A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
Auxiliary variables and two-step iterative algorithms in computer vision problems
Journal of Mathematical Imaging and Vision
Estimating 3-D rigid body transformations: a comparison of four major algorithms
Machine Vision and Applications - Special issue on performance evaluation
Statistical Approaches to Feature-Based Object Recognition
International Journal of Computer Vision
A Framework for Uncertainty and Validation of 3-D RegistrationMethods Based on Points and Frames
International Journal of Computer Vision
A view of the EM algorithm that justifies incremental, sparse, and other variants
Learning in graphical models
Statistical Optimization for Geometric Computation: Theory and Practice
Statistical Optimization for Geometric Computation: Theory and Practice
Rigid Point-Surface Registration Using an EM Variant of ICP for Computer Guided Oral Implantology
MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
A Feature Registration Framework Using Mixture Models
MMBIA '00 Proceedings of the IEEE Workshop on Mathematical Methods in Biomedical Image Analysis
Registration and Integration of Multiple Range Images for 3-D Model Construction
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
Rigid Point-Surface Registration Using an EM Variant of ICP for Computer Guided Oral Implantology
MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
Intrinsic Statistics on Riemannian Manifolds: Basic Tools for Geometric Measurements
Journal of Mathematical Imaging and Vision
Virtual craniofacial reconstruction using computer vision, graph theory and geometric constraints
Pattern Recognition Letters
A novel multifaceted virtual craniofacial surgery scheme using computer vision
CVBIA'05 Proceedings of the First international conference on Computer Vision for Biomedical Image Applications
3D Scene Reconstruction from Multiple Spherical Stereo Pairs
International Journal of Computer Vision
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We investigate the rigid registration of a set of points onto a surface for computer-guided oral implants surgery. We first formulate the Iterative Closest Point (ICP) algorithmas a Maximum Likelihood (ML) estimation of the transformation and the matches. Then, considering matches as a hidden random variable, we show that the ML estimation of the transformation alone leads to a criterion efficiently solved using an Expectation-Maximisation (EM) algorithm. The experimental section provides evidences that this new algorithm is more robust and accurate than ICP and reaches a global accuracy of 0.2 mm with computation times compatible with a peroperative system.