grouping. However, the proposed method, along with the use of 
the Frequency Domain algorithm, represents a way to provide 
an initial good estimate of the transformation between view 
pairs, which can be further refined using another global 
registration method, such the ICP. 
ACKNOWLEDGEMENTS 
This work was developed with the project “Techniques for 
automatic processing of data acquired by integrated system"” 
partly financed by MURST (Italian Ministry of University and 
Research) in 2001 as project of relevant National interest. 
National coordinator: Giorgio Manzoni, head of the Research 
unit Antonio Vettore. 
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