This paper proposes a fast range image registration algorithm, in which control points are sampled on the basis of distance from the geometric origin of an object. The sampled point is assumed to be in the same region if the quantization error in the three-dimensional (3-D) space is less than a threshold. For range image registration, finding matching points anly in the same region reduces the computation time greatly. Experiments with various synthetic and real images show that the accuracy of registartion parameters is improved with a low computational load.
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