3D models of the skin surface of patients are created by ultra-fast holography and automatic scan matching of synchronously recorded holograms. By recording with a pulsed laser and continuous-wave optical reconstruction of the holographic real image, motion artifacts are eliminated. Focal analysis of the real image yields a surface relief of the patient. To generate a complete 360? patient model, several synchronously recorded reliefs are registered by automatic scan matching. We find the transformation consisting of a rotation and a translation that minimizes a cost function containing the Euclidian distances between points pairs from two surface relief maps. A variant of the ICP (Iterative Closest Points) algorithm2 is used to compute such a minimum. We propose a new fast approximation based on kD-trees for the problem of creating the closest point pairs on which the ICP algorithm spends most of its time.
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