We present a new method for registration of free-form surfaces based on the
iterative closest point (ICP) method and on geometric properties of reflec
ted correspondence vectors. The method is based on computing relative gaps
between reflected correspondences and between the projections of reflected
correspondences along the rotation axis and using these to eliminate false
matches. Experimental results on synthetic data and on real range images de
monstrate that the method is robust and accurate for image registration wit
h small motions. Copyright (C) 2001 by W.B. Saunders Company.