rigid registration
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2021 ◽  
Vol 13 (23) ◽  
pp. 4755
Author(s):  
Saishang Zhong ◽  
Mingqiang Guo ◽  
Ruina Lv ◽  
Jianguo Chen ◽  
Zhong Xie ◽  
...  

Rigid registration of 3D indoor scenes is a fundamental yet vital task in various fields that include remote sensing (e.g., 3D reconstruction of indoor scenes), photogrammetry measurement, geometry modeling, etc. Nevertheless, state-of-the-art registration approaches still have defects when dealing with low-quality indoor scene point clouds derived from consumer-grade RGB-D sensors. The major challenge is accurately extracting correspondences between a pair of low-quality point clouds when they contain considerable noise, outliers, or weak texture features. To solve the problem, we present a point cloud registration framework in view of RGB-D information. First, we propose a point normal filter for effectively removing noise and simultaneously maintaining sharp geometric features and smooth transition regions. Second, we design a correspondence extraction scheme based on a novel descriptor encoding textural and geometry information, which can robustly establish dense correspondences between a pair of low-quality point clouds. Finally, we propose a point-to-plane registration technology via a nonconvex regularizer, which can further diminish the influence of those false correspondences and produce an exact rigid transformation between a pair of point clouds. Compared to existing state-of-the-art techniques, intensive experimental results demonstrate that our registration framework is excellent visually and numerically, especially for dealing with low-quality indoor scenes.


2021 ◽  
Author(s):  
Soumya Ghose ◽  
Jhimli Mitra ◽  
David Mills ◽  
Desmond Teck-Beng Yeo ◽  
Thomas K. Foo ◽  
...  

2021 ◽  
Vol 70 ◽  
pp. 102976
Author(s):  
Shao-di Yang ◽  
Yu-qian Zhao ◽  
Zhen Yang ◽  
Yan-jin Wang ◽  
Fan Zhang ◽  
...  

PLoS ONE ◽  
2021 ◽  
Vol 16 (8) ◽  
pp. e0256340
Author(s):  
David Schunck ◽  
Federico Magistri ◽  
Radu Alexandru Rosu ◽  
André Cornelißen ◽  
Nived Chebrolu ◽  
...  

Understanding the growth and development of individual plants is of central importance in modern agriculture, crop breeding, and crop science. To this end, using 3D data for plant analysis has gained attention over the last years. High-resolution point clouds offer the potential to derive a variety of plant traits, such as plant height, biomass, as well as the number and size of relevant plant organs. Periodically scanning the plants even allows for performing spatio-temporal growth analysis. However, highly accurate 3D point clouds from plants recorded at different growth stages are rare, and acquiring this kind of data is costly. Besides, advanced plant analysis methods from machine learning require annotated training data and thus generate intense manual labor before being able to perform an analysis. To address these issues, we present with this dataset paper a multi-temporal dataset featuring high-resolution registered point clouds of maize and tomato plants, which we manually labeled for computer vision tasks, such as for instance segmentation and 3D reconstruction, providing approximately 260 million labeled 3D points. To highlight the usability of the data and to provide baselines for other researchers, we show a variety of applications ranging from point cloud segmentation to non-rigid registration and surface reconstruction. We believe that our dataset will help to develop new algorithms to advance the research for plant phenotyping, 3D reconstruction, non-rigid registration, and deep learning on raw point clouds. The dataset is freely accessible at https://www.ipb.uni-bonn.de/data/pheno4d/.


Diagnostics ◽  
2021 ◽  
Vol 11 (8) ◽  
pp. 1481
Author(s):  
Sung Il Hwang ◽  
Hyungwoo Ahn ◽  
Hak Jong Lee ◽  
Sung Kyu Hong ◽  
Seok-Soo Byun ◽  
...  

Magnetic resonance imaging (MRI) is increasingly important in the detection and localization of prostate cancer. Regarding suspicious lesions on MRI, a targeted biopsy using MRI fused with ultrasound (US) is widely used. To achieve a successful targeted biopsy, a precise registration between MRI and US is essential. The purpose of our study was to show any decrease in errors using a real-time nonrigid registration technique for prostate biopsy. Nineteen patients with suspected prostate cancer were prospectively enrolled in this study. Registration accuracy was calculated by the measuring distance of corresponding points by rigid and nonrigid registration between MRI and US, and compared for rigid and nonrigid registration methods. Overall cancer detection rates were also evaluated by patient and by core. Prostate volume was measured automatically from MRI and manually from US, and compared to each other. Mean distances between the corresponding points in MRI and US were 5.32 ± 2.61 mm for rigid registration and 2.11 ± 1.37 mm for nonrigid registration (p < 0.05). Cancer was diagnosed in 11 of 19 patients (57.9%), and in 67 of 266 biopsy cores (25.2%). There was no significant difference in prostate-volume measurement between the automatic and manual methods (p = 0.89). In conclusion, nonrigid registration reduces targeting errors.


2021 ◽  
Vol 5 (3) ◽  
pp. 01-09
Author(s):  
Afua A. Yorke ◽  
Gary C. McDonald ◽  
David Solis ◽  
Thomas Guerrero

Purpose: Expert selected landmark points on clinical image pairs to provide a basis for rigid registration validation. Using combinatorial rigid registration optimization (CORRO) provide a statistically characterized reference data set for image registration of the pelvis by estimating optimal registration. Materials ad Methods: Landmarks for each CT/CBCT image pair for 58 cases were identified. From the landmark pairs, combination subsets of k-number of landmark pairs were generated without repeat, forming k-set for k=4, 8, and 12. A rigid registration between the image pairs was computed for each k-combination set (2,000-8,000,000). The mean and standard deviation of the registration were used as final registration for each image pair. Joint entropy was used to validate the output results. Results: An average of 154 (range: 91-212) landmark pairs were selected for each CT/CBCT image pair. The mean standard deviation of the registration output decreased as the k-size increased for all cases. In general, the joint entropy evaluated was found to be lower than results from commercially available software. Of all 58 cases 58.3% of the k=4, 15% of k=8 and 18.3% of k=12 resulted in the better registration using CORRO as compared to 8.3% from a commercial registration software. The minimum joint entropy was determined for one case and found to exist at the estimated registration mean in agreement with the CORRO algorithm. Conclusion: The results demonstrate that CORRO works even in the extreme case of the pelvic anatomy where the CBCT suffers from reduced quality due to increased noise levels. The estimated optimal registration using CORRO was found to be better than commercially available software for all k-sets tested. Additionally, the k-set of 4 resulted in overall best outcomes when compared to k=8 and 12, which is anticipated because k=8 and 12 are more likely to have combinations that affected the accuracy of the registration.


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