Extended Object Tracking: Introduction, Overview and Applications

This article provides an elaborate overview of current research in extended object tracking. We provide a clear definition of the extended object tracking problem and discuss its delimitation to other types of object tracking. Next, different aspects of extended object modelling are extensively discussed. Subsequently, we give a tutorial introduction to two basic and well used extended object tracking approaches - the random matrix approach and the Kalman filter-based approach for star-convex shapes. The next part treats the tracking of multiple extended objects and elaborates how the large number of feasible association hypotheses can be tackled using both Random Finite Set (RFS) and Non-RFS multi-object trackers. The article concludes with a summary of current applications, where four example applications involving camera, X-band radar, light detection and ranging (lidar), red-green-blue-depth (RGB-D) sensors are highlighted.Comment: 30 pages, 19 figure

Computerized Evaluatution of Microsurgery Skills Training

The style of imparting medical training has evolved, over the years. The traditional methods of teaching and practicing basic surgical skills under apprenticeship model, no longer occupy the first place in modern technically demanding advanced surgical disciplines like neurosurgery. Furthermore, the legal and ethical concerns for patient safety as well as cost-effectiveness have forced neurosurgeons to master the necessary microsurgical techniques to accomplish desired results. This has lead to increased emphasis on assessment of clinical and surgical techniques of the neurosurgeons. However, the subjective assessment of microsurgical techniques like micro-suturing under the apprenticeship model cannot be completely unbiased. A few initiatives using computer-based techniques, have been made to introduce objective evaluation of surgical skills. This thesis presents a novel approach involving computerized evaluation of different components of micro-suturing techniques, to eliminate the bias of subjective assessment. The work involved acquisition of cine clips of micro-suturing activity on synthetic material. Image processing and computer vision based techniques were then applied to these videos to assess different characteristics of micro-suturing viz. speed, dexterity and effectualness. In parallel subjective grading on these was done by a senior neurosurgeon. Further correlation and comparative study of both the assessments was done to analyze the efficacy of objective and subjective evaluation

A Neural Model for Self Organizing Feature Detectors and Classifiers in a Network Hierarchy

Many models of early cortical processing have shown how local learning rules can produce efficient, sparse-distributed codes in which nodes have responses that are statistically independent and low probability. However, it is not known how to develop a useful hierarchical representation, containing sparse-distributed codes at each level of the hierarchy, that incorporates predictive feedback from the environment. We take a step in that direction by proposing a biologically plausible neural network model that develops receptive fields, and learns to make class predictions, with or without the help of environmental feedback. The model is a new type of predictive adaptive resonance theory network called Receptive Field ARTMAP, or RAM. RAM self organizes internal category nodes that are tuned to activity distributions in topographic input maps. Each receptive field is composed of multiple weight fields that are adapted via local, on-line learning, to form smooth receptive ftelds that reflect; the statistics of the activity distributions in the input maps. When RAM generates incorrect predictions, its vigilance is raised, amplifying subtractive inhibition and sharpening receptive fields until the error is corrected. Evaluation on several classification benchmarks shows that RAM outperforms a related (but neurally implausible) model called Gaussian ARTMAP, as well as several standard neural network and statistical classifters. A topographic version of RAM is proposed, which is capable of self organizing hierarchical representations. Topographic RAM is a model for receptive field development at any level of the cortical hierarchy, and provides explanations for a variety of perceptual learning data.Defense Advanced Research Projects Agency and Office of Naval Research (N00014-95-1-0409

Learning the dynamics and time-recursive boundary detection of deformable objects

We propose a principled framework for recursively segmenting deformable objects across a sequence of frames. We demonstrate the usefulness of this method on left ventricular segmentation across a cardiac cycle. The approach involves a technique for learning the system dynamics together with methods of particle-based smoothing as well as non-parametric belief propagation on a loopy graphical model capturing the temporal periodicity of the heart. The dynamic system state is a low-dimensional representation of the boundary, and the boundary estimation involves incorporating curve evolution into recursive state estimation. By formulating the problem as one of state estimation, the segmentation at each particular time is based not only on the data observed at that instant, but also on predictions based on past and future boundary estimates. Although the paper focuses on left ventricle segmentation, the method generalizes to temporally segmenting any deformable object

Extraction of protein profiles from primary neurons using active contour models and wavelets

AbstractThe function of complex networks in the nervous system relies on the proper formation of neuronal contacts and their remodeling. To decipher the molecular mechanisms underlying these processes, it is essential to establish unbiased automated tools allowing the correlation of neurite morphology and the subcellular distribution of molecules by quantitative means.We developed NeuronAnalyzer2D, a plugin for ImageJ, which allows the extraction of neuronal cell morphologies from two dimensional high resolution images, and in particular their correlation with protein profiles determined by indirect immunostaining of primary neurons. The prominent feature of our approach is the ability to extract subcellular distributions of distinct biomolecules along neurites. To extract the complete areas of neurons, required for this analysis, we employ active contours with a new distance based energy. For locating the structural parts of neurons and various morphological parameters we adopt a wavelet based approach. The presented approach is able to extract distinctive profiles of several proteins and reports detailed morphology measurements on neurites.We compare the detected neurons from NeuronAnalyzer2D with those obtained by NeuriteTracer and Vaa3D-Neuron, two popular tools for automatic neurite tracing. The distinctive profiles extracted for several proteins, for example, of the mRNA binding protein ZBP1, and a comparative evaluation of the neuron segmentation results proves the high quality of the quantitative data and proves its practical utility for biomedical analyses

Automated identification of neurons and their locations

Individual locations of many neuronal cell bodies (>10^4) are needed to enable statistically significant measurements of spatial organization within the brain such as nearest-neighbor and microcolumnarity measurements. In this paper, we introduce an Automated Neuron Recognition Algorithm (ANRA) which obtains the (x,y) location of individual neurons within digitized images of Nissl-stained, 30 micron thick, frozen sections of the cerebral cortex of the Rhesus monkey. Identification of neurons within such Nissl-stained sections is inherently difficult due to the variability in neuron staining, the overlap of neurons, the presence of partial or damaged neurons at tissue surfaces, and the presence of non-neuron objects, such as glial cells, blood vessels, and random artifacts. To overcome these challenges and identify neurons, ANRA applies a combination of image segmentation and machine learning. The steps involve active contour segmentation to find outlines of potential neuron cell bodies followed by artificial neural network training using the segmentation properties (size, optical density, gyration, etc.) to distinguish between neuron and non-neuron segmentations. ANRA positively identifies 86[5]% neurons with 15[8]% error (mean[st.dev.]) on a wide range of Nissl-stained images, whereas semi-automatic methods obtain 80[7]%/17[12]%. A further advantage of ANRA is that it affords an unlimited increase in speed from semi-automatic methods, and is computationally efficient, with the ability to recognize ~100 neurons per minute using a standard personal computer. ANRA is amenable to analysis of huge photo-montages of Nissl-stained tissue, thereby opening the door to fast, efficient and quantitative analysis of vast stores of archival material that exist in laboratories and research collections around the world.Comment: 38 pages. Formatted for two-sided printing. Supplemental material and software available at http://physics.bu.edu/~ainglis/ANRA

Automatic segmentation of myocardium from black-blood MR images using entropy and local neighborhood information.

By using entropy and local neighborhood information, we present in this study a robust adaptive Gaussian regularizing Chan-Vese (CV) model to segment the myocardium from magnetic resonance images with intensity inhomogeneity. By utilizing the circular Hough transformation (CHT) our model is able to detect epicardial and endocardial contours of the left ventricle (LV) as circles automatically, and the circles are used as the initialization. In the cost functional of our model, the interior and exterior energies are weighted by the entropy to improve the robustness of the evolving curve. Local neighborhood information is used to evolve the level set function to reduce the impact of the heterogeneity inside the regions and to improve the segmentation accuracy. An adaptive window is utilized to reduce the sensitivity to initialization. The Gaussian kernel is used to regularize the level set function, which can not only ensure the smoothness and stability of the level set function, but also eliminate the traditional Euclidean length term and re-initialization. Extensive validation of the proposed method on patient data demonstrates its superior performance over other state-of-the-art methods