A High-Order Solution for the Distribution of Target Registration Error in Rigid-Body Point-Based Registration

  • Mehdi Hedjazi Moghari
  • Purang Abolmaesumi
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4191)


Rigid registration of pre-operative surgical plans to intra-operative coordinates of a patient is an important step in computer-assisted orthopaedic surgery. A good measure for registration accuracy is the target registration error (TRE) which is the distance after registration between a pair of corresponding points not used in the registration process. However, TRE is not a deterministic value, since there is always error in the localized features (points) utilized in the registration. In this situation, the distribution of TRE carries more information than TRE by itself. Previously, the distribution of TRE has been estimated with the accuracy of the first-order approximation. In this paper, we analytically approximate the TRE distribution up to at least the second-order accuracy based on the Unscented Kalman Filter algorithm.


Unscented Kalman Filter Registration Accuracy Gaussian Random Vector Unscented Transform Extend Kalman Filter Algorithm 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Mehdi Hedjazi Moghari
    • 1
  • Purang Abolmaesumi
    • 1
    • 2
  1. 1.Department of Electrical and Computer EngineeringQueen’s UniversityCanada
  2. 2.School of ComputingQueen’s UniversityCanada

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