An iterative algorithm for the projective registration of free form surfaces

In this paper we present a novel image registration algorithm combining the iterative closest point algorithm with focus of expansion theory for 3D-2D projective registration of free-form surfaces. A pure translational camera configuration is used, which is a widely adopted constraint to structural estimation. Experimental results based on both synthetic and real images have shown that the proposed algorithm provides accurate and efficient registration and effective elimination of false matches.