Accurate 3D Mapping Algorithm for Flexible Antennas

Algorithm 3

Computing the difference map between reference image and current image.

 Input: Undistorted reference image (P), and current image (I).

 Output: 3D pointcloud.

1: Compute P (set of centers)from I (algo 4.3).

2: Perform a 2D registration between and P.

3: for each pair do

 (1) Compute it’s ratio,

 (2) Associate r with RatioMap(RM) ← mid().

4: end for

5: Given RM, perform a confidence&normal analysis (fine tuning).

6: Call Minimum LAR algorithm with an input RM.