Powell algorithm which does not compute gradients and Brent algorithm were used to search the optimal rotation and translation parameters, while multi-resolution searching strategy leads to a fast image registration.

• 在寻找最优的旋转和平移参数时，采用了无需计算梯度的Powell直接搜索算法和Brent算法，并通过多分辨的方式加快图象配准速度。