Device-to-image registration method, apparatus, and storage medium

A device to image registration apparatus comprising:

• at least one processor configured to perform:
• obtaining image data of a device, the device including a plurality of fiducials arranged as a fiducial frame on the device;
• detecting fiducial objects within the image data;
• cropping the image data to generate cropped image data;
• applying a feature enhancement to the cropped image data to enhance the fiducial objects;
• generating a candidate list of candidate objects based on the feature enhancement, and determining a common plane based on at least three points in the candidate list;
• determining a representative point for each candidate object;
• determining outlier candidate objects based on the common plane;
• determining resultant objects by extracting the outlier candidate objects from the candidate list;
• and
• registering the resultant objects to the device by matching the representative points of the resultant objects with a model of the fiducial frame.

A non-transitory storage medium storing a program for causing a computer to execute a method of registration comprising:

• obtaining image data of a device, the device including a plurality of fiducials arranged as a fiducial frame on the device;
• detecting fiducial objects within the image data;
• cropping the image data to generate cropped image data;
• applying a feature enhancement to the cropped image data to enhance the fiducial objects;
• generating a candidate list of candidate objects based on the feature enhancement, and determining a common plane based on at least three points in the candidate list;
• determining a representative point for each candidate object;
• determining outlier candidate objects based on the common plane;
• determining resultant objects by extracting the outlier candidate objects from the candidate list;
• and
• registering the resultant objects to the device by matching representative points of the resultant objects with a model of the fiducial frame.