54,290 research outputs found
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
Modeling spatial uncertainties in geospatial data fusion and mining
Geospatial data analysis relies on Spatial Data Fusion and Mining (SDFM), which heavily depend on topology and geometry of spatial objects. Capturing and representing geometric characteristics such as orientation, shape, proximity, similarity, and their measurement are of the highest interest in SDFM. Representation of uncertain and dynamically changing topological structure of spatial objects including social and communication networks, roads and waterways under the influence of noise, obstacles, temporary loss of communication, and other factors. is another challenge. Spatial distribution of the dynamic network is a complex and dynamic mixture of its topology and geometry. Historically, separation of topology and geometry in mathematics was motivated by the need to separate the invariant part of the spatial distribution (topology) from the less invariant part (geometry). The geometric characteristics such as orientation, shape, and proximity are not invariant. This separation between geometry and topology was done under the assumption that the topological structure is certain and does not change over time. New challenges to deal with the dynamic and uncertain topological structure require a reexamination of this fundamental assumption. In the previous work we proposed a dynamic logic methodology for capturing, representing, and recording uncertain and dynamic topology and geometry jointly for spatial data fusion and mining. This work presents a further elaboration and formalization of this methodology as well as its application for modeling vector-to-vector and raster-to-vector conflation/registration problems and automated feature extraction from the imagery
Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery
One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon’s navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions
A Geometric Approach to Pairwise Bayesian Alignment of Functional Data Using Importance Sampling
We present a Bayesian model for pairwise nonlinear registration of functional
data. We use the Riemannian geometry of the space of warping functions to
define appropriate prior distributions and sample from the posterior using
importance sampling. A simple square-root transformation is used to simplify
the geometry of the space of warping functions, which allows for computation of
sample statistics, such as the mean and median, and a fast implementation of a
-means clustering algorithm. These tools allow for efficient posterior
inference, where multiple modes of the posterior distribution corresponding to
multiple plausible alignments of the given functions are found. We also show
pointwise credible intervals to assess the uncertainty of the alignment
in different clusters. We validate this model using simulations and present
multiple examples on real data from different application domains including
biometrics and medicine
3-D Registration on Carotid Artery imaging data: MRI for different timesteps
A common problem which is faced by the researchers when dealing with arterial
carotid imaging data is the registration of the geometrical structures between
different imaging modalities or different timesteps. The use of the "Patient
Position" DICOM field is not adequate to achieve accurate results due to the
fact that the carotid artery is a relatively small structure and even
imperceptible changes in patient position and/or direction make it difficult.
While there is a wide range of simple/advanced registration techniques in the
literature, there is a considerable number of studies which address the
geometrical structure of the carotid artery without using any registration
technique. On the other hand the existence of various registration techniques
prohibits an objective comparison of the results using different registration
techniques. In this paper we present a method for estimating the statistical
significance that the choice of the registration technique has on the carotid
geometry. One-Way Analysis of Variance(ANOVA) showed that the p-values were
<0.0001 for the distances of the lumen from the centerline for both right and
left carotids of the patient case that was studied.Comment: 4 pages, 4 figures, 1 table, preprint submitted to IEEE-EMBC 201
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