Retinal Blood Vessel Extraction from Fundus Images Using Enhancement Filtering and Clustering

Screening of vision troubling eye diseases by segmenting fundus images eases the danger of loss of sight of people. Computer assisted analysis can play an important role in the forthcoming health care system universally. Therefore, this paper presents a clustering based method for extraction of retinal vasculature from ophthalmoscope images. The method starts with image enhancement by contrast limited adaptive histogram equalization (CLAHE) from which feature extraction is accomplished using Gabor filter followed by enhancement of extracted features with Hessian based enhancement filters. It then extracts the vessels using K-mean clustering technique. Finally, the method ends with the application of a morphological cleaning operation to get the ultimate vessel segmented image. The performance of the proposed method is evaluated by taking two different publicly available Digital retinal images for vessel extraction (DRIVE) and Child heart and health study in England (CHASE_DB1) databases using nine different performance matrices. It gives average accuracies of 0.952 and 0.951 for DRIVE and CHASE_DB1 databases, respectively.    

Development and applications of two and three component particle image velocimetry techniques for simultaneous measurement in multi-phase flows and automative fuel sprays

The introduction of a new imaging approach for simultaneous multi-phase and multi-constituent velocity measurements is the main focus of this research. The proposed approach is based on the use of a single off-the-shelf colour camera which will enable simultaneous imaging of phases/constituents which are colourtagged using fluorescent droplets and multi-wavelength illumination. Highly efficient florescent tracers used to seed the constituents are presented and their visibility in full field imaging experiments is evaluated. A commonly found problem in experimental systems using laser illumination, known as flare, is discussed and the application of the developed fluorescent tracers for its reduction is presented. A strong focus of the imaging approach proposed is its flexibility and simplicity allowing its extension to stereoscopic imaging to obtain simultaneous multi-phase/constituent 3-component measurements with the addition of a second imaging camera. Proof of principle experiments with spatially separated and well mixed flows are presented for which successful phase discrimination is obtained and the uncertainty of the measurements is estimated. The imaging system developed is applied for simultaneous air and fuel velocimetry measurements in a Gasoline Direct Injection spray for which a more detailed understating of the interaction mechanisms is required to generate improved designs. The modified imaging system and experimental setup are presented and previously unavailable simultaneous air/fuel 2 and 3-component velocity fields are presented and analysed.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

New Techniques and Optimizations of Short Echo-time 1H MRI with Applications in Murine Lung

Although x-ray computed tomography (CT) is a gold standard for pulmonary imaging, it has high ionizing radiation, which puts patients at greater risk of cancer, particularly in a longitudinal study with cumulative doses. Magnetic resonance imaging (MRI) doesn\u27t involve exposure to ionizing radiation and is especially useful for visualizing soft tissues and organs such as ligaments, cartilage, brain, and heart. Many efforts have been made to apply MRI to study lung function and structure of both humans and animals. However, lung is a unique organ and is very different from other solid organs like the heart and brain due to its complex air-tissue interleaved structure. The magnetic susceptibility differences at the air-tissue interfaces result in very short T2* (~ 1 ms) of lung parenchyma, which is even shorter in small-animal MRI (often at higher field) than in human MRI. Both low proton density and short T2* of lung parenchyma are challenges for pulmonary imaging via MRI because they lead to low signal-to-noise ratio (SNR) in images with traditional Cartesian methods that necessitate longer echo times (≥ 1 ms). This dissertation reports the work of optimizing pulmonary MRI techniques by minimizing the negative effects of low proton density and short T2* of murine lung parenchyma, and the application of these techniques to imaging murine lung. Specifically, echo time (TE) in the Cartesian sequence is minimized, by simultaneous slice select rephasing, phase encoding and read dephasing gradients, in addition to partial Fourier imaging, to reduce signal loss due to T2* relaxation. Radial imaging techniques, often called ultra-short echo-time MRI or UTE MRI, with much shorter time between excitation and data acquisition, were also developed and optimized for pulmonary imaging. Offline reconstruction for UTE data was developed on a Linux system to regrid the non-Cartesian (radial in this dissertation) k-space data for fast Fourier transform. Slabselected UTE was created to fit the field-of-view (FOV) to the imaged lung without fold-in aliasing, which increases TE slightly compared to non-slab-selected UTE. To further reduce TE as well as fit the FOV to the lung without aliasing, UTE with ellipsoidal k-space coverage was developed, which increases resolution and decreases acquisition time. Taking into account T2* effects, point spread function (PSF) analysis was performed to determine the optimal acquisition time for maximal single-voxel SNR. Retrospective self-gating UTE was developed to avoid the use of a ventilator (which may cause lung injury) and to avoid possible prospective gating errors caused by abrupt body motion. Cartesian gradient-recalled-echo imaging (GRE) was first applied to monitor acute cellular rejection in lung transplantation. By repeated imaging in the same animals, both parenchymal signal and lung compliance were measured and were able to detect rejection in the allograft lung. GRE was also used to monitor chronic cellular rejection in a transgenic mouse model after lung transplantation. In addition to parenchymal signal and lung compliance, the percentage of highdensity lung parenchyma was defined and measured to detect chronic rejection. This represents one of the first times quantitative pulmonary MRI has been performed. For 3D radial UTE MRI, 2D golden means (1) were used to determine the direction of radial spokes in k-space, resulting in pseudo-random angular sampling of spherical k-space coverage. Ellipsoidal k-space coverage was generated by expanding spherical coverage to create an ellipsoid in k-space. UTE MRI with ellipsoidal k-space coverage was performed to image healthy mice and phantoms, showing reduced FOV and enhanced in-plane resolution compared to regular UTE. With this modified UTE, T2* of lung parenchyma was measured by an interleaved multi-TE strategy, and T1 of lung parenchyma was measured by a limited flip angle method (2). Retrospective self-gating UTE with ellipsoidal k-space coverage was utilized to monitor the progression of pulmonary fibrosis in a transforming growth factor (TGF)-α transgenic mouse model and compared with histology and pulmonary mechanics. Lung fibrosis progression was not only visualized by MRI images, but also quantified and tracked by the MRIderived lung function parameters like mean lung parenchyma signal, high-density lung volume percentage, and tidal volume. MRI-derived lung function parameters were strongly correlated with the findings of pulmonary mechanics and histology in measuring fibrotic burden. This dissertation demonstrates new techniques and optimizations in GRE and UTE MRI that are employed to minimize TE and image murine lungs to assess lung function and structure and monitor the time course of lung diseases. Importantly, the ability to longitudinally image individual animals by these MRI techniques minimizes the number of animals required in preclinical studies and increases the statistical power of future experiments as each animal can serve at its own control

Towards Highly-Integrated Stereovideoscopy for \u3ci\u3ein vivo\u3c/i\u3e Surgical Robots

When compared to traditional surgery, laparoscopic procedures result in better patient outcomes: shorter recovery, reduced post-operative pain, and less trauma to incisioned tissue. Unfortunately, laparoscopic procedures require specialized training for surgeons, as these minimally-invasive procedures provide an operating environment that has limited dexterity and limited vision. Advanced surgical robotics platforms can make minimally-invasive techniques safer and easier for the surgeon to complete successfully. The most common type of surgical robotics platforms -- the laparoscopic robots -- accomplish this with multi-degree-of-freedom manipulators that are capable of a diversified set of movements when compared to traditional laparoscopic instruments. Also, these laparoscopic robots allow for advanced kinematic translation techniques that allow the surgeon to focus on the surgical site, while the robot calculates the best possible joint positions to complete any surgical motion. An important component of these systems is the endoscopic system used to transmit a live view of the surgical environment to the surgeon. Coupled with 3D high-definition endoscopic cameras, the entirety of the platform, in effect, eliminates the peculiarities associated with laparoscopic procedures, which allows less-skilled surgeons to complete minimally-invasive surgical procedures quickly and accurately. A much newer approach to performing minimally-invasive surgery is the idea of using in-vivo surgical robots -- small robots that are inserted directly into the patient through a single, small incision; once inside, an in-vivo robot can perform surgery at arbitrary positions, with a much wider range of motion. While laparoscopic robots can harness traditional endoscopic video solutions, these in-vivo robots require a fundamentally different video solution that is as flexible as possible and free of bulky cables or fiber optics. This requires a miniaturized videoscopy system that incorporates an image sensor with a transceiver; because of severe size constraints, this system should be deeply embedded into the robotics platform. Here, early results are presented from the integration of a miniature stereoscopic camera into an in-vivo surgical robotics platform. A 26mm X 24mm stereo camera was designed and manufactured. The proposed device features USB connectivity and 1280 X 720 resolution at 30 fps. Resolution testing indicates the device performs much better than similarly-priced analog cameras. Suitability of the platform for 3D computer vision tasks -- including stereo reconstruction -- is examined. The platform was also tested in a living porcine model at the University of Nebraska Medical Center. Results from this experiment suggest that while the platform performs well in controlled, static environments, further work is required to obtain usable results in true surgeries. Concluding, several ideas for improvement are presented, along with a discussion of core challenges associated with the platform. Adviser: Lance C. Pérez [Document = 28 Mb

Recognizing complex faces and gaits via novel probabilistic models

In the field of computer vision, developing automated systems to recognize people under unconstrained scenarios is a partially solved problem. In unconstrained sce- narios a number of common variations and complexities such as occlusion, illumi- nation, cluttered background and so on impose vast uncertainty to the recognition process. Among the various biometrics that have been emerging recently, this dissertation focus on two of them namely face and gait recognition. Firstly we address the problem of recognizing faces with major occlusions amidst other variations such as pose, scale, expression and illumination using a novel PRObabilistic Component based Interpretation Model (PROCIM) inspired by key psychophysical principles that are closely related to reasoning under uncertainty. The model basically employs Bayesian Networks to establish, learn, interpret and exploit intrinsic similarity mappings from the face domain. Then, by incorporating e cient inference strategies, robust decisions are made for successfully recognizing faces under uncertainty. PROCIM reports improved recognition rates over recent approaches. Secondly we address the newly upcoming gait recognition problem and show that PROCIM can be easily adapted to the gait domain as well. We scienti cally de ne and formulate sub-gaits and propose a novel modular training scheme to e ciently learn subtle sub-gait characteristics from the gait domain. Our results show that the proposed model is robust to several uncertainties and yields sig- ni cant recognition performance. Apart from PROCIM, nally we show how a simple component based gait reasoning can be coherently modeled using the re- cently prominent Markov Logic Networks (MLNs) by intuitively fusing imaging, logic and graphs. We have discovered that face and gait domains exhibit interesting similarity map- pings between object entities and their components. We have proposed intuitive probabilistic methods to model these mappings to perform recognition under vari- ous uncertainty elements. Extensive experimental validations justi es the robust- ness of the proposed methods over the state-of-the-art techniques.

Comprehensive retinal image analysis: image processing and feature extraction techniques oriented to the clinical task

Medical digital imaging has become a key element of modern health care procedures. It provides a visual documentation, a permanent record for the patients, and most importantly the ability to extract information about many diseases. Ophthalmology is a field that is heavily dependent on the analysis of digital images because they can aid in establishing an early diagnosis even before the first symptoms appear. This dissertation contributes to the digital analysis of such images and the problems that arise along the imaging pipeline, a field that is commonly referred to as retinal image analysis. We have dealt with and proposed solutions to problems that arise in retinal image acquisition and longitudinal monitoring of retinal disease evolution. Specifically, non-uniform illumination, poor image quality, automated focusing, and multichannel analysis. However, there are many unavoidable situations in which images of poor quality, like blurred retinal images because of aberrations in the eye, are acquired. To address this problem we have proposed two approaches for blind deconvolution of blurred retinal images. In the first approach, we consider the blur to be space-invariant and later in the second approach we extend the work and propose a more general space-variant scheme. For the development of the algorithms we have built preprocessing solutions that have enabled the extraction of retinal features of medical relevancy, like the segmentation of the optic disc and the detection and visualization of longitudinal structural changes in the retina. Encouraging experimental results carried out on real retinal images coming from the clinical setting demonstrate the applicability of our proposed solutions

A hardware-in-the-loop testing facility for unmanned aerial vehicle sensor suites and control algorithms

In the past decade Unmanned Aerial Vehicles (UAVs) have rapidly grown into a major field of robotics in both industry and academia. Many well established platforms have been developed, and the demand continues to grow. However, the UAVs utilized in industry are predominately remotely piloted aircraft offering very limited levels of autonomy. In contrast, fully autonomous flight has been achieved in research, and the degree of autonomy continues to grow, with research now focusing on advanced tasks such as navigating cluttered terrain and formation ying.The gap between academia and industry is the robustness of control algorithms. Academic research often focuses on proof of concept demonstrations with little or no consideration to real world concerns such as adverse weather or sensor integration.One of the goals of this thesis is to integrate real world issues into the design process. A testing environment was designed and built that allows sensors and control algorithms to be tested against real obstacles and environmental conditions in a controlled, repeatable fashion. The use of this facility is demonstrated in the implementation of a safe landing zone algorithm for a robotic helicopter equipped with a laser scanner. Results from tests conducted in the testing facility are used to analyze results from ights in the field.Controlling the testing environment also provides a baseline to evaluate different control solutions. In the current research paradigm, it is difficult to determine which research questions have been solved because the testing conditions vary from researcher to researcher. A common testing environment eliminates ambiguities and allows solutions to be characterized based on their performance in different terrains and environmental conditions.This thesis explores how flight tests can be conducted in the lab using the actual hardware and control algorithms. The sensor package is attached to a 6 DOF gantry whose motion is governed by the dynamic model of the aircraft. To provide an expansive terrain over which the flight can be conducted, a scaled model of the environment was created.The the feasibility of using a scaled environment is demonstrated with a common sensor package and control task: using computer vision to guide an autonomous helicopter. The effcts of scaling are investigated, and the approach validated by comparing results in the scaled model to actual flights. Finally, it is demonstrated how the facility can be used to investigate the effect of adverse conditions on control algorithm performance. The overarching philosophy of this work is that incorporating real world concerns into the design process leads to more fully developed and robust solutions.Ph.D., Mechanical Engineering -- Drexel University, 201

Imaging Sensors and Applications

In past decades, various sensor technologies have been used in all areas of our lives, thus improving our quality of life. In particular, imaging sensors have been widely applied in the development of various imaging approaches such as optical imaging, ultrasound imaging, X-ray imaging, and nuclear imaging, and contributed to achieve high sensitivity, miniaturization, and real-time imaging. These advanced image sensing technologies play an important role not only in the medical field but also in the industrial field. This Special Issue covers broad topics on imaging sensors and applications. The scope range of imaging sensors can be extended to novel imaging sensors and diverse imaging systems, including hardware and software advancements. Additionally, biomedical and nondestructive sensing applications are welcome