Robust Generalized Total Least Squares Iterative Closest Point Registration

R. San Jose Estepar, A. Brun, C.-F. Westin
Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI'04)
Pages 234-241
September, 2004

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Abstract

This paper investigates the use of a total least squares approach in a generalization of the iterative closest point (ICP) algorithm for shape registration. A new Generalized Total Least Squares (GTLS) formulation of the minimization process is presented opposed to the traditional Least Squares (LS) technique. Accounting for uncertainty both in the target and in the source models will lead to a more robust estimation of the transformation. Robustness against outliers is guaranteed by an iterative scheme to update the noise covariances. Experimental results show that this generalization is superior to the least squares counterpart.

Hip and random sampled points after transformation used for the evaluation of the algorithm.

Reference

San Jose Estepar R, Brun A, Westin CF. Robust generalized total least squares iterative closest point registration. In Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI'04), Lecture Notes in Computer Science. Rennes - Saint Malo, France, 2004;234-241.

Bibtex entry

@InProceedings{san-joseMICCAI04,
  author         = {R. {San Jose Estepar} and A. Brun and C.-F. Westin},       
  title          = {Robust Generalized Total Least Squares Iterative Closest   
                   Point  Registration},                                       
  booktitle      = {Seventh International Conference on Medical Image Computing
                   and  Computer-Assisted Intervention (MICCAI'04)},           
  series         = {Lecture Notes in Computer Science},                        
  pages          = {234-241},                                                  
  year           = {2004},                                                     
  address        = {Rennes - Saint Malo, France},                              
  month          = {September}
}

Grants

NIH P41-RR13218 (NAC), CIMIT

Research area

Registration

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