Alignment apparatus, alignment system, alignment method, and recording medium

An alignment system comprising circuitry configured to:

• acquire first point cloud data and second point cloud data, the second point cloud data being different from the first point cloud data;
• set a plurality of search start positions;
• search for a respective solution candidate with respect to each of the plurality of search start positions to generate a plurality of solution candidates, each of the plurality of solution candidates corresponding to a respective coordinate transformation from the first point cloud data to the second point cloud data;
• and
• determine a final solution for alignment from the first point cloud to the second point cloud data based on the plurality of solution candidates.

An alignment method comprising:

• acquiring first point cloud data and second point cloud data, the second point cloud data being different from the first point cloud data;
• setting a plurality of search start positions;
• searching for a respective solution candidate with respect to each of the plurality of search start positions to generate a plurality of solution candidates, each of the plurality of solution candidates corresponding to a respective coordinate transformation from the first point cloud data to the second point cloud data;
• and
• determining a final solution for alignment from the first point cloud data to the second point cloud data based on the plurality of solution candidates.

A non-transitory recording medium storing instructions which, when executed by one or more processors, cause the processors to perform an alignment method comprising:

• acquiring first point cloud data and second point cloud data, the second point cloud data being different from the first point cloud data;
• setting a plurality of search start positions;
• searching for a respective solution candidate with respect to each of the plurality of search start positions to generate a plurality of solution candidates, each of the plurality of solution candidate corresponding to a respective coordinate transformation from the first point cloud data to the second point cloud data;
• and
• determining a final solution for alignment from the first point cloud data to the second point cloud data based on the plurality of solution candidates.