RANSAC - based DARCES : A New Approach to FastAutomatic Registration of Partially Overlapping

Many existing approaches used iterative-reenement techniques for 3D registration of partially-overlapping range images. The major drawback of these approaches is that they require a good initial estimate to guarantee that the correct solution can always be found. In this paper, we propose a new method, the RANSAC-based DARCES (data-aligned rigidity-constrained exhaustive search) method, which can solve the partially-overlapping 3D registration problem eeciently and reliably without any initial estimation. For the noiseless case, the basic algorithm of our DARCES method can guarantee that the solution it nds is the true one, due to its exhaustive-search nature. Even 1 with its exhaustive search nature, its time complexity can be shown to be relatively low. An extra characteristic is that our method requires no local features in the 3D data set.