Dual bootstrap iterative closest point method and algorithm for image registration

This invention is directed to a highly accurate and efficient method and algorithm, namely the Dual-Bootstrap Iterative Closest Point algorithm, for performing image registration generally and retinal image registration in particular. Retinal image registration is challenging. The images are projections of a curved surface taken from a wide range of viewpoints using an un-calibrated camera. The non-vascular surface of the retina is homogeneous in healthy retinas, and exhibits a variety of pathologies in unhealthy retinas.