06T15/10 ,  G06T2210/56

Abstract: Disclosed herein are an apparatus and method for searching for a global minimum of a point cloud registration error. The apparatus includes memory in which at least one program is recorded and a processor for executing the program. The program performs collecting multiple registration results in which the registration error between a source point cloud and a target point cloud is a local minimum as candidates and selecting the registration result in which the registration error between the source point cloud and the target point cloud is a global minimum, among the candidates. Collecting the multiple registration results may comprise repeatedly randomly initializing the source point cloud and the target point cloud and registering the initialized source point cloud to the initialized target point cloud to thereby search for a registration result in which the registration error therebetween is a local minimum.