Scale Invariant Robust Registration of 3D-Point Data and a Triangle Mesh by Global Optimization

  • Onay Urfalıoḡlu
  • Patrick Mikulastik
  • Ivo Stegmann
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4179)


A robust registration of 3D-point data and a triangle mesh of the corresponding 3D-structure is presented, where the acquired 3D-point data may be noisy, may include outliers and may have wrong scale. Furthermore, in this approach it is not required to have a good initial match so the 3D-point cloud and the according triangle mesh may be loosely positioned in space. An additional advantage is that no correspondences have to exist between the 3D-points and the triangle mesh. The problem is solved utilizing a robust cost function in combination with an evolutionary global optimizer as shown in synthetic and real data experiments.


scale invariant robust registration evolutionary optimization 3D-transformation 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Onay Urfalıoḡlu
    • 1
  • Patrick Mikulastik
    • 1
  • Ivo Stegmann
    • 1
  1. 1.Information Technology Laboratory (LFI)University of Hannover 

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