This paper introduces a novel optimization method for accurate 3D registration based on graphics sim-ulation, in order to deal with non-differentiable objective functions, and meantime avoid problems of previous approaches that incur sensitivity to model rendering resolution and local extremes. Firstly we defined the objec-tive function based on object contour, then LM (Levenberg-Marquardt) algorithm was used to solve the function. During each iteration, according to the current position and pose, the corresponding gradient is estimated adap-tively, with gradient direction estimated respectively by analytical incremental estimator and random sampling method, so that the smooth expression of the objective function can be simulated. Both quantitative and qualita-tive experiments show that the proposed method can converge quickly and not suffer from local extremes.%为了处理不可解析求导的目标函数, 并克服传统方法对图形绘制解像度敏感, 易陷入局部极值的问题, 提出一种基于模拟求解的三维注册优化方法. 以首先定义基于轮廓特征的目标函数, 并采用 LM(Levenberg-Marquardt)算法进行求解; 在每次迭代过程中, 根据位置与姿态参数特征的不同自适应地调整方向导数计算, 并分别采用解析式增量估计和随机采样式估计方法计算相应梯度方向, 为目标函数模拟出光滑的表达. 定量和定性的实验结果表明,文中方法可以快速收敛, 很好地克服了局部极值问题.
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