Multiple Kernel Point Set Registration

Point Cloud Registration in Laparoscopic Liver Surgery Using Keypoint Correspondence Registration Network

Laparoscopic liver surgery is a newly developed minimally invasive technique and represents an inevitable trend in the future development of surgical methods. By using augmented reality (AR) technology to overlay preoperative CT models with intraoperative laparoscopic videos, surgeons can accurately locate blood vessels and tumors, significantly enhancing the safety and precision of surgeries. Point cloud registration technology is key to achieving this effect. However, there are two major challenges in registering the CT model with the point cloud surface reconstructed from intraoperative laparoscopy. First, the surface features of the organ are not prominent. Second, due to the limited field of view of the laparoscope, the reconstructed surface typically represents only a very small portion of the entire organ. To address these issues, this paper proposes the keypoint correspondence registration network (KCR-Net). This network first uses the neighborhood feature fusion module (NFFM) to aggregate and interact features from different regions and structures within a pair of point clouds to obtain comprehensive feature representations. Then, through correspondence generation, it directly generates keypoints and their corresponding weights, with keypoints located in the common structures of the point clouds to be registered, and corresponding weights learned automatically by the network. This approach enables accurate point cloud registration even under conditions of extremely low overlap. Experiments conducted on the ModelNet40, 3Dircadb, DePoLL demonstrate that our method achieves excellent registration accuracy and is capable of meeting the requirements of real-world scenarios.

Characterization of motion patterns by a spatio-temporal saliency descriptor in cardiac cine MRI

BACKGROUND AND OBJECTIVE

Abnormalities of the heart motion reveal the presence of a disease. However, a quantitative interpretation of the motion is still a challenge due to the complex dynamics of the heart. This work proposes a quantitative characterization of regional cardiac motion patterns in cine magnetic resonance imaging (MRI) by a novel spatio-temporal saliency descriptor.

METHOD

The strategy starts by dividing the cardiac sequence into a progression of scales which are in due turn mapped to a feature space of regional orientation changes, mimicking the multi-resolution decomposition of oriented primitive changes of visual systems. These changes are estimated as the difference between a particular time and the rest of the sequence. This decomposition is then temporarily and regionally integrated for a particular orientation and then for the set of different orientations. A final spatio-temporal 4D saliency map is obtained as the summation of the previously integrated information for the available scales. The saliency dispersion of this map was computed in standard cardiac locations as a measure of the regional motion pattern and was applied to discriminate control and hypertrophic cardiomyopathy (HCM) subjects during the diastolic phase.

RESULTS

Salient motion patterns were estimated from an experimental set, which consisted of 3D sequences acquired by MRI from 108 subjects (33 control, 35 HCM, 20 dilated cardiomyopathy (DCM), and 20 myocardial infarction (MINF) from heterogeneous datasets). HCM and control subjects were classified by an SVM that learned the salient motion patterns estimated from the presented strategy, by achieving a 94% AUC. In addition, statistical differences (test t-student, p<0.05) were found among groups of disease in the septal and anterior ventricular segments at both the ED and ES, with salient motion characteristics aligned with existing knowledge on the diseases.

CONCLUSIONS

Regional wall motion abnormality in the apical, anterior, basal, and inferior segments was associated with the saliency dispersion in HCM, DCM, and MINF compared to healthy controls during the systolic and diastolic phases. This saliency analysis may be used to detect subtle changes in heart function.

Robust Point Set Registration Using Signature Quadratic Form Distance

Point set registration is a problem with a long history in many pattern recognition tasks. This paper presents a robust point set registration algorithm based on optimizing the distance between two probability distributions. A major problem in point to point algorithms is defining the correspondence between two point sets. This paper follows the idea of some probability-based point set registration methods by representing the point sets as Gaussian mixture models (GMMs). By optimizing the distance between the two GMMs, rigid transformations (rotation and translation) between two point sets can be obtained without having to find a correspondence. Previous studies have used L2, Kullback Leibler, etc. distance to measure similarity between two GMMs; however, these methods have problems with robustness to noise and outliers, especially when the covariance matrix is large, or a local minimum exists. Therefore, in this paper, the signature quadratic form distance is derived to measure the distribution similarity. The contribution of this paper lies in adopting the signature quadratic form distance for the point set registration algorithm. The experimental results show the precision and robustness of this algorithm and demonstrate that it outperforms other state-of-the-art point set registration algorithms regarding factors, such as noise, outliers, missing partial structures, and initial misalignment.

Robust Non-Rigid Feature Matching for Image Registration Using Geometry Preserving

In this paper, a robust non-rigid feature matching approach for image registration with geometry constraints is proposed. The non-rigid feature matching approach is formulated as a maximum likelihood (ML) estimation problem. The feature points of one image are represented by Gaussian mixture model (GMM) centroids, and are fitted to the feature points of the other image by moving coherently to encode the global structure. To preserve the local geometry of these feature points, two local structure descriptors of the connectivity matrix and Laplacian coordinate are constructed. The expectation maximization (EM) algorithm is applied to solve this ML problem. Experimental results demonstrate that the proposed approach has better performance than current state-of-the-art methods.

A Review of Point Set Registration: From Pairwise Registration to Groupwise Registration

This paper presents a comprehensive literature review on point set registration. The state-of-the-art modeling methods and algorithms for point set registration are discussed and summarized. Special attention is paid to methods for pairwise registration and groupwise registration. Some of the most prominent representative methods are selected to conduct qualitative and quantitative experiments. From the experiments we have conducted on 2D and 3D data, CPD-GL pairwise registration algorithm and JRMPC groupwise registration algorithm seem to outperform their rivals both in accuracy and computational complexity. Furthermore, future research directions and avenues in the area are identified.

Nonrigid Point Set Registration by Preserving Local Connectivity

This paper is concerned with the nonrigid point set registration problem and a probability-based registration algorithm with local connectivity preservation is proposed. A unified formulation for point set registration problem is introduced and the derived energy function is composed of three parts, distance measurement item, transformation constraint item, and correspondence constraint item. In order to preserve the local structure of point set, the definitions of -connected neighbors and connectivity matrix are given and the local connectivity constraint is constructed as a weighted least square error item. The point set registration problem is formulated in the expectation-maximization algorithm scheme and the optimal spatial transformation and correspondence matrix are estimated simultaneously. The effectiveness of the proposed method is verified by applying the method to synthetic point sets and real scenarios of hand shapes and surface-mount technology components.

Volumetric Image Registration From Invariant Keypoints

We present a method for image registration based on 3D scale- and rotation-invariant keypoints. The method extends the scale invariant feature transform (SIFT) to arbitrary dimensions by making key modifications to orientation assignment and gradient histograms. Rotation invariance is proven mathematically. Additional modifications are made to extrema detection and keypoint matching based on the demands of image registration. Our experiments suggest that the choice of neighborhood in discrete extrema detection has a strong impact on image registration accuracy. In head MR images, the brain is registered to a labeled atlas with an average Dice coefficient of 92%, outperforming registration from mutual information as well as an existing 3D SIFT implementation. In abdominal CT images, the spine is registered with an average error of 4.82 mm. Furthermore, keypoints are matched with high precision in simulated head MR images exhibiting lesions from multiple sclerosis. These results were achieved using only affine transforms, and with no change in parameters across a wide variety of medical images. This paper is freely available as a cross-platform software library.