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. 09, 2025
Filed:
Nov. 23, 2023
Shanghaitech University, Shanghai, CN;
Chengzhang He, Shanghai, CN;
Yajun Ha, Shanghai, CN;
SHANGHAITECH UNIVERSITY, Shanghai, CN;
Abstract
A global registration method based on spherical harmonic transformation (SHT) and iterative optimization is provided. Two assumptions are provided: firstly, it is predefined that a minimum percentage of a correct matching pair in an input point cloud is represented as a limit on a quantity of outliers in the point cloud, and secondly, a distance threshold used to determine the correct matching pair is preset based on a scenario and represented as a limited distance of an outlier in the point cloud. In the algorithm provided, the point cloud first undergoes coarse registration to obtain a plurality of search domains, and the search domains are sorted based on an evaluation criterion. A branch and bound method is used to exclude an incorrect search domain and obtain a final registration result.