AN APPARATUS AND A METHOD FOR PERFORMING A DATA DRIVEN PAIRWISE REGISTRATION OF THREE-DIMENSIONAL POINT CLOUDS

摘要

A method and apparatus (1) for performing a data driven pair-wise registration of three-dimensional, 3D, point clouds, PC, said apparatus comprising at least one scanner (2) adapted to capture a first local point cloud, PC1, in a first scan and a second local point cloud, PC2, in a second scan; a PPF deriving unit (3) adapted to process both captured local point clouds (PC1, PC2) to derive associated point pair features (PPF1, PPF2); a PPF-Autoencoder (4) adapted to process the derived point pair features (PPF1, PPF2) to extract corresponding PPF-feature vectors (V_PPF1, V_PPF2) ; a PC-Autoencoder (5) adapted to process the captured local point clouds (PC1, PC2) to extract corresponding PC-feature vectors (V_PC1, V_PC2); a subtractor (6) adapted to subtract the PPF-feature vectors (V_PPF1, V_PPF2) from the corresponding PC-vectors (V_PC1, V_PC2) to calculate latent difference vectors (LDV1, LDV2) for both captured point clouds (PC1, PC2) concatenated to a latent difference vector (CLDV); and a pose prediction network (8) adapted to calculate a relative pose prediction, T, between the first and second scan performed by said scanner (2) on the basis of the concatenated latent difference vector (CLDV) .