376 research outputs found
Computational analysis of blood flow and oxygen transport in the retinal arterial network
Pathological changes in retinal microvasculature are known to be associated with
systemic diseases such as hypertension and diabetes, and may result in potentially
disadvantageous blood flow and impair oxygen distribution. Therefore, in order to
improve our understanding of the link between systemic diseases and the retinal
circulation, it is necessary to develop an approach to quantitatively determine the
hemodynamic and oxygen transport parameters in the retinal vascular circulation.
This thesis aims to provide more insights into the detailed hemodynamic features
of the retinal arterial tree by means of non-invasive imaging and computational
modelling. It covers the following two aspects: i) 3D reconstruction of the retinal
arterial tree, and ii) development of an image-based computational model to predict
blood flow and oxygen transport in realistic subject-specific retinal arterial trees. The
latter forms the main body of the thesis. 3D reconstruction of the retinal arterial tree
was performed based on retinal images acquired in vivo with a fundus camera and
validated using a simple 3D object. The reproduction procedure was found to be
feasible but with limited accuracy. In the proposed 2D computational model, the
smaller peripheral vessels indistinguishable from the retinal images were represented
by self-similar asymmetric structured trees. The non-Newtonian properties of blood,
and nonlinear oxyhemoglobin dissociation in the red blood cells and plasma were
considered. The simulation results of the computational model were found in good
agreement with in vivo measurements reported in the literature. In order to understand
the effect of retinal vascular structure on blood flow and oxygen transport, the
computational model was applied to subject-specific geometries for a number of
hypertensive and diabetic patients, and comparisons were made with results obtained
from healthy retinal arterial networks. Moreover, energy analysis of normal and
hypertensive subjects was performed using 3D hypothetical models. Finally, the
influence of different viscosity models on flow and oxygen transport in a retinal tree
and the advantage of low dimensional models were examined.
This study has demonstrated the applicability of the image-based computational
modelling to study the hemodynamics and oxygen distribution in the retinal arterial
network
A retinal vasculature tracking system guided by a deep architecture
Many diseases such as diabetic retinopathy (DR) and cardiovascular diseases show their early signs on retinal vasculature. Analysing the vasculature in fundus images may provide a tool for ophthalmologists to diagnose eye-related diseases and to monitor their progression. These analyses may also facilitate the discovery of new relations between changes on retinal vasculature and the existence or progression of related diseases or to validate present relations.
In this thesis, a data driven method, namely a Translational Deep Belief Net (a TDBN), is adapted to vasculature segmentation. The segmentation performance of the TDBN on low resolution images was found to be comparable to that of the best-performing methods. Later, this network is used for the implementation of super-resolution for the segmentation of high resolution images. This approach provided an acceleration during segmentation, which relates to down-sampling ratio of an input fundus image. Finally, the TDBN is extended for the generation of probability maps for the existence of vessel parts, namely vessel interior, centreline, boundary and crossing/bifurcation patterns in centrelines. These probability maps are used to guide a probabilistic vasculature tracking system.
Although segmentation can provide vasculature existence in a fundus image, it does not give quantifiable measures for vasculature. The latter has more practical value in medical clinics. In the second half of the thesis, a retinal vasculature tracking system is presented. This system uses Particle Filters to describe vessel morphology and topology. Apart from previous studies, the guidance for tracking is provided with the combination of probability maps generated by the TDBN. The experiments on a publicly available dataset, REVIEW, showed that the consistency of vessel widths predicted by the proposed method was better than that obtained from observers. Moreover, very noisy and low contrast vessel boundaries, which were hardly identifiable to the naked eye, were accurately estimated by the proposed tracking system. Also, bifurcation/crossing locations during the course of tracking were detected almost completely. Considering these promising initial results, future work involves analysing the performance of the tracking system on automatic detection of complete vessel networks in fundus images.Open Acces
Detection and Classification of Diabetic Retinopathy Pathologies in Fundus Images
Diabetic Retinopathy (DR) is a disease that affects up to 80% of diabetics around the world. It is the second greatest cause of blindness in the Western world, and one of the leading causes of blindness in the U.S. Many studies have demonstrated that early treatment can reduce the number of sight-threatening DR cases, mitigating the medical and economic impact of the disease. Accurate, early detection of eye disease is important because of its potential to reduce rates of blindness worldwide. Retinal photography for DR has been promoted for decades for its utility in both disease screening and clinical research studies. In recent years, several research centers have presented systems to detect pathology in retinal images. However, these approaches apply specialized algorithms to detect specific types of lesion in the retina. In order to detect multiple lesions, these systems generally implement multiple algorithms. Furthermore, some of these studies evaluate their algorithms on a single dataset, thus avoiding potential problems associated with the differences in fundus imaging devices, such as camera resolution. These methodologies primarily employ bottom-up approaches, in which the accurate segmentation of all the lesions in the retina is the basis for correct determination. A disadvantage of bottom-up approaches is that they rely on the accurate segmentation of all lesions in order to measure performance. On the other hand, top-down approaches do not depend on the segmentation of specific lesions. Thus, top-down methods can potentially detect abnormalities not explicitly used in their training phase. A disadvantage of these methods is that they cannot identify specific pathologies and require large datasets to build their training models. In this dissertation, I merged the advantages of the top-down and bottom-up approaches to detect DR with high accuracy. First, I developed an algorithm based on a top-down approach to detect abnormalities in the retina due to DR. By doing so, I was able to evaluate DR pathologies other than microaneurysms and exudates, which are the main focus of most current approaches. In addition, I demonstrated good generalization capacity of this algorithm by applying it to other eye diseases, such as age-related macular degeneration. Due to the fact that high accuracy is required for sight-threatening conditions, I developed two bottom-up approaches, since it has been proven that bottom-up approaches produce more accurate results than top-down approaches for particular structures. Consequently, I developed an algorithm to detect exudates in the macula. The presence of this pathology is considered to be a surrogate for clinical significant macular edema (CSME), a sight-threatening condition of DR. The analysis of the optic disc is usually not taken into account in DR screening systems. However, there is a pathology called neovascularization that is present in advanced stages of DR, making its detection of crucial clinical importance. In order to address this problem, I developed an algorithm to detect neovascularization in the optic disc. These algorithms are based on amplitude-modulation and frequency-modulation (AM-FM) representations, morphological image processing methods, and classification algorithms. The methods were tested on a diverse set of large databases and are considered to be the state-of the art in this field
Segmentation and Characterization of Small Retinal Vessels in Fundus Images Using the Tensor Voting Approach
RĂSUMĂ
La rétine permet de visualiser facilement une partie du réseau vasculaire humain. Elle offre
ainsi un aperçu direct sur le développement et le résultat de certaines maladies liées au réseau
vasculaire dans son entier. Chaque complication visible sur la rétine peut avoir un impact sur
la capacité visuelle du patient. Les plus petits vaisseaux sanguins sont parmi les premiÚres
structures anatomiques affectĂ©es par la progression dâune maladie, ĂȘtre capable de les analyser
est donc crucial. Les changements dans lâĂ©tat, lâaspect, la morphologie, la fonctionnalitĂ©, ou
mĂȘme la croissance des petits vaisseaux indiquent la gravitĂ© des maladies.
Le diabÚte est une maladie métabolique qui affecte des millions de personnes autour
du monde. Cette maladie affecte le taux de glucose dans le sang et cause des changements
pathologiques dans diffĂ©rents organes du corps humain. La rĂ©tinopathie diabĂ©tique dĂ©crit lâen-
semble des conditions et conséquences du diabÚte au niveau de la rétine. Les petits vaisseaux
jouent un rÎle dans le déclenchement, le développement et les conséquences de la rétinopa-
thie. Dans les derniĂšres Ă©tapes de cette maladie, la croissance des nouveaux petits vaisseaux,
appelée néovascularisation, présente un risque important de provoquer la cécité. Il est donc
crucial de détecter tous les changements qui ont lieu dans les petits vaisseaux de la rétine
dans le but de caractériser les vaisseaux sains et les vaisseaux anormaux. La caractérisation
en elle-mĂȘme peut faciliter la dĂ©tection locale dâune rĂ©tinopathie spĂ©cifique.
La segmentation automatique des structures anatomiques comme le réseau vasculaire est
une Ă©tape cruciale. Ces informations peuvent ĂȘtre fournies Ă un mĂ©decin pour quâelles soient
considĂ©rĂ©es lors de son diagnostic. Dans les systĂšmes automatiques dâaide au diagnostic, le
rÎle des petits vaisseaux est significatif. Ne pas réussir à les détecter automatiquement peut
conduire à une sur-segmentation du taux de faux positifs des lésions rouges dans les étapes
ultĂ©rieures. Les efforts de recherche se sont concentrĂ©s jusquâĂ prĂ©sent sur la localisation
précise des vaisseaux de taille moyenne. Les modÚles existants ont beaucoup plus de difficultés
Ă extraire les petits vaisseaux sanguins. Les modĂšles existants ne sont pas robustes Ă la grande
variance dâapparence des vaisseaux ainsi quâĂ lâinterfĂ©rence avec lâarriĂšre-plan. Les modĂšles de
la littĂ©rature existante supposent une forme gĂ©nĂ©rale qui nâest pas suffisante pour sâadapter
à la largeur étroite et la courbure qui caractérisent les petits vaisseaux sanguins. De plus, le
contraste avec lâarriĂšre-plan dans les rĂ©gions des petits vaisseaux est trĂšs faible. Les mĂ©thodes
de segmentation ou de suivi produisent des résultats fragmentés ou discontinus. Par ailleurs,
la segmentation des petits vaisseaux est gĂ©nĂ©ralement faite aux dĂ©pends de lâamplification
du bruit. Les modÚles déformables sont inadéquats pour segmenter les petits vaisseaux. Les
forces utilisées ne sont pas assez flexibles pour compenser le faible contraste, la largeur, et
vii
la variance des vaisseaux. Enfin, les approches de type apprentissage machine nécessitent un
entraĂźnement avec une base de donnĂ©es Ă©tiquetĂ©e. Il est trĂšs difficile dâobtenir ces bases de
données dans le cas des petits vaisseaux.
Cette thÚse étend les travaux de recherche antérieurs en fournissant une nouvelle mé-
thode de segmentation des petits vaisseaux rétiniens. La détection de ligne à échelles multiples
(MSLD) est une méthode récente qui démontre une bonne performance de segmentation dans
les images de la rétine, tandis que le vote tensoriel est une méthode proposée pour reconnecter
les pixels. Une approche combinant un algorithme de détection de ligne et de vote tensoriel est
proposĂ©e. Lâapplication des dĂ©tecteurs de lignes a prouvĂ© son efficacitĂ© Ă segmenter les vais-
seaux de tailles moyennes. De plus, les approches dâorganisation perceptuelle comme le vote
tensoriel ont dĂ©montrĂ© une meilleure robustesse en combinant les informations voisines dâune
maniÚre hiérarchique. La méthode de vote tensoriel est plus proche de la perception humain
que dâautres modĂšles standards. Comme dĂ©montrĂ© dans ce manuscrit, câest un outil pour
segmenter les petits vaisseaux plus puissant que les méthodes existantes. Cette combinaison
spécifique nous permet de surmonter les défis de fragmentation éprouvés par les méthodes de
type modĂšle dĂ©formable au niveau des petits vaisseaux. Nous proposons Ă©galement dâutiliser
un seuil adaptatif sur la rĂ©ponse de lâalgorithme de dĂ©tection de ligne pour ĂȘtre plus robuste
aux images non-uniformes. Nous illustrons Ă©galement comment une combinaison des deux
méthodes individuelles, à plusieurs échelles, est capable de reconnecter les vaisseaux sur des
distances variables. Un algorithme de reconstruction des vaisseaux est également proposé.
Cette derniĂšre Ă©tape est nĂ©cessaire car lâinformation gĂ©omĂ©trique complĂšte est requise pour
pouvoir utiliser la segmentation dans un systĂšme dâaide au diagnostic.
La segmentation a Ă©tĂ© validĂ©e sur une base de donnĂ©es dâimages de fond dâoeil Ă haute
résolution. Cette base contient des images manifestant une rétinopathie diabétique. La seg-
mentation emploie des mesures de désaccord standards et aussi des mesures basées sur la
perception. En considérant juste les petits vaisseaux dans les images de la base de données,
lâamĂ©lioration dans le taux de sensibilitĂ© que notre mĂ©thode apporte par rapport Ă la mĂ©thode
standard de détection multi-niveaux de lignes est de 6.47%. En utilisant les mesures basées
sur la perception, lâamĂ©lioration est de 7.8%.
Dans une seconde partie du manuscrit, nous proposons également une méthode pour
caractériser les rétines saines ou anormales. Certaines images contiennent de la néovascula-
risation. La caractérisation des vaisseaux en bonne santé ou anormale constitue une étape
essentielle pour le dĂ©veloppement dâun systĂšme dâaide au diagnostic. En plus des dĂ©fis que
posent les petits vaisseaux sains, les néovaisseaux démontrent eux un degré de complexité
encore plus élevé. Ceux-ci forment en effet des réseaux de vaisseaux à la morphologie com-
plexe et inhabituelle, souvent minces et Ă fortes courbures. Les travaux existants se limitent
viii
Ă lâutilisation de caractĂ©ristiques de premier ordre extraites des petits vaisseaux segmentĂ©s.
Notre contribution est dâutiliser le vote tensoriel pour isoler les jonctions vasculaires et dâuti-
liser ces jonctions comme points dâintĂ©rĂȘts. Nous utilisons ensuite une statistique spatiale
de second ordre calculée sur les jonctions pour caractériser les vaisseaux comme étant sains
ou pathologiques. Notre méthode améliore la sensibilité de la caractérisation de 9.09% par
rapport Ă une mĂ©thode de lâĂ©tat de lâart.
La mĂ©thode dĂ©veloppĂ©e sâest rĂ©vĂ©lĂ©e efficace pour la segmentation des vaisseaux rĂ©ti-
niens. Des tenseurs dâordre supĂ©rieur ainsi que la mise en Ćuvre dâun vote par tenseur via
un filtrage orientable pourraient ĂȘtre Ă©tudiĂ©s pour rĂ©duire davantage le temps dâexĂ©cution et
résoudre les défis encore présents au niveau des jonctions vasculaires. De plus, la caractéri-
sation pourrait ĂȘtre amĂ©liorĂ©e pour la dĂ©tection de la rĂ©tinopathie prolifĂ©rative en utilisant
un apprentissage supervisé incluant des cas de rétinopathie diabétique non proliférative ou
dâautres pathologies. Finalement, lâincorporation des mĂ©thodes proposĂ©es dans des systĂšmes
dâaide au diagnostic pourrait favoriser le dĂ©pistage rĂ©gulier pour une dĂ©tection prĂ©coce des
rĂ©tinopathies et dâautres pathologies oculaires dans le but de rĂ©duire la cessitĂ© au sein de la
population.----------ABSTRACT
As an easily accessible site for the direct observation of the circulation system, human retina
can offer a unique insight into diseases development or outcome. Retinal vessels are repre-
sentative of the general condition of the whole systematic circulation, and thus can act as
a "window" to the status of the vascular network in the whole body. Each complication on
the retina can have an adverse impact on the patientâs sight. In this direction, small vesselsâ
relevance is very high as they are among the first anatomical structures that get affected
as diseases progress. Moreover, changes in the small vesselsâ state, appearance, morphology,
functionality, or even growth indicate the severity of the diseases.
This thesis will focus on the retinal lesions due to diabetes, a serious metabolic disease
affecting millions of people around the world. This disorder disturbs the natural blood glucose
levels causing various pathophysiological changes in different systems across the human body.
Diabetic retinopathy is the medical term that describes the condition when the fundus and
the retinal vessels are affected by diabetes. As in other diseases, small vessels play a crucial
role in the onset, the development, and the outcome of the retinopathy. More importantly,
at the latest stage, new small vessels, or neovascularizations, growth constitutes a factor of
significant risk for blindness. Therefore, there is a need to detect all the changes that occur
in the small retinal vessels with the aim of characterizing the vessels to healthy or abnormal.
The characterization, in turn, can facilitate the detection of a specific retinopathy locally,
like the sight-threatening proliferative diabetic retinopathy.
Segmentation techniques can automatically isolate important anatomical structures like
the vessels, and provide this information to the physician to assist him in the final decision. In
comprehensive systems for the automatization of DR detection, small vessels role is significant
as missing them early in a CAD pipeline might lead to an increase in the false positive rate
of red lesions in subsequent steps. So far, the efforts have been concentrated mostly on the
accurate localization of the medium range vessels. In contrast, the existing models are weak
in case of the small vessels. The required generalization to adapt an existing model does not
allow the approaches to be flexible, yet robust to compensate for the increased variability in
the appearance as well as the interference with the background. So far, the current template
models (matched filtering, line detection, and morphological processing) assume a general
shape for the vessels that is not enough to approximate the narrow, curved, characteristics
of the small vessels. Additionally, due to the weak contrast in the small vessel regions,
the current segmentation and the tracking methods produce fragmented or discontinued
results. Alternatively, the small vessel segmentation can be accomplished at the expense of
x
background noise magnification, in the case of using thresholding or the image derivatives
methods. Furthermore, the proposed deformable models are not able to propagate a contour
to the full extent of the vasculature in order to enclose all the small vessels. The deformable
model external forces are ineffective to compensate for the low contrast, the low width, the
high variability in the small vessel appearance, as well as the discontinuities. Internal forces,
also, are not able to impose a global shape constraint to the contour that could be able to
approximate the variability in the appearance of the vasculature in different categories of
vessels. Finally, machine learning approaches require the training of a classifier on a labelled
set. Those sets are difficult to be obtained, especially in the case of the smallest vessels. In
the case of the unsupervised methods, the user has to predefine the number of clusters and
perform an effective initialization of the cluster centers in order to converge to the global
minimum.
This dissertation expanded the previous research work and provides a new segmentation
method for the smallest retinal vessels. Multi-scale line detection (MSLD) is a recent method
that demonstrates good segmentation performance in the retinal images, while tensor voting
is a method first proposed for reconnecting pixels. For the first time, we combined the
line detection with the tensor voting framework. The application of the line detectors has
been proved an effective way to segment medium-sized vessels. Additionally, perceptual
organization approaches like tensor voting, demonstrate increased robustness by combining
information coming from the neighborhood in a hierarchical way. Tensor voting is closer than
standard models to the way human perception functions. As we show, it is a more powerful
tool to segment small vessels than the existing methods. This specific combination allows us
to overcome the apparent fragmentation challenge of the template methods at the smallest
vessels. Moreover, we thresholded the line detection response adaptively to compensate for
non-uniform images. We also combined the two individual methods in a multi-scale scheme
in order to reconnect vessels at variable distances. Finally, we reconstructed the vessels
from their extracted centerlines based on pixel painting as complete geometric information
is required to be able to utilize the segmentation in a CAD system.
The segmentation was validated on a high-resolution fundus image database that in-
cludes diabetic retinopathy images of varying stages, using standard discrepancy as well as
perceptual-based measures. When only the smallest vessels are considered, the improve-
ments in the sensitivity rate for the database against the standard multi-scale line detection
method is 6.47%. For the perceptual-based measure, the improvement is 7.8% against the
basic method.
The second objective of the thesis was to implement a method for the characterization of
isolated retinal areas into healthy or abnormal cases. Some of the original images, from which
xi
these patches are extracted, contain neovascularizations. Investigation of image features
for the vessels characterization to healthy or abnormal constitutes an essential step in the
direction of developing CAD system for the automatization of DR screening. Given that the
amount of data will significantly increase under CAD systems, the focus on this category of
vessels can facilitate the referral of sight-threatening cases to early treatment. In addition
to the challenges that small healthy vessels pose, neovessels demonstrate an even higher
degree of complexity as they form networks of convolved, twisted, looped thin vessels. The
existing work is limited to the use of first-order characteristics extracted from the small
segmented vessels that limits the study of patterns. Our contribution is in using the tensor
voting framework to isolate the retinal vascular junctions and in turn using those junctions
as points of interests. Second, we exploited second-order statistics computed on the junction
spatial distribution to characterize the vessels as healthy or neovascularizations. In fact, the
second-order spatial statistics extracted from the junction distribution are combined with
widely used features to improve the characterization sensitivity by 9.09% over the state of
art.
The developed method proved effective for the segmentation of the retinal vessels. Higher
order tensors along with the implementation of tensor voting via steerable filtering could
be employed to further reduce the execution time, and resolve the challenges at vascular
junctions. Moreover, the characterization could be advanced to the detection of prolifera-
tive retinopathy by extending the supervised learning to include non-proliferative diabetic
retinopathy cases or other pathologies. Ultimately, the incorporation of the methods into
CAD systems could facilitate screening for the effective reduction of the vision-threatening
diabetic retinopathy rates, or the early detection of other than ocular pathologies
Advanced retinal imaging: Feature extraction, 2-D registration, and 3-D reconstruction
In this dissertation, we have studied feature extraction and multiple view geometry in the context of retinal imaging. Specifically, this research involves three components, i.e., feature extraction, 2-D registration, and 3-D reconstruction. First, the problem of feature extraction is investigated. Features are significantly important in motion estimation techniques because they are the input to the algorithms. We have proposed a feature extraction algorithm for retinal images. Bifurcations/crossovers are used as features. A modified local entropy thresholding algorithm based on a new definition of co-occurrence matrix is proposed. Then, we consider 2-D retinal image registration which is the problem of the transformation of 2-D/2-D. Both linear and nonlinear models are incorporated to account for motions and distortions. A hybrid registration method has been introduced in order to take advantages of both feature-based and area-based methods have offered along with relevant decision-making criteria. Area-based binary mutual information is proposed or translation estimation. A feature-based hierarchical registration technique, which involves the affine and quadratic transformations, is developed. After that, a 3-D retinal surface reconstruction issue has been addressed. To generate a 3-D scene from 2-D images, a camera projection or transformations of 3-D/2-D techniques have been investigated. We choose an affine camera to characterize for 3-D retinal reconstruction. We introduce a constrained optimization procedure which incorporates a geometrically penalty function and lens distortion into the cost function. The procedure optimizes all of the parameters, camera's parameters, 3-D points, the physical shape of human retina, and lens distortion, simultaneously. Then, a point-based spherical fitting method is introduced. The proposed retinal imaging techniques will pave the path to a comprehensive visual 3-D retinal model for many medical applications
Analysis of Retinal Image Data to Support Glaucoma Diagnosis
Fundus kamera je ĆĄiroce dostupnĂ© zobrazovacĂ zaĆĂzenĂ, kterĂ© umoĆŸĆuje relativnÄ rychlĂ© a nenĂĄkladnĂ© vyĆĄetĆenĂ zadnĂho segmentu oka â sĂtnice. Z tÄchto dĆŻvodĆŻ se mnoho vĂœzkumnĂœch pracoviĆĄĆ„ zamÄĆuje prĂĄvÄ na vĂœvoj automatickĂœch metod diagnostiky nemocĂ sĂtnice s vyuĆŸitĂm fundus fotografiĂ. Tato dizertaÄnĂ prĂĄce analyzuje souÄasnĂœ stav vÄdeckĂ©ho poznĂĄnĂ v oblasti diagnostiky glaukomu s vyuĆŸitĂm fundus kamery a navrhuje novou metodiku hodnocenĂ vrstvy nervovĂœch vlĂĄken (VNV) na sĂtnici pomocĂ texturnĂ analĂœzy. Spolu s touto metodikou je navrĆŸena metoda segmentace cĂ©vnĂho ĆeÄiĆĄtÄ sĂtnice, jakoĆŸto dalĆĄĂ hodnotnĂœ pĆĂspÄvek k souÄasnĂ©mu stavu ĆeĆĄenĂ© problematiky. Segmentace cĂ©vnĂho ĆeÄiĆĄtÄ rovnÄĆŸ slouĆŸĂ jako nezbytnĂœ krok pĆedchĂĄzejĂcĂ analĂœzu VNV. Vedle toho prĂĄce publikuje novou volnÄ dostupnou databĂĄzi snĂmkĆŻ sĂtnice se zlatĂœmi standardy pro ĂșÄely hodnocenĂ automatickĂœch metod segmentace cĂ©vnĂho ĆeÄiĆĄtÄ.Fundus camera is widely available imaging device enabling fast and cheap examination of the human retina. Hence, many researchers focus on development of automatic methods towards assessment of various retinal diseases via fundus images. This dissertation summarizes recent state-of-the-art in the field of glaucoma diagnosis using fundus camera and proposes a novel methodology for assessment of the retinal nerve fiber layer (RNFL) via texture analysis. Along with it, a method for the retinal blood vessel segmentation is introduced as an additional valuable contribution to the recent state-of-the-art in the field of retinal image processing. Segmentation of the blood vessels also serves as a necessary step preceding evaluation of the RNFL via the proposed methodology. In addition, a new publicly available high-resolution retinal image database with gold standard data is introduced as a novel opportunity for other researches to evaluate their segmentation algorithms.
- âŠ