POINT CLOUD MATCHING METHOD

Abstract A method comprising: providing a first three-dimensional (3D) point cloud obtained according to a first sensing technique, a second 3D point cloud obtained according to a second sensing technique and a first radius of a sphere covering a real object underlying the second first 3D point cloud and a second radius of a sphere covering a real object underlying the second 3D point cloud; defining scales of the first 3D point cloud and the second 3D point cloud based on said first radius and second radius; searching statistically substantially similar candidate regions between the first 3D point cloud and the second 3D point cloud using an ensemble shape function (ESF); aligning the statistically substantially similar candidate regions between the first 3D point cloud and the second 3D point cloud at least in vertical direction; and ranking the aligned candidate regions between the 3D point clouds based on their structural similarity.