info:eu-repo/semantics/masterThesis
Registration of a three-dimensional model of a human head over a scene using color and depth information
Autor
MIGUEL DE JESUS OSORIO RAMOS
Resumen
The objective of Augmented Reality (AR) is to enhance a user’s perception of an
environment in real life by providing useful additional information. To achieve
this objective, virtual objects must be correctly positioned in a real environment
to improve the sense of coexistence between real and virtual objects.
In medicine, AR has been well received as it has shown great potential when
aiding in diagnosis, surgical planning or surgical procedures because specific
regions can be precisely targeted. The observation of spatial relations between the
virtual objects and the environment are essential in minimally invasive procedures.
Regarding head procedures, a precise registration is of utmost importance. Even
though there has been research in this area, further investigation can lead to
invaluable discoveries.
When using low-cost computer vision systems, the aligning task becomes
difficult because of excess noise. Using the scene’s depth information obtained
from low-cost range sensors has shown good results; however, these results are
still far from being dependable for the medical field.
This thesis addresses the issue of registering a virtual model with a human
head where images are acquired from two different sources. The first one is an
X-Ray Computed Tomography (CT) scan of the head which is used to create
a three-dimensional (3D) virtual model. The second is the augmented scene,
obtained through a low-cost range sensor taking advantage of depth information.
The proposed method aims at reducing registration errors between the 3D virtual
model of the head and the one in the real world scene.
Our method involves a series of segmentation processes to bound the region
of interest, a preliminary head pose estimation which serves as a basis for the next
step, and a final pose refinement through the Iterative Closest Point algorithm
in order to reach the goal of precise alignment of a human head within a virtual
environment.
We tested the registration results of the proposed method against the registration
of other approaches found in literature addressing the same problem and
using low-cost computer vision systems. For evaluation, we built a new database
which was manually labeled with the transformation values to align the model
with a scene. The reliability of the database was evaluated using an inter-rater
reliability test in order to check the agreement of the raters.
Materias
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