The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 15, 2020
Filed:
May. 11, 2017
Nokia Technologies Oy, Espoo, FI;
Nokia Technologies Oy, Espoo, FI;
Abstract
A method comprising: providing a first 3D point cloud and a second 3D point cloud about an object obtained using different sensing techniques; removing a scale difference between the 3D point clouds based on a mean distance of points in corresponding subsets of the first and second 3D point clouds; arranging the 3D point clouds in a two-level structure, wherein a first level is a macro structure describing boundaries of the object and a second level is a micro structure consisting of supervoxels of the 3D point cloud; constructing a first graph from the first 3D point cloud and a second graph from the second 3D point cloud such that the supervoxels represent nodes of the graphs and adjacencies of the supervoxels represents edges of the graphs; matching the first and second graph for obtaining a transformation matrix; and registering the 3D point clouds together by applying the transformation matrix.