Robust and Fast 3D Scan Alignment using Mutual Information

This paper presents a mutual information (MI) based algorithm for the estimation of full 6-degree-of-freedom (DOF) rigid body transformation between two overlapping point clouds. We first divide the scene into a 3D voxel grid and define simple to compute features for each voxel in the scan. The two scans that need to be aligned are considered as a collection of these features and the MI between these voxelized features is maximized to obtain the correct alignment of scans. We have implemented our method with various simple point cloud features (such as number of points in voxel, variance of z-height in voxel) and compared the performance of the proposed method with existing point-to-point and point-to- distribution registration methods. We show that our approach has an efficient and fast parallel implementation on GPU, and evaluate the robustness and speed of the proposed algorithm on two real-world datasets which have variety of dynamic scenes from different environments

An information-theoretic image quality measure: Comparison with statistical similarity

We present an information-theoretic approach for structural similarity for assessing gray scale image quality. The structural similarity measure SSIM, proposed in 2004, has been successflly used and verfied. SSIM is based on statistical similarity between the two images. However, SSIM can produce confusing results in some cases where it may give a non-trivial amount of similarity for two different images. Also, SSIM cannot perform well (in detecting similarity or dissimilarity) at low peak signal to noise ratio (PSNR). In this study, we present a novel image similarity measure, HSSIM, by using information - theoretic technique based on joint histogram. The proposed method has been tested under Gaussian noise. Simulation results show that the proposed measure HSSIM outperforms statistical similarity SSIM by ability to detect similarity under very low PSNR. The average difference is about 20dB

Parallel Computation of Nonrigid Image Registration

Automatic intensity-based nonrigid image registration brings significant impact in medical applications such as multimodality fusion of images, serial comparison for monitoring disease progression or regression, and minimally invasive image-guided interventions. However, due to memory and compute intensive nature of the operations, intensity-based image registration has remained too slow to be practical for clinical adoption, with its use limited primarily to as a pre-operative too. Efficient registration methods can lead to new possibilities for development of improved and interactive intraoperative tools and capabilities. In this thesis, we propose an efficient parallel implementation for intensity-based three-dimensional nonrigid image registration on a commodity graphics processing unit. Optimization techniques are developed to accelerate the compute-intensive mutual information computation. The study is performed on the hierarchical volume subdivision-based algorithm, which is inherently faster than other nonrigid registration algorithms and structurally well-suited for data-parallel computation platforms. The proposed implementation achieves more than 50-fold runtime improvement over a standard implementation on a CPU. The execution time of nonrigid image registration is reduced from hours to minutes while retaining the same level of registration accuracy

Multi-modal rigid image registration and segmentation using multi-stage forward path regenerative genetic algorithm

Medical image diagnosis and delineation of lesions in the human brain require information to combine from different imaging sensors. Image registration is considered to be an essential pre-processing technique of aligning images of different modalities. The brain is a naturally bilateral symmetrical organ, where the left half lobe resembles the right half lobe around the symmetrical axis. The identified symmetry axis in one MRI image can identify symmetry axes in multi-modal registered MRI images instantly. MRI sensors may induce different levels of noise and Intensity Non-Uniformity (INU) in images. These image degradations may cause difficulty in finding true transformation parameters for an optimization technique. We will be investigating the new variant of evolution strategy of genetic algorithm as an optimization technique that performs well even for the high level of noise and INU, compared to Nesterov, Limited-memory Broyden-Fletcher-Goldfarb-Shanno algorithm (LBFGS), Simulated Annealing (SA), and Single-Stage Genetic Algorithm (SSGA). The proposed new multi-modal image registration technique based on a genetic algorithm with increasing precision levels and decreasing search spaces in successive stages is called the Multi-Stage Forward Path Regenerative Genetic Algorithm (MFRGA). Our proposed algorithm is better in terms of overall registration error as compared to the standard genetic algorithm. MFRGA results in a mean registration error of 0.492 in case of the same level of noise (1-9)% and INU (0-40)% in both reference and template image, and 0.317 in case of a noise-free template and reference with noise levels (1-9)% and INU (0-40)%. Accurate registration results in good segmentation, and we apply registration transformations to segment normal brain structures for evaluating registration accuracy. The brain segmentation via registration with our proposed algorithm is better even in cases of high levels of noise and INU as compared to GA and LBFGS. The mean dice similarity coefficient of brain structures CSF, GM, and WM is 0.701, 0.792, and 0.913, respectively.Web of Science148art. no. 150

Image Registration Workshop Proceedings

Automatic image registration has often been considered as a preliminary step for higher-level processing, such as object recognition or data fusion. But with the unprecedented amounts of data which are being and will continue to be generated by newly developed sensors, the very topic of automatic image registration has become and important research topic. This workshop presents a collection of very high quality work which has been grouped in four main areas: (1) theoretical aspects of image registration; (2) applications to satellite imagery; (3) applications to medical imagery; and (4) image registration for computer vision research

Retrospective registration of tomographic brain images

In modern clinical practice, the clinician can make use of a vast array of specialized imaging techniques supporting diagnosis and treatment. For various reasons, the same anatomy of one patient is sometimes imaged more than once, either using the same imaging apparatus (monomodal acquisition ), or different ones (multimodal acquisition). To make simultaneous use of the acquired images, it is often necessary to bring these images in registration, i.e., to align their anatomical coordinate systems. The problem of medical image registration as concerns human brain images is addressed in this thesis. The specific chapters include a survey of recent literature, CT/MR registration using mathematical image features (edges and ridges), monomodal SPECT registration, and CT/MR/SPECT/PET registration using image features extracted by the use of mathematical morphology

A Hybrid Similarity Measure Framework for Multimodal Medical Image Registration

Medical imaging is widely used today to facilitate both disease diagnosis and treatment planning practice, with a key prerequisite being the systematic process of medical image registration (MIR) to align either mono or multimodal images of different anatomical parts of the human body. MIR utilises a similarity measure (SM) to quantify the level of spatial alignment and is particularly demanding due to the presence of inherent modality characteristics like intensity non-uniformities (INU) in magnetic resonance images and large homogeneous non-vascular regions in retinal images. While various intensity and feature-based SMs exist for MIR, mutual information (MI) has become established because of its computational efficiency and ability to register multimodal images. It is however, very sensitive to interpolation artefacts in the presence of INU with noise and can be compromised when overlapping areas are small. Recently MI-based hybrid variants which combine regional features with intensity have emerged, though these incur high dimensionality and large computational overheads. To address these challenges and secure accurate, efficient and robust registration of images containing high INU, noise and large homogeneous regions, this thesis presents a new hybrid SM framework for 2D multimodal rigid MIR. The framework consistently provides superior quantitative and qualitative performance, while offering a uniquely flexible design trade-off between registration accuracy and computational time. It makes three significant technical contributions to the field: i) An expectation maximisation-based principal component analysis with mutual information (EMPCA-MI) framework incorporating neighbourhood feature information; ii) Two innovative enhancements to reduce information redundancy and improve MI computational efficiency; and iii) an adaptive algorithm to select the most significant principal components for feature selection. The thesis findings conclusively confirm the hybrid SM framework offers an accurate and robust 2D registration solution for challenging multimodal medical imaging datasets, while its inherent flexibility means it can also be extended to the 3D registration domain

Robust similarity metrics for the registration of 3D multimodal medical images

In this paper, we develop data driven registration algorithms, relying on pixel similarity metrics, that enable an accurate rigid registration of dissimilar single or multimodal 2D/3D medical images . Gross dissimilarities are handled by considering similarity measures related to robust M-estimators . Fast stochastic multigrid optimization algorithms are used to minimize these similarity metrics . The proposed robust similarity metrics are compared to the most popular standard similarity metrics on real MRI/MRI and MRI/SPECT image pairs showing gross dissimilarities . A blinded evaluation of the algorithm was performed, using as gold standard a prospective, marker-based registration method, by participating in a registration evaluation project (Vanderbilt University) . Our robust similarity measures compare favourably with all standard (non robust) techniques .Le recalage non supervisé d'images médicales volumiques reste un problème difficile en raison de l'importante variabilité et des grandes différences d'information pouvant apparaître dans des séquences d'images de même modalité ou dans des couples d'images multimodales. Nous présentons dans cet article des méthodes robustes de recalage rigide d'images 2D et 3D monomodales et multimodales, reposant sur la minimisation de mesures de similarité inter-images. Les méthodes proposées s'appuient sur la théorie de l'estimation robuste et mettent en oeuvre des M-estimateurs associés à des techniques d'optimisation stochastique multigrilles rapides. Ces estimateurs robustes sont évalués à travers le recalage d'images médicales volumiques monomodales (IRM/IRM) et multimodales (IRM/TEMP). Ils sont comparés aux autres fonctions de similarité classiques, proposées dans la littérature. Les méthodes de recalage robustes ont, en particulier, été validées dans le cadre d'un protocole comparatif mis en place par l'Université de Vanderbilt. Elles sont actuellement utilisées en routine clinique et conduisent, tant pour les images de même modalité que pour les images multimodales à une précision sous-voxel, comparable aux meilleures méthodes actuelles. Elles permettent de plus de recaler des couples d'images sur lesquels les méthodes classiques échouent