A Frequency Domain Method for Registration of Range Data

Free form D surfaces registration is a fundamental prob lem in D imaging tipically approached by extensions or variations of the ICP algorithm This work presents an al ternative method for D motion estimation based on the Fourier transform of the range data The frequency do main techniques for estimating motion parameters are non feature based methods suitable for unsupervised registration of D views The proposed method can give unsupervised registration of range data within of accuracy of the an gular parameters useful per se in applications where this kind of precisions is adeguate or which can serve as good starting point for the ICP algorithm when a higher preci sion is needed