Non-rigid point set registration: Coherent point drift

Andriy Myronenko, Xubo Song, Miguel Á Carreira-Perpiñán

Research output: Chapter in Book/Report/Conference proceedingConference contribution

192 Scopus citations

Abstract

We introduce Coherent Point Drift (CPD), a novel probabilistic method for nonrigid registration of point sets. The registration is treated as a Maximum Likelihood (ML) estimation problem with motion coherence constraint over the velocity field such that one point set moves coherently to align with the second set. We formulate the motion coherence constraint and derive a solution of regularized ML estimation through the variational approach, which leads to an elegant kernel form. We also derive the EM algorithm for the penalized ML optimization with deterministic annealing. The CPD method simultaneously finds both the non-rigid transformation and the correspondence between two point sets without making any prior assumption of the transformation model except that of motion coherence. This method can estimate complex non-linear non-rigid transformations, and is shown to be accurate on 2D and 3D examples and robust in the presence of outliers and missing points.

Original languageEnglish (US)
Title of host publicationAdvances in Neural Information Processing Systems 19 - Proceedings of the 2006 Conference
Pages1009-1016
Number of pages8
StatePublished - Dec 1 2007
Event20th Annual Conference on Neural Information Processing Systems, NIPS 2006 - Vancouver, BC, Canada
Duration: Dec 4 2006Dec 7 2006

Publication series

NameAdvances in Neural Information Processing Systems
ISSN (Print)1049-5258

Other

Other20th Annual Conference on Neural Information Processing Systems, NIPS 2006
CountryCanada
CityVancouver, BC
Period12/4/0612/7/06

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ASJC Scopus subject areas

  • Computer Networks and Communications
  • Information Systems
  • Signal Processing

Cite this

Myronenko, A., Song, X., & Carreira-Perpiñán, M. Á. (2007). Non-rigid point set registration: Coherent point drift. In Advances in Neural Information Processing Systems 19 - Proceedings of the 2006 Conference (pp. 1009-1016). (Advances in Neural Information Processing Systems).