Abstract: Aligning a source and target model includes calculating a shape descriptor for a plurality of edge points, grouping the edge points by shape descriptor and selecting representative points for each group. Target and source point pair features (PPFs) are calculated between pairs of representative points on the target and source models, where PPFs defines the relative position and orientation of point pairs. Target PPFs are matched with each source PPF and the point pairs associated with the matched PPFs are transformed to align the location and edge direction of a target PPF point with the location and edge direction of a source PPF point. An angle is determined to align the second target PPF point with the second source PPF point, and a modal angle is found among the determined rotation angles. An output transformation is calculated using the transformations associated with the modal angle.

Abstract: Computer implemented methods and computerized apparatus for identifying planes of a 3D object in a 3D scene are provided. The method comprises receiving a point cloud and performs plane segmentation. In one embodiment, the point cloud is voxelized into a plurality of voxels of equal dimensions and the plurality of voxels are classified into three categories, wherein each first category voxel satisfies a planar requirement and a first neighborhood constraint, each second category voxel satisfies the planar requirement and a second neighborhood constraint, and each third category voxel does not satisfy the planar requirement.