An Information Fusion Framework for Robust Shape Tracking
IEEE Transactions on Pattern Analysis and Machine Intelligence
Improved statistical TRE model when using a reference frame
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
| Hi-index | 0.00 |
In this work, we study the problem of finding an optimal rigid-body transformation that maps one configuration of points to a corresponding configuration when the alignment errors are anisotropically weighted. Such a problem arises in point-to-point registration, in particular when an optical device (e.g., microscope or video camera) is involved, as in image-guided surgery.We review the existing literature and algorithms and study the mathematical difficulties. After stating a symmetry condition for critical points, we use it to establish some results. In particular, we show that the starting configuration and weight matrices can have a special form (orthogonal columns), we show that the rotational part can be computed from configurations translated so that their centroids lie at the origin, and we give an estimate for the total number of critical points. We then compare the two existing algorithms, studying carefully their dependence on the different parameters, and propose an independent technique in order to validate them. This technique reduces the problem to the problem of finding the roots of a system of three polynomials in three variables.