Rigid and affine registration of smooth surfaces using differential properties

  • Jacques Feldmar
  • Nicholas Ayache
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 801)


Recently, several researchers ([BM92], [Zha93], [CM92], [ML92], [CLSB92]) have proposed very interesting methods based on an iterative algorithm to rigidly register surfaces represented by a set of 3d points, when an estimate of the displacement is available. In this paper, we propose to introduce differential informations on points to extend this algorithm. First, we show how to efficiently use curvatures to superpose principal frame at possible corresponding points in order to find the needed rough estimate of the displacement. Then, we explain how to extend this algorithm to look for an affine transformation between two surfaces. We introduce differential informations in points coordinates: this allows us to match locally similar points. We show how this differential information is transformed by an affine transformation. Finally, we introduce curvatures in the best affine transformation criterion and we minimize it using extended Kalman filters. All this extensions are illustrated with experiments on various real biomedical surfaces: teeth, faces, skulls and brains.


Iterative Algorithm Close Point Principal Curvature Affine Transformation Rigid Transformation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1994

Authors and Affiliations

  • Jacques Feldmar
    • 1
  • Nicholas Ayache
    • 1
  1. 1.Projet EPIDAUREINRIA SOPHIASophia Antipolis CedexFrance

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