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

摘要

A method and apparatus for performing a data driven pairwise registration of 3D point clouds, which includes at least one scanner adapted to capture a first local point cloud in a first scan and a second local point cloud in a second scan; a PPF deriving unit adapted to process both captured local point clouds to derive associated point pair features; a PPF-Autoencoder adapted to process the derived point pair features to extract corresponding PPF-feature vectors; a PC-Autoencoder adapted to process the captured local point clouds to extract corresponding PC-feature vectors; a subtracter adapted to subtract the PPF-feature vectors from the corresponding PC-vectors to calculate latent difference vectors for both captured point clouds concatenated to a latent difference vector; and a pose prediction network adapted to calculate a relative pose prediction, between the first and second scan performed by the scanner on the basis of the concatenated latent difference vector.