Range Image Registration Driven by Ahierarchy of Surface

image registration driven by a hierarchy of surface diierential features. Abstract: This work proposes a way how to register overlapping range images automatically. We explore the fact that the Euclidean transformation is determined by three pairs of corresponding points only. The main idea of the proposed approach is to reduce the number of points by nding intrinsic (signiicant) ones rst. For that, diierential structures of the surface as curves of zero-mean curvature which are invariant to Euclidean transformation are used. The diierential structures on a surface provide us with a hierarchy of intrinsic features, i.e. in a top down manner: surface ! curves ! points. The rst estimate of the Euclidean transform is done using points then it is reened on curves and nally improved on surfaces. The performance of the approach is satisfactory for complicated surfaces which have rich diierential structure.