Method and system for merging multiple point cloud scans
AssigneeAutodesk, Inc.
InventorsOytun Akman, Ronald Poelman, Seth Koterba
Life of this patent
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Abstract
A method, system, apparatus, article of manufacture, and computer-readable storage medium provide the ability to merge multiple point cloud scans. A first raw scan file and a second raw scan file (each including multiple points) are imported. The scan files are segmented by extracting segments based on geometry in the scene. The segments are filtered. A set of candidate matching feature pairs are acquired by registering features from one scan to features from another scan. The two raw scan files are merged based on the candidate matching feature pairs.
Claims14
A computer-implemented method for merging multiple point cloud scans, comprising:
- (a) importing a first raw scan file from a first scan and a second raw scan file from a second scan for a scene, wherein each raw scan file comprises multiple points, and wherein each raw scan file comprises an image with a depth component;
- (b) segmenting the first raw scan file and the second raw scan file by extracting first segments from the first raw scan file and second segments from the second raw scan file, wherein the extracting is based on geometry in the scene, wherein the first segments and the second segments comprise geometric primitives;
- (c) filtering the first segments and the second segments to identify first features from the first segments and second features from the second segments, wherein the first features and the second features comprise the geometric primitives, and wherein the filtering is based on z-coordinates of the first segments and the second segments;
- (d) registering one or more of the first features to one or more of the second features to acquire a set of candidate matching feature pairs;
- (e) merging the first raw scan file with the second raw scan file to create a merged scan file, wherein the merging is based on:
- (1) the candidate matching feature pairs;
- and
- (2) a clustering of the first scan with the second scan, wherein the clustering is based on a threshold transformation between the first scan and the second scan.
A computer system for merging multiple point cloud scans comprising:
- (a) a computer;
- (b) a point cloud scanner communicatively coupled to the computer, wherein the point cloud scanner obtains a first raw scan file and a second raw scan file for a scene, wherein each raw scan file comprises multiple points, and wherein each raw scan filed comprises an image with a depth component;
- (c) an application executing on the computer that:
- (1) segments the first raw scan file and the second raw scan file by extracting first segments from the first raw scan file and second segments from the second raw scan file, wherein the extracting is based on geometry in the scene, and wherein the first segments and the second segments comprise geometric primitives;
- (2) filters the first segments and the second segments to identify first features from the first segments and second features from the second segments, wherein the first features and the second features comprise the geometric primitives, and wherein the first segments and the second segments are filtered based on z-coordinates;
- (3) registers one or more of the first features to one or more of the second features to acquire a set of candidate matching feature pairs;
- (4) merges the first raw scan file with the second raw scan file to create a merged scan file, wherein the merging is based on:
- (i) the candidate matching feature pairs;
- and
- (ii) a clustering of the first scan with the second scan, wherein the clustering is based on a threshold transformation between the first scan and the second scan.
Dependencies are inferred from the claim text.