Pattern Design for 3D Point Matching

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 2015. This article is a U.S. Government work and is in the public domain in the USA.