System and Method for Hybrid Simultaneous Localization and Mapping of 2D and 3D Data Acquired by Sensors from a 3D Scene

摘要

A method and system for registering data by first acquiring the data from a scene by a sensor at different viewpoints, and extracting, from the data, three-dimensional (3D) points and 3D lines, and descriptors associated with the 3D points and the 3D lines. A first set of primitives represented in a first coordinate system of the sensor is selected, wherein the first set of primitives includes at least three 3D points. A second set of primitives represented in a second coordinate system is selected, wherein the second set of primitives includes any combination of 3D points and 3D lines to obtain at least three primitives. Then, using the first set of primitives and the second set of primitives, the 3D points are registered with each other, and the 3D points with the 3D lines to obtain registered primitives, wherein the registered primitives are used in a simultaneous localization and mapping (SLAM) system.