Fig. 1. Coding schematic

Fig. 2. Schematic of roulette wheel selection method

Fig. 3. Schematic of crossover and mutation

Fig. 4. Test images and registration results. (a) Reference image; (b) image without registration; registration images with (a) method 1, (d) method 2, (e) method 3, (f) method 4, and (g) method 5

Fig. 5. Changes of mutual information during iteration. (a) Optimal mutual information; (b) average mutual information

Fig. 6. Line graphs. (a) X; (b) Y; (c) θ

Fig. 7. Exhaust images and registration results. (a) Reference image; (b) image without registration; registration images with (c) method 1, (d) method 2, (e) method 3, (f) method 4, and (g) method 5

Fig. 8. Exhaust images and registration results. (a) Reference image; (b) image without registration; registration images with (c) method 3 and (d) method 5