This paper presents a novel algorithm that registers a collection of mono-modal 3D images in a simultaneous fashion, named as Direct Simultaneous Registration (DSR). The algorithm optimizes global poses of local frames directly based on the intensities of images (without extracting features from the images). To obtain the optimal result, we start with formulating a Direct Bundle Adjustment (DBA) problem which jointly optimizes pose parameters of local frames and intensities of panoramic image. By proving the independence of the pose from panoramic image in the iterative process, DSR is proposed and proved to be able to generate the same optimal poses as DBA, but without optimizing the intensities of the panoramic image. The proposed DSR method is particularly suitable in mono-modal registration and in the scenarios where distinct features are not available, such as Transesophageal Echocardiography (TEE) images. The proposed method is validated via simulated and in-vivo 3D TEE images. It is shown that the proposed method outperforms conventional sequential registration method in terms of accuracy and the obtained results can produce good alignment in in-vivo images.
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