3D registration using a new implementation of the ICP algorithm based on a comprehensive lookup matrix: application to medical imaging

Ahmad Almhdie (1) , Christophe Léger (1) , Mohamed Deriche (2) , Roger Lédée (1)

1 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
2 Electrical Engineering Department

The iterative closest point (ICP) algorithm is an efficient algorithm for robust rigid registration of 3D data. Results provided by the algorithm are highly dependent upon the step of finding corresponding pairs between the two sets of 3D data before registration. In this paper, a look up matrix is introduced in the point matching step to enhance the overall ICP performance. Convergence properties and robustness are evaluated in the presence of Gaussian and impulsive noise, and under different data set sizes. The new algorithm has been evaluated on 3D medical data. It has been applied successfully to register closed surfaces acquired using different medical imaging modalities.

Mots clés: surface registration; ICP algorithm; point matching; medical data

Domaines: Traitement du signal et de l'image [eess.SP]; Traitement du signal et de l'image [eess.SP]

Ahmad Almhdie, Christophe Léger, Mohamed Deriche, Roger Lédée. 3D registration using a new implementation of the ICP algorithm based on a comprehensive lookup matrix: application to medical imaging. Pattern Recognition Letters, 2007, 28 (12), pp.1523-1533. ⟨hal-00607891⟩