Feature-based hierarchical registration of 3-D vision using star structure and circuits

A hierarchical relaxation labeling algorithm incorporating a decimation-in-time Hough transform is proposed. Relaxation clues are star structure and circuits. Existing techniques for registration of stereo vision are first reviewed and synthesized. Feature extraction, including a decimation-in-time Hough transform, star structured and relation, and circuit coding using a Freeman code, is carried out. The hierarchical relaxation labeling procedure and the fully constrained compatibility coefficients are then treated