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Une approche statistique multi-échelle au recalage rigide de surfaces : Application à l'implantologie dentaire

Sébastien Granger 1
1 EPIDAURE - Medical imaging and robotics
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : The main subject of this work is the rigid registration of surfaces dedicated to VirtualScope, a per-operative guiding system designed for oral implants surgery. It is based on a purely statistical approach. We first show how to compute and maximize a likelihood, based on a model of the data noise, for the landmarks registration problem. This approach justifies the use of the ICP algorithm, and a new multi-scale variant named ICP/EM, which improves accuracy, speed and robustness. We introduce new noise models specifically designed for the registration of sampled and noised surfaces. We discuss about the theoretical prediction of the registration accuracy, and use it for guiding the data acquisition. We analyze in detail the experimental performances of the algorithm, and provide methods for setting optimally the parameters and ensuring the correctness of registration results. The resulting algorithm is perfectly suited to the VirtualScope application. The second part of this work deals with the more general problem of the statistical modelisation of sampled and noised curves and surfaces. Based on previous works on Saliency and Tensor Voting notions, it defines a vote field that represent the probability of a curve or surface element, knowing another element. We provide basic yet easy to implement examples of such a field, which can handle the surface shape, the sampling strategy and the measurement errors. We apply them successfully to the registration problem, and suggest to use them to derive Bayesian methods to virtually all other computer vision problems involving sampled and noised curves and surfaces. This work could lead to the design of a common statistical and multi-scale framework for these various methods.
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https://tel.archives-ouvertes.fr/tel-00633460
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Sébastien Granger. Une approche statistique multi-échelle au recalage rigide de surfaces : Application à l'implantologie dentaire. Interface homme-machine [cs.HC]. École Nationale Supérieure des Mines de Paris, 2003. Français. ⟨tel-00633460⟩

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