A quick 3D-2D registration method for a wide-range of applications

A method for quick determination of the position and pose of a 3D free-form object with respect to its 2D projective image(s) is proposed. It is a precondition of the method that a 3D model of the object and an initial estimation of the state are given. We (1998) have previously proposed a 3D-2D registration method for the real-time registration of a 3D model of a cerebral vessel tree to an X-ray image of the vessel. Here we extend this method to meet a more general purpose. First, the formulae for obtaining the 3D model transformation from 3D-2D point pairs are generalized by describing camera´s coordinates independently from world coordinates. The second generalization is to use the occluding contour instead of the skeleton of the blood vessel as the feature for matching. We use a 3D graphics system like OpenGL into our 3D-2D registration method. The applicability improvements are shown using two applications: a position and pose estimation of a 3D vessel model using multiple views, and visual feedback on the position and pose of an active camera head