Accurate and precise 2D-3D registration based on X-ray intensity

Authors:
Souha Aouadi;Laurent Sarry
Affiliations:
INSERM, ERIM ERI 14, Clermont-Ferrand F-63001, France and Univ Clermont 1, UFR Médecine, CENTI, Clermont-Ferrand F-63001, France and WAID SA, 445, rue Ampère, PO Box 388, 13799 Aix-en-Pr ...;INSERM, ERIM ERI 14, Clermont-Ferrand F-63001, France and Univ Clermont 1, UFR Médecine, CENTI, Clermont-Ferrand F-63001, France
Venue:
Computer Vision and Image Understanding
Year:
2008

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Abstract

This paper addresses the problem of estimating the 3D rigid pose of an object from its digitized X-ray projection. We considered the cases of homogeneous (CAD models) and inhomogeneous (attenuation map obtained from computed tomography) X-ray attenuation in an optimization framework based on a mutual information similarity measure. Convergence of object pose recovery is highly precise and obtained with sub-millimeter accuracy for both screen-film and digital radiographs by three major enhancements: (i) special care is given to the model of Parzen distribution used in the mutual information estimator (data pre-sphering in the bivariate case and bandwidth estimation in the univariate case); (ii) a quasi-global optimization scheme based on a modified version of stochastic clustering is used in conjunction with an object mesh resampling stage to reduce variance of the final pose estimator; (iii) nonlinear response to the radiograph is also estimated for screen-film radiographs.