Point cloud registration, a fundamental task in 3D vision, has achieved remarkable success with learning-based methods in outdoor environments. Unsupervised outdoor point cloud registration methods have recently emerged to circumvent the need for costly pose annotations. However, they fail to establish reliable optimization objectives for unsupervised training, either relying on overly strong geometric assumptions, or suffering from poor-quality pseudo-labels due to inadequate integration of low-level geometric and high-level contextual information. We have observed that in the feature space, latent new inlier correspondences tend to clusteraround respective positive anchors that summarize features of existing inliers. Motivated by this observation, we propose a novel unsupervised registration method termed INTEGER to incorporate high-level contextual information for reliable pseudo-label mining. Specifically, we propose the Feature-Geometry Coherence Mining module to dynamically adapt the teacher for each mini-batch of data during training and discover reliable pseudo-labels by considering both high-level feature representations and low-level geometric cues. Furthermore, we propose Anchor-Based Contrastive Learning to facilitate contrastive learning with anchors for a robust feature space. Lastly, we introduce a Mixed-Density Student to learn density-invariant features, addressing challenges related to density variation and low overlap in the outdoor scenario. Extensive experiments on KITTI and nuScenes datasets demonstrate that our INTEGER achieves competitive performance in terms of accuracy and generalizability.

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Accurate and efficient registration of whole slide images (WSIs) is essential for high-resolution, nuclei-level analysis in multi-stained tissue slides. We propose a novel coarse-to-fine framework CORE for accurate nuclei-level registration across diverse multimodal whole-slide image (WSI) datasets. The coarse registration stage leverages prompt-based tissue mask extraction to effectively filter out artefacts and non-tissue regions, followed by global alignment using tissue morphology and ac- celerated dense feature matching with a pre-trained feature extractor. From the coarsely aligned slides, nuclei centroids are detected and subjected to fine-grained rigid registration using a custom, shape-aware point-set registration model. Finally, non-rigid alignment at the cellular level is achieved by estimating a non-linear dis- placement field using Coherent Point Drift (CPD). Our approach benefits from automatically generated nuclei that enhance the accuracy of deformable registra- tion and ensure precise nuclei-level correspondence across modalities. The pro- posed model is evaluated on three publicly available WSI registration datasets, and two private datasets. We show that CORE outperforms current state-of-the-art methods in terms of generalisability, precision, and robustness in bright-field and immunofluorescence microscopy WSIs

Purpose: Accurate intraoperative X-ray/CT registration is essential for surgical navigation in orthopedic procedures. However, existing methods struggle with consistently achieving sub-millimeter accuracy, robustness under broad initial pose estimates or need manual key-point annotations. This work aims to address these challenges by proposing a novel multi-view X-ray/CT registration method for intraoperative bone registration. Methods: The proposed registration method consists of a multi-view, contour-based iterative closest point (ICP) optimization. Unlike previous methods, which attempt to match bone contours across the entire silhouette in both imaging modalities, we focus on matching specific subcategories of contours corresponding to bone substructures. This leads to reduced ambiguity in the ICP matches, resulting in a more robust and accurate registration solution. This approach requires only two X-ray images and operates fully automatically. Additionally, we contribute a dataset of 5 cadaveric specimens, including real X-ray images, X-ray image poses and the corresponding CT scans. Results: The proposed registration method is evaluated on real X-ray images using mean reprojection error (mRPD). The method consistently achieves sub-millimeter accuracy with a mRPD 0.67mm compared to 5.35mm by a commercial solution requiring manual intervention. Furthermore, the method offers improved practical applicability, being fully automatic. Conclusion: Our method offers a practical, accurate, and efficient solution for multi-view X-ray/CT registration in orthopedic surgeries, which can be easily combined with tracking systems. By improving registration accuracy and minimizing manual intervention, it enhances intraoperative navigation, contributing to more accurate and effective surgical outcomes in computer-assisted surgery (CAS).

A popular benchmark for intra-patient lung registration is provided by the DIR-LAB COPDgene dataset consisting of large-motion in-and expiratory breath-hold CT pairs.

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We would like to thank all reviewers for their time and effort writing these valuable reviews. Reviewer 3 mentioned that a performance measure with other recent methods would be beneficial. The code for this paper will be released with the camera-ready version. In the following, we focus on the questions given by Reviewer 2. The presented network does not contain fewer parameters compared to the classical B-spline method for optimization. Furthermore, it is straightforward to extend for the 3D case.

We thank the reviewers for their thorough evaluation. Apart from comparing with [29], we also mention [22] and [25] Table 3] for the biomedical dataset) we believe this is feasible. The reviews contain many suggestions on how to clarify and improve the article. The main computational cost of the method is linear w.r.t. We thank the reviewer for advising us to explore gCCA, which seems highly relevant.