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Proceedings Paper

Which point-line registration?
Author(s): Elvis C. S. Chen; Terry M. Peters; Burton Ma
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Paper Abstract

Based on the Iterative Closest Point (ICP) framework, we present a generalized solution for the registration between homologous points and lines. The transformation we seek comprises an anisotropic scaling, followed by rotation and translation. This algorithm is demonstrated using the Perspective-n-Point (PnP) problem where lines form a bundle, and the Non-Perspective-n-Point (NPnP) problem where each line potentially has its own origin. We also prove that one existing NPnP solution is, in fact, equivalent to ICP, and that a second PnP solution differs from ICP only in the iteratively estimated translation. Applications for these types of registration include ultrasound calibration, kinematics tracking under fluoroscopic video, and camera pose estimation. Simulation results suggest this ICP algorithm compares favorably to existing PnP and NPnP algorithms, and has an extremely compact formulation.

Paper Details

Date Published: 3 March 2017
PDF: 13 pages
Proc. SPIE 10135, Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling, 1013509 (3 March 2017); doi: 10.1117/12.2253692
Show Author Affiliations
Elvis C. S. Chen, Robarts Research Institute, Western Univ. (Canada)
Terry M. Peters, Robarts Research Institute, Western Univ. (Canada)
Burton Ma, York Univ. (Canada)


Published in SPIE Proceedings Vol. 10135:
Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling
Robert J. Webster; Baowei Fei, Editor(s)

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