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:
Jan. 02, 2018
Filed:
Jul. 15, 2015
Hrl Laboratories, Llc, Malibu, CA (US);
Darren J. Earl, Los Angeles, CA (US);
Heiko Hoffmann, Simi Valley, CA (US);
Ryan M. Uhlenbrock, Calabasas, CA (US);
HRL Laboratories, LLC, Malibu, CA (US);
Abstract
A method for merging 3D point clouds from sparsely distributed viewpoints includes collecting a plurality of 3D point cloud data sets using a 3D sensor, each 3D point cloud data set in a local reference frame of a viewpoint of the 3D sensor, downsampling the 3D point cloud data sets, registering the downsampled 3D point cloud data sets to a global reference frame using an initial transform Tfor rotating and translating each downsampled 3D point cloud data set from the local reference frame to the global reference frame, deriving estimated transforms Tuntil the last derived transform Tconverges to a stable transform T, registering the plurality of 3D point cloud data sets to the global reference frame using the stable transform T, and deriving second estimated transforms Tuntil the last derived transform Tconverges to a second stable transform T.