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:
Nov. 03, 2020
Filed:
Mar. 12, 2019
Nvidia Corporation, Santa Clara, CA (US);
Benjamin David Eckart, Pittsburgh, PA (US);
Kihwan Kim, Campbell, CA (US);
Jan Kautz, Lexington, MA (US);
NVIDIA Corporation, Santa Clara, CA (US);
Abstract
Point cloud registration sits at the core of many important and challenging 3D perception problems including autonomous navigation, object/scene recognition, and augmented reality (AR). A new registration algorithm is presented that achieves speed and accuracy by registering a point cloud to a representation of a reference point cloud. A target point cloud is registered to the reference point cloud by iterating through a number of cycles of an EM algorithm where, during an Expectation step, each point in the target point cloud is associated with a node of a hierarchical tree data structure and, during a Maximization step, an estimated transformation is determined based on the association of the points with corresponding nodes of the hierarchical tree data structure. The estimated transformation is determined by solving a minimization problem associated with a sum, over a number of mixture components, over terms related to a Mahalanobis distance.