Anatomically Constrained Video-CT Registration via the V-IMLOP Algorithm

Functional endoscopic sinus surgery (FESS) is a surgical procedure used to treat acute cases of sinusitis and other sinus diseases. FESS is fast becoming the preferred choice of treatment due to its minimally invasive nature. However, due to the limited field of view of the endoscope, surgeons rely on navigation systems to guide them within the nasal cavity. State of the art navigation systems report registration accuracy of over 1mm, which is large compared to the size of the nasal airways. We present an anatomically constrained video-CT registration algorithm that incorporates multiple video features. Our algorithm is robust in the presence of outliers. We also test our algorithm on simulated and in-vivo data, and test its accuracy against degrading initializations.Comment: 8 pages, 4 figures, MICCA

The algorithm of noisy k-means

In this note, we introduce a new algorithm to deal with finite dimensional clustering with errors in variables. The design of this algorithm is based on recent theoretical advances (see Loustau (2013a,b)) in statistical learning with errors in variables. As the previous mentioned papers, the algorithm mixes different tools from the inverse problem literature and the machine learning community. Coarsely, it is based on a two-step procedure: (1) a deconvolution step to deal with noisy inputs and (2) Newton's iterations as the popular k-means

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

Saliency-guided integration of multiple scans

we present a novel method..

NICP: Dense normal based point cloud registration

In this paper we present a novel on-line method to recursively align point clouds. By considering each point together with the local features of the surface (normal and curvature), our method takes advantage of the 3D structure around the points for the determination of the data association between two clouds. The algorithm relies on a least squares formulation of the alignment problem, that minimizes an error metric depending on these surface characteristics. We named the approach Normal Iterative Closest Point (NICP in short). Extensive experiments on publicly available benchmark data show that NICP outperforms other state-of-the-art approaches

Automatic Reconstruction of Fault Networks from Seismicity Catalogs: 3D Optimal Anisotropic Dynamic Clustering

We propose a new pattern recognition method that is able to reconstruct the 3D structure of the active part of a fault network using the spatial location of earthquakes. The method is a generalization of the so-called dynamic clustering method, that originally partitions a set of datapoints into clusters, using a global minimization criterion over the spatial inertia of those clusters. The new method improves on it by taking into account the full spatial inertia tensor of each cluster, in order to partition the dataset into fault-like, anisotropic clusters. Given a catalog of seismic events, the output is the optimal set of plane segments that fits the spatial structure of the data. Each plane segment is fully characterized by its location, size and orientation. The main tunable parameter is the accuracy of the earthquake localizations, which fixes the resolution, i.e. the residual variance of the fit. The resolution determines the number of fault segments needed to describe the earthquake catalog, the better the resolution, the finer the structure of the reconstructed fault segments. The algorithm reconstructs successfully the fault segments of synthetic earthquake catalogs. Applied to the real catalog constituted of a subset of the aftershocks sequence of the 28th June 1992 Landers earthquake in Southern California, the reconstructed plane segments fully agree with faults already known on geological maps, or with blind faults that appear quite obvious on longer-term catalogs. Future improvements of the method are discussed, as well as its potential use in the multi-scale study of the inner structure of fault zones