US Patent 11536843 De-jitter of point cloud data for target recognition

Jitter is removed from point cloud data of a target by fitting the data to 3-D models of possible targets. The point cloud data is de-jittered as a group by shifting the point cloud data in its coordinate system until a minimum fit error is observed between the shifted data and a 3-D model under analysis. Different 3-D models may be evaluated in succession until a 3-D model is identified that has the least fit error. The 3-D model with the least fit error most likely represents the identity of the target.