We propose a registration method to find affine transformations
between 3D objects by constructing and solving an
overdetermined system of polynomial equations. We utilize
voxel coverage information for more precise object boundary
description. An iterative solution enables us to easily adjust
the method to recover e.g. rigid-body and similarity transformations.
Synthetic tests show the advantage of the voxel
coverage representation, and reveal the robustness properties
of our method against different types of segmentation errors.
The method is tested on a real medical CT volume.