[Insight-users] ICP : Patent expired on February 3rd 2006.

[Luis Ibanez]

Hi Anne-Laure,


Wes Turner (who recently joined Kitware) just brought to my attention
the fact that the ICP patent expired on February 03 2006.


The report on patents expiring on that date is available at

     http://www.uspto.gov/go/og/2006/week14/patexpi.htm


The patent in question is Patent Number: "5,715,166"


    "Apparatus for the registration of three-dimensional shapes"

Inventors: 	

    Besl; Paul Joseph (Farmington Hills, MI);
    Mc Kay; Neil David (Royal Oak, MI)

Assignee: 	

   General Motors Corporation (Detroit, MI)


Information of US Patents can be found at


            http://www.uspto.gov/


--

So,
it seems that the intellectual property concerns are no longer
a factor that should prevent you from using this method.



Thanks to Wes for this enlightening information.



     Luis



------------------
Luis Ibanez wrote:
> 
> Hi Anne-Laure,
> 
> For the large number of points that you have, it is better to avoid
> using ICP directly, due to the large amount of time that it takes
> to compute the distances between the two sets of points.
> 
> This, plus the fact that ICP itself is patented, are enough reasons
> for exploring variations of the algorithm.
> 
> In your case, since the Fixed points come from a segmentation of the
> rib case, and the moving points come from a theoretical model, it is
> worth to explore if for one set or the other you could use a distance
> map.
> 
> For example,
> Is is possible to generate a distance map to the rib cage model ?
> instead of getting 8435 points out of it ?
> 
> If so, then you could register the moving point cloud to the distance
> map of the rib cage model.
> 
> You could also try to other way: generate a distance map to the
> segmentation of the rib cage, and register the points of the theoretical
> model to the points in the segmentation.
> 
> Combining PointSet + DistanceMap is probably the most efficient
> way of computing point set registration because you take advantage
> of the efficiency in finding the "closest distance" when you query
> a DistanceMap, and you take advantage of the small number of samples
> that (in general) you have in a PointSet.
> 
> 
> Note that the PointSet to DistanceMap registration can be performed
> with existing ITK classes.
> 
> 
> 
>   Please let us know if you have further questions,
> 
> 
> 
>       Thanks
> 
> 
>         Luis
> 
> 
> ------------------
> annelaure wrote:
> 
>> Thank you so much for your help in all the problem I met with ITK.
>> My register problem :
>> I have two points clouds with different number of points (fixed points :
>> 89680, moving points : 8435). Fixed points com from the segmentation 
>> of the
>> rib cage (points cloud non regular and with holes so not usable just 
>> as it
>> is) and moving points come from a theorical model of a rib cage. The 
>> aim of
>> my work is to register my theorical model on the real rib cage in 
>> order to
>> have a personalized model of the thorax.
>> I don't know which method of register is the better for me.
>> Thank you so much,
>> regards,
>> Anne-Laure
> 
> 
> 
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