DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration

We present DeepICP - a novel end-to-end learning-based 3D point cloud registration framework that achieves comparable registration accuracy to prior state-of-the-art geometric methods. Different from other keypoint based methods where a RANSAC procedure is usually needed, we implement the use of various deep neural network structures to establish an end-to-end trainable network. Our keypoint detector is trained through this end-to-end structure and enables the system to avoid the inference of dynamic objects, leverages the help of sufficiently salient features on stationary objects, and as a result, achieves high robustness. Rather than searching the corresponding points among existing points, the key contribution is that we innovatively generate them based on learned matching probabilities among a group of candidates, which can boost the registration accuracy. Our loss function incorporates both the local similarity and the global geometric constraints to ensure all above network designs can converge towards the right direction. We comprehensively validate the effectiveness of our approach using both the KITTI dataset and the Apollo-SouthBay dataset. Results demonstrate that our method achieves comparable or better performance than the state-of-the-art geometry-based methods. Detailed ablation and visualization analysis are included to further illustrate the behavior and insights of our network. The low registration error and high robustness of our method makes it attractive for substantial applications relying on the point cloud registration task.Comment: 10 pages, 6 figures, 3 tables, typos corrected, experimental results updated, accepted by ICCV 201

Deep Neural Networks for Anatomical Brain Segmentation

We present a novel approach to automatically segment magnetic resonance (MR) images of the human brain into anatomical regions. Our methodology is based on a deep artificial neural network that assigns each voxel in an MR image of the brain to its corresponding anatomical region. The inputs of the network capture information at different scales around the voxel of interest: 3D and orthogonal 2D intensity patches capture the local spatial context while large, compressed 2D orthogonal patches and distances to the regional centroids enforce global spatial consistency. Contrary to commonly used segmentation methods, our technique does not require any non-linear registration of the MR images. To benchmark our model, we used the dataset provided for the MICCAI 2012 challenge on multi-atlas labelling, which consists of 35 manually segmented MR images of the brain. We obtained competitive results (mean dice coefficient 0.725, error rate 0.163) showing the potential of our approach. To our knowledge, our technique is the first to tackle the anatomical segmentation of the whole brain using deep neural networks