  Surface registration is a technique that is used in various areas such as
object recognition and 3D model reconstruction. Problem of surface registration
can be analyzed as an optimization problem of seeking a rigid motion between
two different views. Genetic algorithms can be used for solving this
optimization problem, both for obtaining the robust parameter estimation and
for its fine-tuning. The main drawback of genetic algorithms is that they are
time consuming which makes them unsuitable for online applications. Modern
acquisition systems enable the implementation of the solutions that would
immediately give the information on the rotational angles between the different
views, thus reducing the dimension of the optimization problem. The paper gives
an analysis of the genetic algorithm implemented in the conditions when the
rotation matrix is known and a comparison of these results with results when
this information is not available.
