Patent ID: 8233742

Claim:
A method for registration of a three-dimensional shape, the method comprising: creating, based on an input range image sampled by an image sensor, a local range image described in log-polar coordinate system with a tangential plane of a point on a curved surface set as an image plane, where the log-polar coordinate system is spread around the point on the curved surface; expanding the local range image by Fourier series expansion to calculate a power spectrum with respect to an angular axis around normal at the point on the curved surface and setting the calculated power spectrum as a feature; searching for corresponding points having nearest features between different input range image to calculate a correspondence relation among the points; and determining a positional relation between the different input range images on the basis of the calculated corresponding points, and, wherein, when the correspondence relation of the feature is calculated, the power spectrum is dimensionally compressed by being expanded in a peculiar space using a peculiar vector and a search for corresponding points having nearest features is performed in a dimensionally compressed space.