Method for registering at least two different 3d models

Method for registering at least two different 3D models, whereby the models image the same object at least in places, the method comprising:

• a. Detecting features in the 3D models,
• b. Describing the features of the 3D models based on their environment,
• c. Assigning the features of the first 3D model to the features of the second 3D model based on descriptions from Step b. that are as similar as possible, whereby for each feature of the first 3D model, a feature of the second 3D model is determined, and notation of the first assignments as vectors,
• d. Assigning the features of the second 3D model to the features of the first 3D model based on descriptions from Step b. that are as similar as possible, whereby for each feature of the second 3D model, a feature of the first 3D model is determined, and notating the second assignments as vectors,
• e. Comparing the vectors of the first assigning and the vectors of the second assigning and determining common, bijective vectors of the two assignings,
• f. Randomly selecting at least three bijective vectors from the bijective vectors that are determined in Step e.,
• g. Applying the selected vectors to the first 3D model and checking of whether the vectors essentially image common points of the first 3D model with the second 3D model onto common points of the second 3D model with the first 3D model,
• h. if the examination of Step g. is successful, using the selected vectors as a basis for generating a complete transformation of the first 3D model to form a coordinate system of the second model,
• i. if the examination of Step g. is not successful, discarding all vectors and rerunning the method with other, in particular new, data to form at least one of the 3D models.