NDLI: Recovering the position and orientation of free-form objects from image contours using 3D distance maps

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Recovering the position and orientation of free-form objects from image contours using 3D distance maps

Content Provider	IEEE Xplore Digital Library
Author	Lavallee, S. Szeliski, R.
Copyright Year	1979
Abstract	The accurate matching of 3D anatomical surfaces with sensory data such as 2D X-ray projections is a basic problem in computer and robot assisted surgery, In model-based vision, this problem can be formulated as the estimation of the spatial pose (position and orientation) of a 3D smooth object from 2D video images. The authors present a new method for determining the rigid body transformation that describes this match. The authors' method performs a least squares minimization of the energy necessary to bring the set of the camera-contour projection lines tangent to the surface. To correctly deal with projection lines that penetrate the surface, the authors consider the minimum signed distance to the surface along each line (i.e., distances inside the object are negative). To quickly and accurately compute distances to the surface, the authors introduce a precomputed distance map represented using an octree spline whose resolution increases near the surface. This octree structure allows the authors to quickly find the minimum distance along each line using best-first search. Experimental results for 3D surface to 2D projection matching are presented for both simulated and real data. The combination of the authors' problem formulation in 3D, their computation of line to surface distances with the octree-spline distance map, and their simple minimization technique based on the Levenberg-Marquardt algorithm results in a method that solves the 3D/2D matching problem for arbitrary smooth shapes accurately and quickly.<>
Sponsorship	IEEE Computer Society
Starting Page	378
Ending Page	390
Page Count	13
File Size	1404311
File Format	PDF
ISSN	01628828
Volume Number	17
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-04-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Minimization methods X-ray imaging Computer vision Robot sensing systems Robot vision systems Surgery Least squares methods Spline Computational modeling Shape
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Artificial Intelligence Computational Theory and Mathematics Computer Vision and Pattern Recognition Software

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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