Robust Three-Dimensional Registration of Range Images Using a New Genetic Algorithm

Abstract

Given two approximately aligned range images of a real object, it is possible to carry out the registration of those images using numerous algorithms such as ICP. Registration is a fundamental stage in a 3D reconstruction process. Basically the task is to match two or more images taken in different times, from different sensors, or from different viewpoints. In this paper, we discuss a number of possible approaches to the registration problem and propose a new method based on the manual pre-alignment of the images followed by an automatic registration process using a novel genetic optimization algorithm. Results for real range data are presented. This procedure focuses, on the problem of obtaining the best correspondence between points through a robust search method between partially overlapped images.