Registration of DSM and Range Images For 3-D Pose Estimation of an Unmanned Ground Vehicle

In this paper, we propose a new approach which registers a range image which is acquired from a 3-D range sensor to a DSM to estimate the 3-D pose of an unmanned ground vehicle. Generally, 3-D registration is divided into two parts that called as coarse and refinement steps. Above all, a proper feature matching technique is demanded between the DSM and the range image for the coarse registration to register precisely and speedy. We generated signatures using shape parameterization about the DSM and the range images and got a 3-D rigid transformation by matching them to minimize registration error.