Apparatus and method for registration of surface models

Abstract

An apparatus includes: an input/output interface configured to have a reference surface model and a floating surface model inputted thereto; a memory having instructions for registration of the reference surface model and the floating surface model stored therein; and a processor configured for registration of the reference surface model and the floating surface model according to the instructions. The instructions perform: selecting initial transformation parameters corresponding to the floating surface model by comparing depth images of the reference surface model and the floating surface model; transforming the floating surface model according to the initial transformation parameters; calculating compensation transformation parameters through a matrix calculated by applying singular value decomposition to a cross covariance matrix between the reference surface model and the floating surface model; and transforming the floating surface model according to the compensation transformation parameters, and executing registration of the reference surface model and the floating surface model.

Dependencies are inferred from the claim text.