3D registration using a new implementation of the ICP algorithm based on a comprehensive lookup matrix: Application to medical imaging

Authors:
Ahmad Almhdie;Christophe Léger;Mohamed Deriche;Roger Lédée
Affiliations:
Laboratory of Electronics, Signals and Images (LESI), University of Orléans, 12 Rue de Blois, BP 6744, 45067 Orléans Cedex 2, France;Laboratory of Electronics, Signals and Images (LESI), University of Orléans, 12 Rue de Blois, BP 6744, 45067 Orléans Cedex 2, France;Electrical Engineering Department, King Fahd University of Petroleum and Minerals, P.O. Box 1427, Dhahran 31261, Saudi Arabia;Laboratory of Electronics, Signals and Images (LESI), University of Orléans, 12 Rue de Blois, BP 6744, 45067 Orléans Cedex 2, France
Venue:
Pattern Recognition Letters
Year:
2007

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Abstract

The iterative closest point (ICP) algorithm is an efficient algorithm for robust rigid registration of 3D data. Results provided by the algorithm are highly dependent upon the step of finding corresponding pairs between the two sets of 3D data before registration. In this paper, a look up matrix is introduced in the point matching step to enhance the overall ICP performance. Convergence properties and robustness are evaluated in the presence of Gaussian and impulsive noise, and under different data set sizes. The new algorithm has been evaluated on 3D medical data. It has been applied successfully to register closed surfaces acquired using different medical imaging modalities.