Rigid, affine and locally affine registration of free-form surfaces

Jacques Feldmar 1 Nicholas Ayache 1
1 EPIDAURE - Medical imaging and robotics
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : In this paper, we propose a new framework to perform f nonrigid surface registration. It is based on various extensions of an iterative algorithm recently presented by several researchers (Besl, Zhang, Chen, Menq, Champleboux) to f rigidly register surfaces represented by a set of 3D points, when a prior estimate of the displacement is available. Our framework consists of three stages: First, we search for the best f rigid displacement to superpose the two surfaces. We show how to efficiently use curvatures to superpose principal frames at possible corresponding points in order to find a prior rough estimate of the displacement and initialize the iterative algorithm. Second, we search for the best f affine transformation. We introduce differential information in points coordinates: this allows us to match locally similar points. Then, we show how principal frames and curvatures are transformed by an affine transformation. Finally, we introduce this differential information in a global criterion minimized by extended Kalman filtering. Third, we locally deform the surface. Instead of computing a global affine transformation, we attach to each point a f local affine transformation varying smoothly along the surface. We call this deformation a locally affine deformation. All these stages are illustrated with experiments on various real biomedical surfaces (teeth, faces, skulls, brains and hearts), which demonstrate the validity of the approach.
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Contributor : Rapport de Recherche Inria <>
Submitted on : Wednesday, May 24, 2006 - 3:19:33 PM
Last modification on : Saturday, January 27, 2018 - 1:31:04 AM
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  • HAL Id : inria-00074451, version 1



Jacques Feldmar, Nicholas Ayache. Rigid, affine and locally affine registration of free-form surfaces. [Research Report] RR-2220, INRIA. 1994. ⟨inria-00074451⟩



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