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.
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Rapport
[Research Report] RR-2220, INRIA. 1994
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https://hal.inria.fr/inria-00074451
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Soumis le : mercredi 24 mai 2006 - 15:19:33
Dernière modification le : jeudi 11 janvier 2018 - 16:31:00
Document(s) archivé(s) le : lundi 5 avril 2010 - 00:10:30

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

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