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13 March 2009 Iterative solution for rigid-body point-based registration with anisotropic weighting
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Abstract
Rigid-body, point-based registration is commonly used for image-guided systems. Fiducial markers that can be localized in image and physical space are attached to patient anatomy. The fiducial marker locations in the two spaces are used to obtain the physical-to-image registration. It is a common practice to obtain physical positions via optical systems, whose localization error is anisotropic. Furthermore, the positions are often reckoned relative to a coordinate reference frame (CRF) that is rigidly attached to the patient. The use of a CRF enables patient movement relative to the tracking system, but it tends to exacerbate the anisotropy. It is common practice to ignore the localization anisotropy and employ a closed-form solution, which is available for isotropic weighting but not for anisotropic weighting. Iterative methods are available for anisotropic weighting but are quite complex. We present a new iterative algorithm for anisotropic weighting that is simple, intuitive, and has only one adjustable parameter. We show using simulations that our algorithm is more accurate than the isotropic solution for anisotropic localization error. In particular, we show that the new algorithm reduces target registration error when anisotropic localization error is present. When all the localization errors are isotropic, the new algorithm performs as well as the closed-form solution.
© (2009) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Ramya Balachandran and J. Michael Fitzpatrick "Iterative solution for rigid-body point-based registration with anisotropic weighting", Proc. SPIE 7261, Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling, 72613D (13 March 2009); https://doi.org/10.1117/12.813887
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