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NA-MIC Project Weeks

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Registration of Intel RealSense depth camera image to CT + marker based tracking

Key Investigators

Project Description

The goal of this project is to develop a module in Slicer for registering [Intel RealSense][realsense] depth data to a CT scan of a patient’s head and maintain this tion using an optical marker. The module will use facial surface anatomy to perform initial registration between the RealSense and a CT scan. An optical marker will be rigidly fixed to the patient’s head within the camera’s field of view and used to preserve registration when the patient’s face is no longer visible.


Objective A: Perform patient registration using segmented facial surface anatomy and depth images streamed from the Intel RealSense

Objective B: Maintain patient registration after face is no longer visible using an optical marker tracked by the Intel RealSense RGB camera

Approach and Plan

  1. Acquire depth images from the RealSense in Slicer and use them to generate a point cloud
  2. Determine how to stream these depth images and calculate the point cloud in real time
  3. Use a captured point cloud to verify the accuracy of the registration to a model
  4. Use Slicer to track an optical marker defined rigidly relative to the real time point cloud
  5. Perform registration on the point cloud with the marker and maintain the registration without visibility of the facial anatomy

Progress and Next Steps

  1. Created Slicer module for generating a point cloud from a depth image
  2. Demonstrated streaming of real-time point clouds from depth images captured by the RealSense
  3. Investigated accuracy of Model Registration module for registering captured point clouds to dense models
  4. Explored RealSense parameters to find settings best suited to close range facial scanning


User interface of DepthImageToPointCloud module

Example of point cloud generated from depth image

Demonstration of streamed point cloud generated using RealSense depth data

Examples of acquired surface mesh registered to model

Basic workflow of the project

Background and References