Description of Registration Method for Kapek and Krekule

Our registration procedure is two stepped in general:

1/ The first step (pre-registration) consists of a feature-based approach that requires semi-automatic extraction of surfaces of registered objects. After extraction of the surfaces minimization of their mutual distances is performed by using chamfer matching algorithm. A function - r.m.s - which describes the distance of the surfaces is optimized over a parametrical space of rigid transformations by adaptive simulated annealing that has been implemented in a stochastic manner.

2/ The second step (fine-registration) is similarity-based and uses mutual information the value of which is stochastically estimated over a sub-volume consisting mainly of an object (in order to avoid information-free background). Again, the value of mutual information is optimized over a parametrical space by stochastic adaptive simulated annealing.

Our main effort was paid to acceleration of the whole registration process, which lead to computation time up to about 30 minutes by using contemporary PC. In case of quality data sets to be registered - like the data sets provided by this project - the first step can be omitted.

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