Robust fuzzy clustering for 3D registration

We focus on solving the registration problem, in the case of rigid transformation between several 3D data sets. The difficulty of this problem is to obtain a method which is robust with respect to outliers and at the same time accurate. We present a general method performing robust 3D localization and fitting based on a robust fuzzy clustering method. The fuzzy set approach is known for its practical efficiency in uncertain environments. To illustrate the advantages of this approach on the registration problem, we show results on synthetic and real 3D data