Alignment of two range images for the object 'hip' from the Stuttgart University Database. (a) Range images. (b) Corresponding points (normal vector in magenta) which obtained the maximum similarity value for the top resolution level. (c) CIRCON images found for the three resolution levels. (d) Alignment: reduced cloud (left) and 3D rendering using the original point clouds (right). Rotation error: 1.1909°. Translation error: 0.7436 mm.