Robustness and Accuracy of Feature-Based Single Image 2-D–3-D Registration Without Correspondences for Image-Guided Intervention

published_or_final_versio

3D non-rigid registration using color:Color Coherent Point Drift

Research into object deformations using computer vision techniques has been under intense study in recent years. A widely used technique is 3D non-rigid registration to estimate the transformation between two instances of a deforming structure. Despite many previous developments on this topic, it remains a challenging problem. In this paper we propose a novel approach to non-rigid registration combining two data spaces in order to robustly calculate the correspondences and transformation between two data sets. In particular, we use point color as well as 3D location as these are the common outputs of RGB-D cameras. We have propose the Color Coherent Point Drift (CCPD) algorithm (an extension of the CPD method [1]). Evaluation is performed using synthetic and real data. The synthetic data includes easy shapes that allow evaluation of the effect of noise, outliers and missing data. Moreover, an evaluation of realistic figures obtained using Blensor is carried out. Real data acquired using a general purpose Primesense Carmine sensor is used to validate the CCPD for real shapes. For all tests, the proposed method is compared to the original CPD showing better results in registration accuracy in most cases.Comment: Published in Computer Vision and Image Understandin

A framework of face recognition with set of testing images

We propose a novel framework to solve the face recognition problem base on set of testing images. Our framework can handle the case that no pose overlap between training set and query set. The main techniques used in this framework are manifold alignment, face normalization and discriminant learning. Experiments on different databases show our system outperforms some state of the art methods

Graph similarity through entropic manifold alignment

In this paper we decouple the problem of measuring graph similarity into two sequential steps. The first step is the linearization of the quadratic assignment problem (QAP) in a low-dimensional space, given by the embedding trick. The second step is the evaluation of an information-theoretic distributional measure, which relies on deformable manifold alignment. The proposed measure is a normalized conditional entropy, which induces a positive definite kernel when symmetrized. We use bypass entropy estimation methods to compute an approximation of the normalized conditional entropy. Our approach, which is purely topological (i.e., it does not rely on node or edge attributes although it can potentially accommodate them as additional sources of information) is competitive with state-of-the-art graph matching algorithms as sources of correspondence-based graph similarity, but its complexity is linear instead of cubic (although the complexity of the similarity measure is quadratic). We also determine that the best embedding strategy for graph similarity is provided by commute time embedding, and we conjecture that this is related to its inversibility property, since the inverse of the embeddings obtained using our method can be used as a generative sampler of graph structure.The work of the first and third authors was supported by the projects TIN2012-32839 and TIN2015-69077-P of the Spanish Government. The work of the second author was supported by a Royal Society Wolfson Research Merit Award

Rigid and Articulated Point Registration with Expectation Conditional Maximization

This paper addresses the issue of matching rigid and articulated shapes through probabilistic point registration. The problem is recast into a missing data framework where unknown correspondences are handled via mixture models. Adopting a maximum likelihood principle, we introduce an innovative EM-like algorithm, namely the Expectation Conditional Maximization for Point Registration (ECMPR) algorithm. The algorithm allows the use of general covariance matrices for the mixture model components and improves over the isotropic covariance case. We analyse in detail the associated consequences in terms of estimation of the registration parameters, and we propose an optimal method for estimating the rotational and translational parameters based on semi-definite positive relaxation. We extend rigid registration to articulated registration. Robustness is ensured by detecting and rejecting outliers through the addition of a uniform component to the Gaussian mixture model at hand. We provide an in-depth analysis of our method and we compare it both theoretically and experimentally with other robust methods for point registration