Non-rigid point set registration: Coherent Point Drift

We introduce Coherent Point Drift (CPD), a novel probabilistic method for nonrigid registrationof point sets. The registration is treated as a Maximum Likelihood (ML)estimation problem with motion coherence constraint over the velocity field such that one point set moves coherently to align with the second set. We formulate the motion coherence constraint and derive a solution of regularized ML estimation through the variational approach, which leads to an elegant kernel form. We also derive the EM algorithm for the penalized ML optimization with deterministic annealing. The CPD method simultaneously finds both the nonrigid transformation and the correspondence between two point sets without making any prior assumption of the transformation model except that of motion coherence. Thismethod can estimate complex nonlinear nonrigid transformations, and is shown to be accurate on 2D and 3D examples and robust in the presence of outliers and missing points.