The goal of this thesis to study the different techniques used to register 3D

acquisitions. This study detects the main drawbacks of the existing techniques,

presents a new classification and provides significant solutions for some perceived

shortcomings, especially in 3D real time registration. A 3D hand-held sensor has

been designed to acquire these views without any motion restriction and global

minimization techniques have been studied to decrease the error propagation effects.-The goal of this thesis is to study the different techniques used to register 3D

acquisitions. This study detects the main drawbacks of the existing techniques,

presents a new classification and provides significant solutions for some perceived

shortcomings, especially in 3D real time registration. A 3D hand-held sensor has

been designed to acquire these views without any motion restriction and global

minimization techniques have been studied to decrease the error propagation effects.