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This paper presents a novel depth driven approach for a highly accurate joint photometric and geometric image alignment. Thereby, the registration problem is expressed in terms of a consistent, elegant and efficient energy formulation. Moreover, we propose a real-time capable alternating iterative optimization scheme to solve for a state of minimal energy. Since our energy formulation is based on pixel wise color similarity our registration procedure directly improves the performance ofdoi:10.2312/pe/vmv/vmv11/025-032 dblp:conf/vmv/WaizeneggerFE11 fatcat:ywqz2qmfozdp5owkkdmwgvhpum