Preliminary results of a new 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 ~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 128x200 to 240x320. 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.


Electrical and Computer Engineering

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