The 3D-3D registration problem revisited

Hongdong Li*, Richard Hartley

*Corresponding author for this work

    Research output: Contribution to conferencePaperpeer-review

    146 Citations (Scopus)


    We describe a new framework for globally solving the 3D-3D registration problem with unknown point correspondences. This problem is significant as it is frequently encountered in many applications. Existing methods are not fully satisfactory, mainly due to the risk of local minima. Our framework is grounded on the Lipschitz global optimization theory. It achieves a guaranteed global optimality without any initialization. By exploiting the special structure of the problem itself and of the 3D rotation space SO(3), we propose a Box-and-Ball algorithm, which solves the problem efficiently. The main idea of the work can be applied to many other problems as well.

    Original languageEnglish
    Publication statusPublished - 2007
    Event2007 IEEE 11th International Conference on Computer Vision, ICCV - Rio de Janeiro, Brazil
    Duration: 14 Oct 200721 Oct 2007


    Conference2007 IEEE 11th International Conference on Computer Vision, ICCV
    CityRio de Janeiro


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