医学图像配准，医学图像2D_3D配准，基于vc++开发。-This paper introduces a new method of registering point sets. The registration

error is directly minimized using general-purpose nonlinear optimization (the

Levenberg-Marquardt algorithm). The surprising conclusion of the paper is that

this technique is comparable in speed to the special-purpose ICP algorithm which

is most commonly used for this task. Because the routine directly minimizes an

energy function, it is easy to extend it to incorporate robust estimation via a Hu-

ber kernel, yielding a basin of convergence that is many times wider than existing

techniques. Finally we introduce a data structure for the minimization based on

the chamfer distance transform which yields an algorithm which is both faster

and more robust than previously described methods.