计算和数学方法在医学
研究文章

登记的准确性评估迭代最近点对不同幻影表面被光学三维传感器在放射治疗

表1

注册翻译 , , 和旋转 , , 从调查样本的ICP算法的实现测试幻影飞机,3面,碗,和躯干和治疗表转变 在不同的方向 。翻译绝对平移登记错误 和旋转绝对配准误差 黑体。
幻影 转变 登记
翻译/毫米 旋转/°
/毫米
Wilm算法
飞机 0.5 0.4282 0.0087 0.5482 −0.0001 −0.0012 0.0000
1.0 1.4503 0.4656 1.0627 0.0000 −0.0123 0.0000
10.0 0.4760 0.8346 10.0927 0.0002 −0.0022 −0.0005
20.0 0.0827 1.1255 20.0975 −0.0001 0.0213 −0.0007
3架飞机 0.5 −0.0100 0.1440 0.5325 −0.0000 0.0001 −0.0003
1.0 −0.0395 0.1362 1.0882 0.0001 0.0004 0.0001
10.0 −0.1475 0.1217 10.0550 0.0003 0.0001 −0.0003
20.0 −0.0665 −0.0903 20.9796 0.0005 0.0012 −0.0006
10.0 −0.1237 9.9743 0.0157 0.0001 0.0004 0.0001
−10.0 −0.1991 −9.6955 0.1602 0.0002 −0.0001 0.0004
10.0 9.8886 0.3100 0.1109 0.0013 −0.0004 0.0001
碗 0.5 0.0749 0.0702 0.4491 −0.0006 0.0013 −0.0000
1.0 0.0596 0.1477 0.9348 −0.0010 −0.0018 −0.0011
10.0 −0.0084 0.0054 10.1927 0.0061 0.0121 0.0004
20.0 0.3618 0.0843 20.0056 0.0005 0.0382 −0.0001
10.0 −0.1668 9.9264 0.1325 0.0035 −0.0678 −0.0033
−10.0 0.0885 −9.7892 −0.3034 0.0004 0.0246 −0.0006
10.0 9.9217 −0.0522 0.0799 −0.0014 −0.0400 −0.0024
−10.0 −9.8553 0.1800 −0.0533 −0.0005 0.0854 −0.0005
躯干 0.5 −0.0239 −0.0895 0.5171 0.0033 1.5783 −1.5785
1.0 −0.0986 −0.1490 1.0508 0.0022 1.6005 −1.6007
10.0 0.0303 0.1723 9.9136 0.0090 1.1490 −1.1480
20.0 0.0995 0.1012 19.8599 0.0017 0.8377 −0.8362
10.0 0.1819 9.9194 −0.1830 0.0009 0.9571 0.9572
−10.0 −0.1553 −9.5344 0.0316 0.0020 −1.4725 1.4724
10.0 10.1230 −0.0174 −0.0374 0.0047 1.5300 −1.5299
−10.0 −9.8724 −0.0488 −0.0401 0.0034 −1.6261 1.6263
克朗算法
飞机 0.5 −0.4031 −0.1523 0.5499 −0.0001 −0.0001 −0.000
1.0 −0.9254 −0.2737 1.0675 0.0002 0.0005 −0.0001
10.0 1.3403 1.2951 10.0872 0.0002 −0.0015 −0.0004
20.0 −3.7160 0.7362 20.0891 −0.0001 0.0007 −0.0008
3架飞机 0.5 0.0023 −0.1280 0.3746 −0.0005 0.0000 0.0000
1.0 −0.0470 −0.2840 0.8252 −0.0001 0.0003 0.0001
10.0 −1.5692 −5.8559 7.3710 −0.0125 −0.0045 −0.0043
20.0 1.0803 −4.9535 18.1806 1.0803 0.0014 −0.0021
10.0 0.0793 6.5978 −1.3214 −0.0066 −0.0004 −0.0003
−10.0 −0.1597 −6.6084 −1.3826 0.0062 0.0004 0.0006
10.0 0.7600 −0.0439 0.0272 0.0002 0.0008 −0.0018
碗 0.5 0.0818 −0.0440 0.2600 0.0009 0.0004 −0.0004
1.0 0.0572 −0.0864 0.5162 0.0015 0.0002 −0.0004
10.0 −1.4703 −0.2302 8.9576 0.0087 0.0022 −0.0420
20.0 −1.2950 −0.1217 19.0383 0.00206 0.0035 −0.0554
10.0 −0.2905 8.8071 0.0682 0.0369 −0.0581 −0.0027
−10.0 0.2614 −8.6043 0.3671 −0.0368 0.0533 0.0006
10.0 9.4381 −0.4111 0.0864 0.0023 0.0202 −0.0048
−10.0 −9.1155 0.5139 0.1217 0.0004 −0.0187 0.0473
躯干 0.5 0.3474 1.4598 0.1776 −0.0003 0.0003 −0.0128
1.0 0.3474 1.5383 0.0214 −0.0012 0.0013 −0.0214
10.0 0.0014 0.2854 10.4856 0.0004 0.0018 −0.0006
20.0 0.2456 0.8967 20.8858 0.0016 0.0010 −0.0012
10.0 0.1391 0.8154 0.5305 0.0032 −0.0002 −0.0007
−10.0 0.0276 −0.7041 −0.3240 −0.0025 0.0002 −0.0003
10.0 10.7852 0.6038 0.0172 0.0002 0.0026 −0.0353
−10.0 −10.6538 −1.5451 0.2848 0.0005 −0.0080 0.0327
Renoald算法
飞机 0.5 −0.3951 −0.1486 0.5499 −0.0001 −0.0001 −0.0000
1.0 −0.8802 −0.2661 1.0675 0.0000 0.0006 −0.0001
10.0 1.2549 1.1879 10.0882 0.0002 −0.0010 −0.0005
20.0 −2.0547 −0.4494 20.0903 −0.0001 −0.0040 −0.0006
3架飞机 0.5 0.0041 −0.1311 0.3722 −0.0005 0.0000 0.0000
1.0 −0.0469 −0.2864 0.8242 −0.0006 0.0003 0.0001
10.0 −0.0744 −4.5305 8.2095 −0.0099 −0.0003 −0.0039
20.0 0.9315 −6.7487 16.8058 −0.0134 0.0058 0.0033
10.0 0.1794 4.0410 −1.1857 −0.0124 −0.0004 −0.0002
−10.0 −0.2608 −5.4906 1.3925 0.0088 0.0009 0.0005
10.0 0.7315 −0.0448 0.0321 0.0002 0.0009 −0.0018
碗 0.5 0.0818 −0.0440 0.2600 0.0009 0.0004 −0.0004
1.0 0.0571 −0.0831 0.5143 0.0015 0.0003 −0.0004
10.0 −1.2139 −0.1348 8.8075 0.0069 0.0014 −0.0393
20.0 −1.5751 −0.1130 18.7352 0.0056 0.0045 −0.0556
10.0 −0.4060 7.5070 −0.0636 0.0356 −0.0402 −0.0014
−10.0 0.3518 −8.5498 0.2583 −0.0358 0.0521 0.0009
10.0 8.8252 −0.2963 −0.1059 −0.0000 0.0147 −0.0470
−10.0 −8.9940 0.4230 0.1382 0.0007 −0.0171 0.0477
躯干 0.5 0.2920 0.4220 0.7578 0.0005 0.0012 −0.0321
1.0 0.2378 0.4817 1.0779 0.0003 0.0009 −0.0315
10.0 −0.0037 0.2426 10.4506 0.0001 0.0018 −0.0006
20.0 0.3008 −0.1655 18.7455 −0.0011 0.0022 −0.0001
10.0 0.1177 0.7804 0.4367 0.0028 −0.0002 −0.0004
−10.0 0.0045 −0.6522 −0.2843 −0.0022 0.0001 −0.0001
10.0 10.4139 0.4050 0.0860 0.0004 0.0015 −0.0327
−10.0 −10.4768 −0.6117 0.1427 −0.0003 −0.0019 0.0334
Bergstrom算法
飞机 0.5 0.0818 −0.0440 0.2600 0.0009 0.0004 −0.0003
1.0 −0.9302 −0.2768 1.0675 0.0000 0.0005 −0.0001
10.0 −4.8742 −0.3023 10.0866 0.0002 0.0013 −0.0008
20.0 −3.7203 0.7381 20.0894 −0.0000 0.0001 −0.0008
3架飞机 0.5 0.0023 −0.12880 0.3746 −0.0005 0.0003 0.0000
1.0 −0.0470 −0.2840 −0.8252 −0.0060 0.0003 0.0001
10.0 −8.9059 4.1357 11.6053 0.0083 −0.0080 −0.0024
20.0 1.0816 −4.9472 18.1816 −0.0095 0.0014 −0.0021
10.0 −2.1412 13.7773 1.6485 0.0079 0.0060 0.0009
−10.0 −0.1596 −6.6095 1.3820 0.0062 0.0004 0.0006
10.0 8.4082 2.8181 1.2289 0.0064 −0.0053 −0.0034
碗 0.5 0.0818 −0.0440 0.2600 0.0009 0.0004 −0.0004
1.0 0.0527 −0.0803 0.5211 0.0016 0.0003 −0.0004
10.0 −0.1868 −0.0644 10.2913 −0.0002 −0.1752 0.0064
20.0 0.6199 −0.0374 20.2321 0.0092 −0.1716 0.0172
10.0 0.0319 10.0246 −0.4303 0.0058 −0.1689 0.0073
−10.0 0.4347 −9.4345 0.9152 −0.0312 −0.1553 0.0238
10.0 9.9406 −2.1170 0.6590 0.0190 0.0004 0.0001
−10.0 −10.3737 −1.6094 0.3040 0.0133 0.0020 −0.0003
躯干 0.5 0.3383 −2.5946 0.8076 0.0004 0.0001 −0.0128
1.0 0.1906 −2.6231 0.9682 −0.0000 0.0000 −0.0121
10.0 0.0014 0.2854 10.4856 0.0040 0.0018 −0.0006
20.0 −0.4539 −0.3521 19.4238 0.0008 0.0023 0.0150
10.0 0.5342 8.9866 0.3959 0.0007 −0.0020 −0.0169
−10.0 −0.1569 −8.6553 1.2477 −0.0070 0.0020 0.0012
10.0 10.4504 −2.5372 0.4949 0.0003 0.0003 −0.0131
−10.0 −10.2027 2.5363 0.3930 −0.0003 −0.0002 0.0120
AlignRT算法
飞机 0.5 0.1 0.3 0.0 0.0 0.0 0.0
1.0 0.2 0.1 0.5 0.0 0.0 0.1
10.0 0.3 0.0 10.1 0.0 0.0 0.1
20.0 0.2 1。2 20.1 0.0 0.0 0.2
3架飞机 0.5 0.0 0.1 0.5 0.0 0.0 0.0
1.0 0.1 0.1 1.1 0.0 0.0 0.0
10.0 0.0 0.2 10.2 0.0 0.0 0.0
20.0 0.0 0.1 20.1 0.0 0.0 0.1
10.0 0.2 10.2 0.2 0.0 0.0 0.0
−10.0 0.1 −9.8 0.1 0.0 0.0 0.0
10.0 9.8 0.2 0.1 0.0 0.0 0.0
碗 0.5 0.1 0.1 0.5 0.0 0.0 0.0
1.0 0.1 0.2 1.1 0.0 0.0 0.0
10.0 0.1 0.2 10.0 0.1 0.0 1。2
20.0 0.3 0.3 19.9 0.1 0.0 1。6
10.0 0.2 10.3 0.2 0.0 0.1 1。6
−10.0 0.7 −9.8 0.2 0.1 0.1 2。7
10.0 10.1 0.2 0.2 0.0 0.1 0.1
−10.0 −10.0 0.5 0.2 0.0 0.0 1。7
躯干 0.5 0.1 0.0 0.6 0.0 0.0 0.0
1.0 0.1 0.0 1.1 0.0 0.0 0.0
10.0 0.1 0.0 9.9 0.1 0.0 0.1
20.0 0.2 0.1 19.8 0.0 0.1 0.1
10.0 0.2 10.1 0.2 0.0 0.0 0.0
−10.0 0.2 −9.8 0.1 0.1 0.0 0.0
10.0 10.0 0.2 0.1 0.0 0.0 0.0
−10.0 −9.9 0.1 0.0 0.0 0.0 0.0