Method and apparatus for determining the geometric correspondence between multiple 3D rangefinder data sets

A computer program product stored in computer readable media for execution in at least one processor, the processor having access to at least two 3D range data sets obtained using a 3D rangefinder device, comprising:

• a first software module for acquiring a first 3D range data set generated using a first 3D rangefinder device to scan a scene, wherein the first 3D range data set includes, for each pixel, at least three measured dimension values, and for providing the first 3D range data set to the at least one processor;
• a second software module for acquiring a second 3D range data set generated using one of the first 3D rangefinder device and a second 3D rangefinder device to scan the scene and generate the second 3D range data set, wherein the second 3D range data set includes, for each pixel, at least three measured dimension values, and for providing the second 3D range data set to the at least one processor;
• a third software module for representing the first 3D range data set as a first 2D displayed image;
• a fourth software module for representing the second 3D range data set as a second displayed image selected from the group consisting of a second 2D displayed image and a 3D displayed image;
• a fifth software module for specifying corresponding features within the first 2D displayed image and within the second displayed image respectively;
• and
• a sixth software module for computing a 3D transformation between the first 3D range data set and the second 3D range data set based on the geometry of the specified corresponding features, such that the geometric correspondence between the two 3D range data sets is determined.

An apparatus having access to at least two 3D range data sets obtained using a 3D rangefinder device, comprising:

• at least one computer processor;
• a computer program product executing within the at least one computer processor, wherein the computer program product further comprises at least the following software modules therein;
• a first software module for acquiring a first 3D range data set generated using a first 3D rangefinder device to scan a scene, wherein the first 3D range data set includes, for each pixel, at least three measured dimension values, and for providing the first 3D range data set to the at least one processor;
• a second software module for acquiring a second 3D range data set generated using one of the first 3D rangefinder device and a second 3D rangefinder device to scan the scene and generate the second 3D range data set, wherein the second 3D range data set includes, for each pixel, at least three measured dimension values, and for providing the second 3D range data set to the at least one processor;
• a third software module for representing the first 3D range data set as a first 2D displayed image;
• a fourth software module for representing the second 3D range data set as a second displayed image selected from the group consisting of a second 2D displayed image and a 3D displayed image;
• a fifth software module for specifying corresponding features within the first 2D displayed image and within the second displayed image respectively;
• and
• a sixth software module for computing a 3D transformation between the first 3D range data set and the second 3D range data set based on the geometry of the specified corresponding features, such that the geometric correspondence between the two 3D range data sets is determined.