P. Fua and Y. G. Leclerc, Registration without correspondences, in projection of center O (0, 0, 0) on a focal plane IEEE Proceedings of Computer Vision and Pattern Recognition, 1994.

A. Ential, W. E. Grimson, T. Lozano-perez, W. M. Wells, I. et al., We thank the members of the Epidaure group for their practical help 1992. and stimulating discussions We also thank the members of the Robotvis 16. W. Grimson, Object Recognition by Computer: The Role of Geometric group at INRIA and especially Frederic Devernay and Cyril Zeller. Some Constraints very interesting discussions with Mike Brady (currently invited professor 17 Ettinger, in our group at INRIA) and Gerard Medioni also influenced our work. S. J. White, and R. Kikinis, An automatic registration method for Thanks are also due to General Electric Medical System Europe frameless stereotaxy, image guided surgery, and enhanced reality (GEMS) (Catherine Picard and Yves Trousset) for providing us with visualization, Geometric Invariance in Computer Vision IEEE Proceedings of Computer Vision and Pattern some of the data presented here. Thanks to Dr. Michel Royon (Cannes Recognition 1994 (CVPR '94), 1990.

D. Hospital and . Baudet, Smoothing and matching of 3-D-space ing us data and for fruitful discussions. Finally, thanks to Drs. David curves Dean and Court Cutting for skull data. This work was supported in part by a grant from Digital Equipment 19 Solving camera parameters from Corporation and by the European Basic Research Action VIVA (Esprit the perspective projection of a parameterized curve, Pattern Recognit. project). Future work will be also partially, GEMS. 20. T. Joshi and J. Ponce, Hot curves for modelling and recognition of smooth curved 3d objects IEEE Proceedings of Computer Vision and Pattern Recognition 1994 (CVPR '94), pp.637-645, 1984.

N. Ayache, Artificial Vision for Mobile Robots?Stereo-Vision and with their 2-d projections using 3-d distance maps, in SPIE, Geometric Multisensory Perception, Methods in Computer Vision, 1991.

N. Ayache, L. Lemieux, R. Jagoe, D. R. Fish, N. D. Kitchen et al., Analysis of three-dimensional medical images?Results 22 A patient-to-computed-tomography image registration method based on digitally reconstructed radiographs, Med. Phys, vol.21, 1993.

R. Basri and S. Ullman, The alignment of objects with smooth surfaces , Comput. Vision Graphics Image Process Pose determination of a three-dimensional object using triangle pairs, IEEE Trans. Pattern, vol.57, issue.3, pp.331-345, 1993.

P. Besl and N. Mckay, A method for registration of 3-D shapes, Anal. Machine Intell, p.635, 1988.

G. Malandain, Filtrage, topologie et mise en correspondance d'images

G. Champleboux, S. Lavallé-e, R. Szeliski, and L. Brunie, From accumédicales multidimensionnelles Ecole Centrale de Paris, rate range imaging sensor calibration to accurate model-based 3-D Sept. 1992. object localization, Proceedings of the IEEE Conference on Vision and Pattern Recognition 25. G. Malandain, G. Bertrand, and N. Ayache, Topological segmentation of discrete surfaces, pp.183-197, 1992.
DOI : 10.1109/cvpr.1992.223223

Y. Chen and G. Medioni, Object modeling by registration of multiple range images, Image Vision Comput, pp.145-155, 1992.

H. Yau, C. Menq, and G. Lai, Automated precision measurement of surface profile in cad-directed inspection, IEEE Trans

F. Brunie, P. Leitner, B. Sautot, A. Mazier, M. Perez et al., Igor: Image guided operating 27. X. Pennec and J. P. Thirion, Validation of registration methods based robot. Methodology, medical applications, results, ITBM 13, research report, 1992.

L. Cohen, A. Shweikard, R. Tombropoulos, J. Adler, and J. C. Latombe, Use of auxiliary variables in computer vision problems, 28 Plan- Cahiers de mathematiques de la décision, (9409), Feb. 1994. ning for image-guided radiosurgery, AAAI 1994 Spring Symposium Series. Application of Computer Vision in Medical Image Processing

M. J. Gleeson, T. C. Cox, D. Simon, M. Hebert, and T. Kanade, Craniotomy simulation and guidance using a stereo video based tracking system (vislan), in Visualization 29 intra-surgical registration, Techniques for fast and accurate in Biomedical Computing First International Symposium on Medical Robotics and Computer Assisted Surgery, 1994.

P. E. Danielsson, Euclidean distance mapping, Comput. Graphics, 1994.
DOI : 10.1016/0146-664x(80)90054-4
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.322.7605

F. Devernay and O. D. Faugeras, Computing differential properties surfaces with non-rigid volumetric deformations, Proceedings of of 3d shapes from stereoscopic images without 3d models IEEE the IEEE Workshop on Biomedical Images Analysis (WBIA '94 Proceedings of Computer Vision and Pattern Recognition, 1994.

O. Faugeras and M. Hé-bert, The Representation, Recognition, and Locating of 3-D Objects, The International Journal of Robotics Research, vol.5, issue.3, pp.27-52, 1986.
DOI : 10.1177/027836498600500302

J. Feldmar, N. Ayache, R. H. Taylor, S. Lavallee, G. C. Burdea et al., Rigid, affine and locally affine registration national Symposium on Robotic Research of free-form surfaces, Research Report 2220, INRIA Computer Accepted for publication in Int, ECCV'94 (rigid and affine) and CVPR'94, 1993.

J. P. Thirion and A. Gourdon, The 3-D marching lines algorithm and 35. Paul Viola and William M. Wells III, Alignment by maximisation of mutual information, Proceedings of the Fifth International Conferits application to crest lines extraction ence on Computer Vision (ICCV '95), 1992.
DOI : 10.1006/gmip.1996.0042

Z. Zhang, Iterative point matching for registration of free-form curves and surfaces, International Journal of Computer Vision, vol.7, issue.3
DOI : 10.1007/BF01427149

P. Van-den-elsen, E. J. Pol, and M. Viergever, Medical image matching-a review with classification, and surfaces, pp.119-152, 1992.
DOI : 10.1109/51.195938