Pattern Design for 3D Point Matching

Shane B. Robinson and John A. Christian

Peer Reviewed

Abstract: This paper presents an approach for designing 3D point patterns which are uniquely distinguishable in the absence of an a priori pose estimate. The principles for designing 3D point patterns are presented. Simple example patterns with analytic solutions are used to illustrate the approach. The search for desirable point patterns is mechanized through the optimization of a fitness function. This fitness function provides a metric for assessing the distinguishability of any pattern. Two example applications are given to demonstrate the utility of the technique for navigation systems. Finally, the technique is modified to allow the use of evolutionary algorithms for the design of patterns having greater complexity.
Published in: NAVIGATION: Journal of the Institute of Navigation, Volume 62, Number 3
Pages: 189 - 203
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