device registration over mqtt using certificate

Hi Experts,

I am new to Azure. Looking into the Azure IoT.

What I have read is in Azure IoT, to register a new device, first need to register it on the iot hub get the credentials and then connect the device to azure using these credentials. 

So, my question is "Is it possible to register a device in IoT hub programmatically from the device itself, over mqtt, using the certificates, instead of as mentioned above?

Please guide me where can I find some documentation.

Thanks & Regards,

Pradeep