1-1-10 
5 CONCLUSION 
In this paper, we presented a practical method for the 
registration of 2.5D laser range image of urban objects. 
The registration is performed at two levels: pair-wise 
registration and multiple views’ registration. Pair-wise 
registration is conducted using Z-lmages, where four 
transformation parameters, a horizontal rotation angle and 
three translation parameters, are tracked. Multiple views’ 
registration aims at solving the error accumulation 
problem. It is solved as a least square minimization 
problem. Through outdoor experiments, it is demonstrated 
that the method has robustness and accuracy in the 
sense of automation. The research also contributes to a 
matching method using information theory. Although it 
was originally motivated for the matching of Z-lmages, the 
method is of general utility. It can be extended to the 
problem domain of matching other kinds of data sets, 
such as curved line or planar face characterized images 
and so on. 
Future research has to be addressed on the improvement 
of accuracy in tracking translation parameter along Z-axis, 
and minimizing the estimation error in global matching by 
discriminate the contributions from different views of laser 
range image. 
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