TH-AB-202-08: A Robust Real-Time Surface Reconstruction Method On Point Clouds Captured From a 3D Surface Photogrammetry System

Abstract

Purpose: Surface photogrammetry (e.g. VisionRT, C-Rad) provides a noninvasive way to obtain high-frequency measurement for patient motion monitoring in radiotherapy. This work aims to develop a real-time surface reconstruction method on the acquired point clouds, whose acquisitions are subject to noise and missing measurements. In contrast to existing surface reconstruction methods that are usually computationally expensive, the proposed method reconstructs continuous surfaces with comparable accuracy in real-time. Methods: The key idea in our method is to solve and propagate a sparse linear relationship from the point cloud (measurement) manifold to the surface (reconstruction) manifold, taking advantage of the similarity in local geometric topology in both manifolds. With consistent point cloud acquisition, we propose a sparse regression (SR) model to directly approximate the target point cloud as a sparse linear combination from the training set, building the point correspondences by the iterative closest point (ICP) method. To accommodate changing noise levels and/or presence of inconsistent occlusions, we further propose a modified sparse regression (MSR) model to account for the large and sparse error built by ICP, with a Laplacian prior. We evaluated our method on both clinical acquired point clouds under consistent conditions and simulated point clouds with inconsistent occlusions. The reconstruction accuracy was evaluated w.r.t. root-mean-squared-error, by comparing the reconstructed surfaces against those from the variational reconstruction method. Results: On clinical point clouds, both the SR and MSR models achieved sub-millimeter accuracy, with mean reconstruction time reduced from 82.23 seconds to 0.52 seconds and 0.94 seconds, respectively. On simulated point cloud with inconsistent occlusions, the MSR model has demonstrated its advantage in achieving consistent performance despite the introduced occlusions. Conclusion: We have developed a real-time and robust surface reconstruction method on point clouds acquired by photogrammetry systems. It serves an important enabling step for real-time motion tracking in radiotherapy. This work is supported in part by NIH grant R01 CA169102-02.