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Selection of Fiducial Locations and Performance Metrics for Point-Based Rigid-Body Registration

Published

Author(s)

Marek Franaszek, Geraldine S. Cheok

Abstract

A method is described to select the location and number of fiducials used in point-based, rigid-body registration of two coordinate frames. Two indices are introduced which are used to search for the optimum configuration of fiducials. They can be used to quickly evaluate a large number of configurations because no actual registration is involved in their calculation. Furthermore, configurations yielding small values of the indices correlate well with configurations which result in optimum registrations. Three registration performance metrics are discussed, and it is shown that optimization of different metrics leads to different selection of fiducial configurations. If an optimized configuration is selected as a starting configuration of N fiducials, the addition of extra fiducials does not significantly improve the registration in most cases. This work is based on 3D data acquired with three different instruments, each having different noise and bias characteristics.
Citation
Precision Engineering-Journal of the International Societies for Precision Engineering and Nanotechnology
Volume
47

Keywords

point-based rigid-body registration, performance metrics, noise and bias in positional data
Created September 27, 2016, Updated November 10, 2018