Affine Registration of label maps in Label Space

Two key aspects of coupled multi-object shape\ud analysis and atlas generation are the choice of representation\ud and subsequent registration methods used to align the sample\ud set. For example, a typical brain image can be labeled into\ud three structures: grey matter, white matter and cerebrospinal\ud fluid. Many manipulations such as interpolation, transformation,\ud smoothing, or registration need to be performed on these images\ud before they can be used in further analysis. Current techniques\ud for such analysis tend to trade off performance between the two\ud tasks, performing well for one task but developing problems when\ud used for the other.\ud This article proposes to use a representation that is both\ud flexible and well suited for both tasks. We propose to map object\ud labels to vertices of a regular simplex, e.g. the unit interval for\ud two labels, a triangle for three labels, a tetrahedron for four\ud labels, etc. This representation, which is routinely used in fuzzy\ud classification, is ideally suited for representing and registering\ud multiple shapes. On closer examination, this representation\ud reveals several desirable properties: algebraic operations may\ud be done directly, label uncertainty is expressed as a weighted\ud mixture of labels (probabilistic interpretation), interpolation is\ud unbiased toward any label or the background, and registration\ud may be performed directly.\ud We demonstrate these properties by using label space in a gradient\ud descent based registration scheme to obtain a probabilistic\ud atlas. While straightforward, this iterative method is very slow,\ud could get stuck in local minima, and depends heavily on the initial\ud conditions. To address these issues, two fast methods are proposed\ud which serve as coarse registration schemes following which the\ud iterative descent method can be used to refine the results. Further,\ud we derive an analytical formulation for direct computation of the\ud "group mean" from the parameters of pairwise registration of all\ud the images in the sample set. We show results on richly labeled\ud 2D and 3D data sets

Multi-resolution dental image registration based on genetic algorithm

The Automated Dental Identification System (ADIS) is a Post Mortem Dental Identification System. This thesis presents dental image registration, required for the preprocessing steps of the image comparison component of ADIS. We proposed a multi resolution dental image registration based on genetic algorithms. The main objective of this research is to develop techniques for registration of extracted subject regions of interest with corresponding reference regions of interest.;We investigated and implemented registration using two multi resolution techniques namely image sub sampling and wavelet decomposition. Multi resolution techniques help in the reduction of search data since initial registration is carried at lower levels and results are updated as the levels of resolutions increase. We adopted edges as image features that needed to be aligned. Affine transformations were selected to transform the subject dental region of interest to achieve better alignment with the reference region of interest. These transformations are known to capture complex image distortions. The similarity between subject and reference image has been computed using Oriented Hausdorff Similarity measure that is robust to severe noise and image degradations. A genetic algorithm was adopted to search for the best transformation parameters that give maximum similarity score.;Testing results show that the developed registration algorithm yielded reasonable results in accuracy for dental test cases that contained slight misalignments. The relative percentage errors between the known and estimated transformation parameters were less than 20% with a termination criterion of a ten minute time limit. Further research is needed for dental cases that contain high degree of misalignment, noise and distortions

Registration of 3D Point Clouds and Meshes: A Survey From Rigid to Non-Rigid

Three-dimensional surface registration transforms multiple three-dimensional data sets into the same coordinate system so as to align overlapping components of these sets. Recent surveys have covered different aspects of either rigid or nonrigid registration, but seldom discuss them as a whole. Our study serves two purposes: 1) To give a comprehensive survey of both types of registration, focusing on three-dimensional point clouds and meshes and 2) to provide a better understanding of registration from the perspective of data fitting. Registration is closely related to data fitting in which it comprises three core interwoven components: model selection, correspondences and constraints, and optimization. Study of these components 1) provides a basis for comparison of the novelties of different techniques, 2) reveals the similarity of rigid and nonrigid registration in terms of problem representations, and 3) shows how overfitting arises in nonrigid registration and the reasons for increasing interest in intrinsic techniques. We further summarize some practical issues of registration which include initializations and evaluations, and discuss some of our own observations, insights and foreseeable research trends

Registering Histological and MR Images of Prostate for Image-based Cancer Detection

Rationale and Objectives Needle biopsy is currently the only way to confirm prostate cancer. To increase prostate cancer diagnostic rate, needles are expected to be deployed at suspicious cancer locations. High contrast MR imaging provides a powerful tool for detecting suspicious cancerous tissues. To do this, MR appearances of cancerous tissue should be characterized and learned from a sufficient number of prostate MR images with known cancer information. However, ground-truth cancer information is only available in histological images. Therefore, it is necessary to warp ground-truth cancerous regions in histological images to MR images by a registration procedure. The objective of this paper is to develop a registration technique for aligning histological and MR images of the same prostate. Material and Methods Five pairs of histological and T2-weighted MR images of radical prostatectomy specimens are collected. For each pair, registration is guided by two sets of correspondences that can be reliably established on prostate boundaries and internal salient blob-like structures of histological and MR images. Results Our developed registration method can accurately register histological and MR images. It yields results comparable to manual registration, in terms of landmark distance and volume overlap. It also outperforms both affine registration and boundary-guided registration methods. Conclusions We have developed a novel method for deformable registration of histological and MR images of the same prostate. Besides the collection of ground-truth cancer information in MR images, the method has other potential applications. An automatic, accurate registration of histological and MR images actually builds a bridge between in vivo anatomical information and ex vivo pathological information, which is valuable for various clinical studies

Fast and robust image feature matching methods for computer vision applications

Service robotic systems are designed to solve tasks such as recognizing and manipulating objects, understanding natural scenes, navigating in dynamic and populated environments. It's immediately evident that such tasks cannot be modeled in all necessary details as easy as it is with industrial robot tasks; therefore, service robotic system has to have the ability to sense and interact with the surrounding physical environment through a multitude of sensors and actuators. Environment sensing is one of the core problems that limit the deployment of mobile service robots since existing sensing systems are either too slow or too expensive. Visual sensing is the most promising way to provide a cost effective solution to the mobile robot sensing problem. It's usually achieved using one or several digital cameras placed on the robot or distributed in its environment. Digital cameras are information rich sensors and are relatively inexpensive and can be used to solve a number of key problems for robotics and other autonomous intelligent systems, such as visual servoing, robot navigation, object recognition, pose estimation, and much more. The key challenges to taking advantage of this powerful and inexpensive sensor is to come up with algorithms that can reliably and quickly extract and match the useful visual information necessary to automatically interpret the environment in real-time. Although considerable research has been conducted in recent years on the development of algorithms for computer and robot vision problems, there are still open research challenges in the context of the reliability, accuracy and processing time. Scale Invariant Feature Transform (SIFT) is one of the most widely used methods that has recently attracted much attention in the computer vision community due to the fact that SIFT features are highly distinctive, and invariant to scale, rotation and illumination changes. In addition, SIFT features are relatively easy to extract and to match against a large database of local features. Generally, there are two main drawbacks of SIFT algorithm, the first drawback is that the computational complexity of the algorithm increases rapidly with the number of key-points, especially at the matching step due to the high dimensionality of the SIFT feature descriptor. The other one is that the SIFT features are not robust to large viewpoint changes. These drawbacks limit the reasonable use of SIFT algorithm for robot vision applications since they require often real-time performance and dealing with large viewpoint changes. This dissertation proposes three new approaches to address the constraints faced when using SIFT features for robot vision applications, Speeded up SIFT feature matching, robust SIFT feature matching and the inclusion of the closed loop control structure into object recognition and pose estimation systems. The proposed methods are implemented and tested on the FRIEND II/III service robotic system. The achieved results are valuable to adapt SIFT algorithm to the robot vision applications

Comparing Features of Three-Dimensional Object Models Using Registration Based on Surface Curvature Signatures

This dissertation presents a technique for comparing local shape properties for similar three-dimensional objects represented by meshes. Our novel shape representation, the curvature map, describes shape as a function of surface curvature in the region around a point. A multi-pass approach is applied to the curvature map to detect features at different scales. The feature detection step does not require user input or parameter tuning. We use features ordered by strength, the similarity of pairs of features, and pruning based on geometric consistency to efficiently determine key corresponding locations on the objects. For genus zero objects, the corresponding locations are used to generate a consistent spherical parameterization that defines the point-to-point correspondence used for the final shape comparison

Shape description and matching using integral invariants on eccentricity transformed images

Matching occluded and noisy shapes is a problem frequently encountered in medical image analysis and more generally in computer vision. To keep track of changes inside the breast, for example, it is important for a computer aided detection system to establish correspondences between regions of interest. Shape transformations, computed both with integral invariants (II) and with geodesic distance, yield signatures that are invariant to isometric deformations, such as bending and articulations. Integral invariants describe the boundaries of planar shapes. However, they provide no information about where a particular feature lies on the boundary with regard to the overall shape structure. Conversely, eccentricity transforms (Ecc) can match shapes by signatures of geodesic distance histograms based on information from inside the shape; but they ignore the boundary information. We describe a method that combines the boundary signature of a shape obtained from II and structural information from the Ecc to yield results that improve on them separately

FUZZY KERNEL REGRESSION FOR REGISTRATION AND OTHER IMAGE WARPING APPLICATIONS

In this dissertation a new approach for non-rigid medical im- age registration is presented. It relies onto a probabilistic framework based on the novel concept of Fuzzy Kernel Regression. The theoric framework, after a formal introduction is applied to develop several complete registration systems, two of them are interactive and one is fully automatic. They all use the composition of local deforma- tions to achieve the final alignment. Automatic one is based onto the maximization of mutual information to produce local affine aligments which are merged into the global transformation. Mutual Information maximization procedure uses gradient descent method. Due to the huge amount of data associated to medical images, a multi-resolution topology is embodied, reducing processing time. The distance based interpolation scheme injected facilitates the similairity measure op- timization by attenuating the presence of local maxima in the func- tional. System blocks are implemented on GPGPUs allowing efficient parallel computation of large 3d datasets using SIMT execution. Due to the flexibility of Mutual Information, it can be applied to multi- modality image scans (MRI, CT, PET, etc.). Both quantitative and qualitative experiments show promising results and great potential for future extension. Finally the framework flexibility is shown by means of its succesful application to the image retargeting issue, methods and results are presented