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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
Publication Date: 2007/12/01
Online ISSN: 1745-1361
Print ISSN: 0916-8532
Type of Manuscript: PAPER
Category: Biological Engineering
ICP, image registration, K-D tree, shape context,
Full Text: PDF(1.7MB)>>
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.