Range image registration preserving local structures of object surfaces

We propose a registration method for range images that preserves local structures of object surfaces. The method introduces shape patterns and a skewness of correspondences, both of which are extracted from the local surface nearby a point of interest in each image. The shape patterns are used to eliminate false corresponding pairs of surfaces, while the skewness is used to estimate the transformation that relates the coordinates between different range images. These two features enable us to estimate the transformation that preserves local structures of object surfaces.