Apparatus and method for performing data-based pairwise matching of 3D point clouds

摘要

A method and apparatus (1) for performing data-based pairwise registration of three-dimensional (3D) point clouds (PC), said apparatus capturing a first local point cloud (PC1) in a first scan and in a second scan at least one scanner 2 configured to capture a second local point cloud PC2; a PPF derivation unit 3 configured to process both the captured local point clouds PC1 , PC2 to derive the associated point pair features PPF1 , PPF2 ; a PPF-autoencoder 4 configured to process the derived point pair features PPF1 , PPF2 to extract corresponding PPF-feature vectors V PPF1 , V PPF2 ;a PC-autoencoder 5 configured to process the captured local point clouds PC1 , PC2 to extract corresponding PC-feature vectors V PC1 , V PC2 ; Corresponding PPF-feature vectors V PPF1 , V PPF2 to compute latent difference vectors LDV1 , LDV2 for both captured point clouds PC1 , PC2 connected to latent difference vector CLDV a subtractor 6 configured to subtract from the PC-vectors V PC1 , V PC2 ; and a pose prediction network (8) configured to calculate a relative pose prediction (T) between a first scan and a second scan performed by the scanner (2) on the basis of the connected latent difference vector (CLDV).