Patent ID: 8457373

Claim:
A computer implemented method for registering 2-dimensional (2D) images with 3-dimensional (3D) images, the method performed by the computer comprising the steps of: receiving a 2D reference image and a 3D moving image; initializing a registration parameter matrix that rigidly transforms the domain of the moving image; randomly sampling a set of registration parameter matrices in a neighborhood of the initial registration parameters; estimating a cost function for each of the randomly sampled parameter matrices; calculating a distance from each randomly sampled parameter matrix to the initial registration parameter matrix, including calculating d 2 (T i , T i j )=∥log(T i −1 T i j )∥ M 2 , wherein T i is the initial registration parameter matrix, T i j is a randomly sampled parameter matrix, and ∥·∥ M denotes a matrix norm; calculating a mean shift vector from said estimated cost functions and distance; and updating said initial registration parameter matrix from said mean shift vector.