Tree structure based 2D to 3D registration

A system for tree structure based two-dimensional to three-dimensional registration comprising:

• a processor;
• a segmentation software module for segmenting 2D data and 3D data with respective vessel trees;
• and
• a distance transform computation software module for computing the distance transform of the segmented 2D data to form a 2D distance map image, a similarity measure computation software module, based on 2D distance map image, and an optimization module based on particle filtering scheme with pose parameters as the state vector to hypothesize a set of poses, find probability (based the similarity computation module) and re-sample to find an optimal pose that registers the received 2D data relative to the projection of the received 3D data.

A program storage device readable by machine, tangibly embodying a program of instructions executable by the machine to perform program steps for tree structure based two-dimensional to three-dimensional registration, the program steps comprising:

• receiving three-dimensional (3D) data indicative of vessels;
• segmenting the 3D data with a vessel tree;
• simulating two-dimensional (2D) data responsive to the segmented 3D data to form a simulated 2D image;
• receiving 2D data indicative of vessels;
• segmenting the received 2D data with a vessel tree;
• find the distance transform of the segmented 2D data to form a 2D distance map image;
• computing similarity measure based the simulated 2D image points and the 2D distance map image;
• optimizing the pose parameters based a particle filtering scheme by using pose parameters as state vectors and by randomizing, evaluating the probability based the similarity metric, and re-sampling the state vectors, in order to register the projected 2D points from segmented 3D structure from received 3D data to the segmented 2D structure from received 2D data.