Abstract: Disclosed is a method for registering at least two different 3D models, whereby the models image the same object at least in places, including: detecting and describing features in the 3D models; assigning features of the first 3D model to the features of the second based on descriptions that are as similar, for each feature of the first 3D model, a feature of the second is determined, and notating the first assignments as vectors, then performing the opposite assignment; comparing the vectors of the first and second assignments and determining common, bijective vectors of both, and randomly selecting at least three bijective vectors; applying the selected vectors to the first 3D model and checking whether the vectors essentially image common points of the 3D models; if successful, using the selected vectors to generate a transformation, and if not, discarding all vectors and rerunning of the method with other data.

Abstract: Disclosed is a method for registering at least two different 3D models, whereby the models image the same object at least in places, including: detecting and describing features in the 3D models; assigning features of the first 3D model to the features of the second based on descriptions that are as similar, for each feature of the first 3D model, a feature of the second is determined, and notating the first assignments as vectors, then performing the opposite assignment; comparing the vectors of the first and second assignments and determining common, bijective vectors of both, and randomly selecting at least three bijective vectors; applying the selected vectors to the first 3D model and checking whether the vectors essentially image common points of the 3D models; if successful, using the selected vectors to generate a transformation, and if not, discarding all vectors and rerunning of the method with other data.

Abstract: Method for detection and optimization of a three-dimensional surface geometry, which is stored in a voxel-grid-based notation, in which during a first instant of detection, a clone of at least one part of the surface geometry is generated, the clone of the surface geometry being processed independently of the surface geometry, and the processed clone of the surface geometry and the surface geometry being brought together again at a second instant during the detection.