A Modified Soft-Shape-Context ICP Registration System of 3-D Point Data

Jiann-Der LEE  Chung-Hsien HUANG  Li-Chang LIU  Shin-Tseng LEE  Shih-Sen HSIEH  Shuen-Ping WANG  

IEICE TRANSACTIONS on Information and Systems   Vol.E90-D    No.12    pp.2087-2095
Publication Date: 2007/12/01
Online ISSN: 1745-1361
DOI: 10.1093/ietisy/e90-d.12.2087
Print ISSN: 0916-8532
Type of Manuscript: PAPER
Category: Biological Engineering
ICP,  image registration,  K-D tree,  shape context,  

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This paper describes a modified ICP registration system of facial point data with range-scanning equipment for medical Augmented Reality applications. The reference facial point data are extracted from the pre-stored CT images; the floating facial point data are captured from range-scanning equipment. A modified soft-shape-context ICP including an adaptive dual AK-D tree for searching the closest point and a modified shape-context objective function is used to register the floating data to reference data to provide the geometric relationship for a medical assistant system and pre-operative training. The adaptive dual AK-D tree searches the closest-point pair and discards insignificant control coupling points by an adaptive distance threshold on the distance between the two returned closest neighbor points which are searched by using AK-D tree search algorithm in two different partition orders. In the objective function of ICP, we utilize the modified soft-shape-context information which is one kind of projection information to enhance the robustness of the objective function. Experiment results of using touch and non-touch capture equipment to capture floating point data are performed to show the superiority of the proposed system.