Real-Time Respiratory Motion Analysis Using Manifold Ray Casting of Volumetrically Fused Multi-view Range Imaging

  • Jakob Wasza
  • Sebastian Bauer
  • Joachim Hornegger
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8150)


A novel real-time multi-sensor framework for range imaging (RI) based respiratory motion analysis in image guided interventions such as fractionated radiation therapy is presented. We constitute our method based upon real-time constraints in clinical practice and an analytic analysis of RI based elastic body surface deformation fields. For the latter, we show that the underlying joint rigid and non-rigid registration problem is ill-conditioned and identify insufficient body coverage as an error source. Facing these issues, we propose a novel manifold ray casting technique enabling the reconstruction of an 180° coverage body surface model composed of ~3·105 points from volumetrically fused multi-view range data in ~25 ms. Exploiting the wide field of view surface model enabled by our method, we reduce the error in motion compensated patient alignment by a factor of 2.7 in the translational and 2.4 in the rotational component compared to conventional single sensor surface coverage.


Shape Prior Body Coverage Pinhole Camera Model Coherent Point Drift Respiration Analysis 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Jakob Wasza
    • 1
  • Sebastian Bauer
    • 1
  • Joachim Hornegger
    • 1
    • 2
  1. 1.Pattern Recognition Lab, Department of Computer ScienceFriedrich-Alexander-Universität Erlangen-NürnbergGermany
  2. 2.Erlangen Graduate School in Advanced Optical Technologies (SAOT)Friedrich-Alexander-Universität Erlangen-NürnbergGermany

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