A method for automatic registration of 3D data using a projection matrix of a sensor

摘要

PURPOSE: A method of automatically registering three-dimensional data using a projection matrix of a sensor is provided to register two distance information data items respectively obtained from two sensors located at different positions as three-dimensional distance information data in one coordinate system. CONSTITUTION: A relative position of two sensors is estimated using a covariance matrix. Two distance information data items obtained from the two sensors are converted using the estimated relative position as an initial value(47), and an overlapped region between the converted two distance information data sets is obtained(48). A pair of closest points is found in the overlapped region(49). The covariance matrix is updated from the pair of closest points. The steps are repeated using the updated covariance matrix.