Patent ID: 8363930

Claim:
A method comprising: receiving first material information and first three-dimensional (3D) geometry information associated with surfaces of an object based on a first viewpoint, wherein material information identifies given points of the surfaces of the object as being of a given material; receiving second material information and second 3D geometry information associated with the surfaces of the object based on a second viewpoint, wherein the second viewpoint differs from the first viewpoint by an amount of motion within a common reference system; determining an alignment within the common reference system between the first 3D geometry information and the second 3D geometry information; determining via a processor an error metric between both the first 3D geometry information and the second 3D geometry information as well as between the first material information and the second material information at multiple positions of the alignment; and adjusting the alignment based on error metrics at the multiple positions so as to converge to a minimum error metric.