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An efficient EM-ICP algorithm for symmetric consistent non-linear registration of point sets

Benoît Combès 1, * Sylvain Prima 1 
* Corresponding author
1 VisAGeS - Vision, Action et Gestion d'informations en Santé
INSERM - Institut National de la Santé et de la Recherche Médicale : U746, Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : In this paper, we present a new algorithm for non-linear registration of point sets. We estimate both forward and backward deformations fields best superposing the two point sets of interest and we make sure that they are consistent with each other by designing a symmetric cost function where they are coupled. Regularisation terms are included in this cost function to enforce deformation smoothness. Then we present a two-step iterative algorithm to optimise this cost function, where the two fields and the fuzzy matches between the two sets are estimated in turn. Building regularisers using the RKHS theory allows to obtain fast and efficient closed-form solutions for the optimal fields. The resulting algorithm is efficient and can deal with large point sets.
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Submitted on : Thursday, December 16, 2010 - 2:00:14 PM
Last modification on : Thursday, January 20, 2022 - 4:20:33 PM
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Benoît Combès, Sylvain Prima. An efficient EM-ICP algorithm for symmetric consistent non-linear registration of point sets. MICCAI 2010 - 13th International Conference on Medical Image Computing and Computer-Assisted Intervention, Sep 2010, Beijing, China. pp.594-601, ⟨10.1007/978-3-642-15745-5_73⟩. ⟨inserm-00547451⟩



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