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    • 4. 发明授权
    • Apparatus and method for registration of surface models
    • 表面模型配准的装置和方法
    • US09311689B2
    • 2016-04-12
    • US14317238
    • 2014-06-27
    • Electronics and Telecommunications Research Institute
    • Seong-Jin ParkBon-Ki KooJin-Sung ChoiDo-Hyung KimIl-Kyu Park
    • G06K9/00G06T3/00G06T7/00
    • G06T3/0068G06T7/344G06T2207/10028G06T2207/20212G06T2207/30036
    • 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.
    • 一种装置包括:输入/输出接口,被配置为具有输入到其的参考表面模型和浮动表面模型; 存储器,其具有用于登记参考表面模型和存储在其中的浮动表面模型的指令; 以及处理器,其被配置为根据所述指令注册所述参考表面模型和所述浮动表面模型。 指令执行:通过比较参考表面模型和浮动表面模型的深度图像来选择与浮动表面模型对应的初始变换参数; 根据初始变换参数变换浮动表面模型; 通过将参考表面模型和浮动表面模型之间的交叉协方差矩阵应用奇异值分解计算出的矩阵来计算补偿变换参数; 并根据补偿变换参数变换浮动表面模型,并执行参考表面模型和浮动表面模型的注册。