Robust and Accurate Point Set Registration with Generalized Bayesian Coherent Point Drift

Zhang, Ang1; Min, Zhe2; Pan, Jin1; Meng, Max Q-H3,4

10.1109/IROS51168.2021.9635908

2021

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0858

978-1-6654-1715-0

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

516-523

SEP 27-OCT 01, 2021

null,null,ELECTR NETWORK

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Point set registration (PSR) is an essential problem in surgical navigation and image-guided surgery (IGS). It can help align the pre-operative volumetric images with the intra-operative surgical space. The performances of PSR are susceptible to noise and outliers, which are the cases in real-world surgical scenarios. In this paper, we provide a novel point set registration method that utilizes the features extracted from the PSs and can guarantee the convergence of the algorithm simultaneously. More specifically, we formulate the PSR with normal vectors by generalizing the bayesian coherent point drift (BCPD) into the six-dimension scenario. Our contributions can be summarized as follows. (1) The PSR problem with normal vectors is formulated by generalizing the Bayesian coherent point drift (BCPD) approach; (2) The updated parameters during the algorithm's iterations are given in closed-forms; (3) Extensive experiments have been done to verify the proposed approach and its significant improvements over the BCPD has been validated. We have validated our proposed registration approach on both the human femur model. Results demonstrate that our proposed method outperforms the state-of-the-art registration methods and the convergence is guaranteed at the same time.

Navigation Computational modeling Surgery Hidden Markov models Feature extraction Robustness Bayes methods

通讯

英语

CPCI-S ; EI

National Key R&D program of China[2019YFB1312400]

Automation & Control Systems ; Computer Science ; Engineering ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics

WOS:000755125500049

20220711623542

Transplantation (surgical)

Prosthetics:462.4 ; Mathematics:921

Web of Science

1.Chinese Univ Hong Kong, Dept Elect Engn, Hong Kong, Peoples R China
2.UCL, Wellcome EPSRC Ctr Surg & Intervent Sci, London, England
3.Southern Univ Sci & Technol, Dept Elect & Elect Engn, Shenzhen, Peoples R China
4.Chinese Univ Hong Kong3, Shenzhen Res Inst, Shenzhen, Peoples R China

Zhang, Ang,Min, Zhe,Pan, Jin,et al. Robust and Accurate Point Set Registration with Generalized Bayesian Coherent Point Drift[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:516-523.