Automatic global non-rigid scan point registration

摘要

Techniques are provided for global (non-rigid) scan point registration between a scanned object and an associated model, from an arbitrary initial starting position, based on a combination of iterative coarse registration and fine registration. A methodology implementing the techniques according to an embodiment includes generating a model transformation based on a coarse registration between the model and the point scan. The method further includes calculating an alignment metric based on a distance measurement between the point scan and the transformed model. If the alignment metric exceeds a selected threshold value, a fine registration is performed between the transformed model and the point scan. Otherwise, the method continues by performing a random rotation of the model; a translation of the rotated model towards a centroid of the point scan; and iterating the coarse registration using the translated model until the alignment metric is achieved, after which the fine registration is performed.