Rigid, affine and locally affine registration of free-form surfaces

Jacques Feldmar 1 Nicholas Ayache 1
1 EPIDAURE - Medical imaging and robotics
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : In this paper, we propose a new framework to perform f nonrigid surface registration. It is based on various extensions of an iterative algorithm recently presented by several researchers (Besl, Zhang, Chen, Menq, Champleboux) to f rigidly register surfaces represented by a set of 3D points, when a prior estimate of the displacement is available. Our framework consists of three stages: First, we search for the best f rigid displacement to superpose the two surfaces. We show how to efficiently use curvatures to superpose principal frames at possible corresponding points in order to find a prior rough estimate of the displacement and initialize the iterative algorithm. Second, we search for the best f affine transformation. We introduce differential information in points coordinates: this allows us to match locally similar points. Then, we show how principal frames and curvatures are transformed by an affine transformation. Finally, we introduce this differential information in a global criterion minimized by extended Kalman filtering. Third, we locally deform the surface. Instead of computing a global affine transformation, we attach to each point a f local affine transformation varying smoothly along the surface. We call this deformation a locally affine deformation. All these stages are illustrated with experiments on various real biomedical surfaces (teeth, faces, skulls, brains and hearts), which demonstrate the validity of the approach.
Type de document :
[Research Report] RR-2220, INRIA. 1994
Liste complète des métadonnées

Contributeur : Rapport de Recherche Inria <>
Soumis le : mercredi 24 mai 2006 - 15:19:33
Dernière modification le : samedi 27 janvier 2018 - 01:31:04
Document(s) archivé(s) le : lundi 5 avril 2010 - 00:10:30



  • HAL Id : inria-00074451, version 1



Jacques Feldmar, Nicholas Ayache. Rigid, affine and locally affine registration of free-form surfaces. [Research Report] RR-2220, INRIA. 1994. 〈inria-00074451〉



Consultations de la notice


Téléchargements de fichiers