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. Author manuscript; available in PMC: 2011 Apr 15.
Published in final edited form as: Med Image Comput Comput Assist Interv. 2010;13(Pt 2):594–601. doi: 10.1007/978-3-642-15745-5_73

Fig. 2. Registration of lateral ventricles.

Fig. 2

From left to right: (i) two misaligned pairs of lateral ventricles A and B (from Exp. 1); (ii) A to B and (iii) B to A with the asymmetric EM-ICP with RKHS; (iv) A to B and (v) B to A with the symmetric-consistent EM-ICP with RKHS. Point-to-point and Hausdorff registration errors are given below each figure. The asymmetric formulation leads to registration errors close to the horns. The location of these errors depends on what surface is used as the template. With the symmetric consistent formulation, no order-dependent registration error is visible, and the overall registration quality is visually and quantitatively improved.