Spatio-temporal registration of multiple trajectories

Nicolas Padoy, Gregory D. Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution


A growing number of medical datasets now contain both a spatial and a temporal dimension. Trajectories, from tools or body features, are thus becoming increasingly important for their analysis. In this paper, we are interested in recovering the spatial and temporal differences between trajectories coming from different datasets. In particular, we address the case of surgical gestures, where trajectories contain both spatial transformations and speed differences in the execution. We first define the spatio-temporal registration problem between multiple trajectories. We then propose an optimization method to jointly recover both the rigid spatial motions and the non-linear time warpings. The optimization generates also a generic trajectory template, in which spatial and temporal differences have been factored out. This approach can be potentially used to register and compare gestures side-by-side for training sessions, to build gesture trajectory models for automation by a robot, or to register the trajectories of natural or artificial markers which follow similar motions. We demonstrate its usefulness with synthetic and real experiments. In particular, we register and analyze complex surgical gestures performed by tele-manipulation using the da Vinci robot.

Original languageEnglish (US)
Title of host publicationMedical Image Computing and Computer-Assisted Intervention, MICCAI 2011 - 14th International Conference, Proceedings
Number of pages8
EditionPART 1
StatePublished - 2011
Event14th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2011 - Toronto, ON, Canada
Duration: Sep 18 2011Sep 22 2011

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume6891 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other14th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2011
CityToronto, ON

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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