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

[annelaure]

Hi,
I have already written in this forum but I don't solve my problem yet.
My problem : I want to register  two rib cage (one therocic and one
resulting from a scanner).  My data : I have 2 clouds of points(~8000 points
for the theorical rib cage and ~30000 points for the scanner) . I don't know
how I can do a deformable registration with my two clouds of points because
all the functions  of deformable registration need images. And, I don't know
how to create a distance map.( I can't send my files because they are too
large).
Thank you so much,
Best regards,
Anne-Laure 

Luis Ibanez wrote:
> 
> 
> 
> 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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>> Insight-users at itk.org
>> http://www.itk.org/mailman/listinfo/insight-users
>> 
>> 
> 
> 
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