Apparatus and method for point cloud assembly

A method comprising:

• obtaining an image containing texture for a portion of an object;
• obtaining a data set of a first point cloud and a data set of a second point cloud corresponding to the portion of the object;
• identifying a portion of the texture associated with each respective data set that represents substantially a same surface;
• computing a relative transformation of the first and second data sets such that the portions of texture associated with each data set align to substantially minimize texture alignment error;
• inferring a geometric transformation consistent with the texture transformation;
• and
• applying the geometric transformation to the first point cloud to register it relative to the second point cloud.

A method comprising:

• obtaining a data set of a first point cloud and a data set of a second point cloud;
• identifying a portion of geometry defined by each respective data set which describes a substantially similar geometric shape;
• computing a relative geometric transformation such that the portion of geometry in each respective data set align to substantially minimize alignment error;
• obtaining an image containing texture for the portion of geometry in each respective data set;
• identifying a portion of the texture associated with each respective data set that represents substantially a same surface;
• computing a relative texture transformation of the first and second data sets such that the portions of texture associated with each data set align to substantially minimize texture alignment error;
• adjusting the geometric transformation based on the texture transformation;
• and
• applying the adjusted geometric transformation to the first point cloud to register it relative to the second point cloud.

A computer readable storage medium including program instructions that direct a computer to perform one or more operations when executed by a processor, the one or more operations comprising:

• obtaining a data set of a first point cloud and a data set of a second point cloud;
• identifying a portion of geometry defined by each respective data set which describes a substantially similar geometric shape;
• computing a transformation such that the portion of geometry in each data set align to substantially minimize alignment error;
• and
• applying the transformation to the first point cloud to register it relative to the second.

A computer readable storage medium including program instructions that direct a computer to perform one or more operations when executed by a processor, the one or more operations comprising:

• obtaining an image containing texture for a portion of an object;
• obtaining a data set of a first point cloud and a data set of a second point cloud corresponding to the portion of the object;
• identifying a portion of the texture associated with each respective data set that represents substantially a same surface;
• computing a relative transformation of the first and second data sets such that the portions of texture associated with each data set align to substantially minimize texture alignment error;
• inferring a geometric transformation consistent with the texture transformation;
• and
• applying the transformation to the first point cloud to register it relative to the second point cloud.

A computer readable storage medium including program instructions that direct a computer to perform one or more operations when executed by a processor, the one or more operations comprising:

• obtaining a data set of a first point cloud and a data set of a second point cloud;
• identifying a portion of geometry defined by each respective data set which describes a substantially similar geometric shape;
• computing a relative geometric transformation such that the portion of geometry in each respective data set align to substantially minimize alignment error;
• obtaining an image containing texture for the portion of geometry in each respective data set;
• identifying a portion of the texture associated with each respective data set that represents substantially a same surface;
• computing a relative texture transformation of the first and second data sets such that the portions of texture associated with each data set align to substantially minimize texture alignment error;
• adjusting the geometric transformation based on the texture transformation;
• and
• applying the adjusted geometric transformation to the first point cloud to register it relative to the second point cloud.