Fast landmark-based registration via deterministic and efficient processing, some preliminary results

Preliminary results of a method for range view registration are presented. The method incorporates the LeRP algorithm, which is a deterministic means to approximate subgraph isomorphisms. Graphs are formed that describe salient scene features. Graph matching then provides the scene-to-scene correspondence necessary for registration. A graphical representation is invariant with respect to sensor standoff. Test results from real and synthetic images indicate that a reasonable tradeoff between speed and accuracy is achievable. A mean rotational error of /spl sim/1 degree was found for a variety of test cases. Mean compute times were found to be better than 2 Hz, with image sizes varying from 128/spl times/200 to 240/spl times/320. These tests were run on a 900 MHz PC The greatest challenge to this approach is the stable localization and invariant characterization of image features via fast, deterministic techniques.