SYSTEM AND METHOD FOR UPSAMPLING OF SPARSE POINT CLOUD FOR 3D REGISTRATION

A method for three-dimensional point cloud registration includes generating a first upsampled three-dimensional point cloud by identifying at least one missing point in the three-dimensional point cloud, determining an intensity of neighboring pixels, filling the at least one missing point in the three-dimensional point cloud with a filler point using depth information from depth values in the three-dimensional point cloud that correspond with the neighboring pixels, generating a second upsampled three-dimensional point cloud by determining at least one local area of the first upsampled three-dimensional point cloud, determining entropies of pixels in the two-dimensional image that correspond with the at least one local area, adding at least one point to the at least one local area based on the entropies of pixels in the two-dimensional image and a scaled entropy threshold, and registering the second upsampled three-dimensional point cloud with a predetermined three-dimensional model.