3D shape matching using collinearity constraint

In this paper, a novel algorithm is proposed to carry out automatic 3D shape matching with 3D shapes represented as sets of points. After the possible matches between the 3D shapes have been determined by the tradition ICP criterion, the novel approach employs the collinearity constraint to eliminate false matches based on a statistical model. A comparative study based on real range images has shown that the proposed algorithm is accurate, robust and efficient for the automatic matching of overlapping 3D shapes.