中文摘要：

提出一种利用深度像重叠区域间的空间体积作为误差度量的精确配准算法．通过寻找2幅深度像重叠区域内的有效三角形对，并将这些三角形对所夹的三维空间作为误差测度来指导深度像的配准；然后将对应三角形的质心作为对应点对，估计出新的空间位置转换关系．实验结果表明：该算法具有较高的配准精度，收敛速度快并且具有一定的抗噪声能力．

英文摘要：

A novel approach is presented for precise registration of range images with a new error metric, based on the inter-space between overlap regions. The proposed method aligns range images using the surface mean inter-space measure （SMISM）. This measure takes on the mean 3D inter-space associated with each valid triangle-pair in the overlap region as the error metric to guide the range image registration. And then the centroids of corresponding triangles are employed as point-pairs to calculate the new transformation. Experimental results demonstrate that the presented method is insensitive to noises and has high precision as well as a nice performance on convergence.