A method for estimating 3D shapes motion by frequency domain technique.

Free-form 3-D surfaces registration is a fundamental problem in 3-D imaging, tipically approached by extensions or variations of the ICP algorithm [1, 2]. This work suggestes an alternative procedure for 3-D motion estimation based on the Fourier transform of the 3-D intensity function, implicitly described by the registered time-sequences of range data. Similar to the frequency domain techni-ques for estimating motion parameters, this is a non feature-based method suitable for unsupervised registration of 3-D views. This method has several advantages related to the fact that it uses the total avalaible information and not sets of features. With respect to memory occupancy, the use of a time-sequence of a 3-D intensity function represents a considerable data reduction with respect to a pair of time-sequences of 2-D functions. The proposed technique, wich extends to the 3-D case previous frequency domain estima-tion algorithms developed for planar case, retain their robustness