Shape registration, finding the correct alignment of two sets of data, plays a significant role in computer vision such as objection recognition and image analysis. The iterative closest point (ICP) algorithm is one of well known and widely used algorithms in this area. The main purpose of this paper is to incorporate ICP with the fast convergent extended Hamiltonian learning (EHL), so called EHL-ICP algorithm, to perform planar and spatial rigid shape registration. By treating the registration error as the potential for the extended Hamiltonian system, the rigid shape registration is modelled as an optimization problem on the special Euclidean group S E ( n ) ( n = 2 , 3 ) . Our method is robust to initial values and parameters. Compared with some state-of-art methods, our approach shows better efficiency and accuracy by simulation experiments.
Keywords: extended Hamiltonian learning; iterative closest point; rigid registration; special Euclidean group.