A method is described to select the location and number of fiducials used in point-based, rigid-body registration of two coordinate frames. Two indices are introduced which are used to search for the optimum configuration of fiducials. They can be used to quickly evaluate a large number of configurations because no actual registration is involved in their calculation. Furthermore, configurations yielding small values of the indices correlate well with configurations which result in optimum registrations. Three registration performance metrics are discussed, and it is shown that optimization of different metrics leads to different selection of fiducial configurations. If an optimized configuration is selected as a starting configuration of N fiducials, the addition of extra fiducials does not significantly improve the registration in most cases. This work is based on 3D data acquired with three different instruments, each having different noise and bias characteristics.

描述了一种方法，用于选择在两个坐标系的基于点的刚体配准中使用的基准的位置和数量。介绍了两个索引，用于搜索基准的最佳配置。它们可以用于快速评估大量配置，因为它们的计算中没有实际的注册。此外，产生较小索引值的配置与导致最佳配准的配置相关性很好。讨论了三个注册性能指标，结果表明，不同指标的优化会导致基准配置的不同选择。如果选择优化配置作为N的初始配置在大多数情况下，添加额外的基准并不能显着改善注册。这项工作基于使用三种不同仪器采集的3D数据，每种仪器具有不同的噪声和偏置特性。