79,045 research outputs found
Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping
This work investigates the use of semantic information to link ground level occupancy maps and aerial images. A ground level semantic map, which shows open ground and indicates the probability of cells being occupied by walls of buildings, is obtained by a mobile robot equipped with an omnidirectional camera, GPS and a laser range finder. This semantic information is used for local and global segmentation of an aerial image. The result is a map where the semantic information has been extended beyond the range of the robot sensors and predicts where the mobile robot can find buildings and potentially driveable ground
Segmentation of ultrasound images of thyroid nodule for assisting fine needle aspiration cytology
The incidence of thyroid nodule is very high and generally increases with the
age. Thyroid nodule may presage the emergence of thyroid cancer. The thyroid
nodule can be completely cured if detected early. Fine needle aspiration
cytology is a recognized early diagnosis method of thyroid nodule. There are
still some limitations in the fine needle aspiration cytology, and the
ultrasound diagnosis of thyroid nodule has become the first choice for
auxiliary examination of thyroid nodular disease. If we could combine medical
imaging technology and fine needle aspiration cytology, the diagnostic rate of
thyroid nodule would be improved significantly. The properties of ultrasound
will degrade the image quality, which makes it difficult to recognize the edges
for physicians. Image segmentation technique based on graph theory has become a
research hotspot at present. Normalized cut (Ncut) is a representative one,
which is suitable for segmentation of feature parts of medical image. However,
how to solve the normalized cut has become a problem, which needs large memory
capacity and heavy calculation of weight matrix. It always generates over
segmentation or less segmentation which leads to inaccurate in the
segmentation. The speckle noise in B ultrasound image of thyroid tumor makes
the quality of the image deteriorate. In the light of this characteristic, we
combine the anisotropic diffusion model with the normalized cut in this paper.
After the enhancement of anisotropic diffusion model, it removes the noise in
the B ultrasound image while preserves the important edges and local details.
This reduces the amount of computation in constructing the weight matrix of the
improved normalized cut and improves the accuracy of the final segmentation
results. The feasibility of the method is proved by the experimental results.Comment: 15pages,13figure
Automatic segmentation of the left ventricle cavity and myocardium in MRI data
A novel approach for the automatic segmentation has been developed to extract the epi-cardium and endo-cardium boundaries of the left ventricle (lv) of the heart. The developed segmentation scheme takes multi-slice and multi-phase magnetic resonance (MR) images of the heart, transversing the short-axis length from the base to the apex. Each image is taken at one instance in the heart's phase. The images are segmented using a diffusion-based filter followed by an unsupervised clustering technique and the resulting labels are checked to locate the (lv) cavity. From cardiac anatomy, the closest pool of blood to the lv cavity is the right ventricle cavity. The wall between these two blood-pools (interventricular septum) is measured to give an approximate thickness for the myocardium. This value is used when a radial search is performed on a gradient image to find appropriate robust segments of the epi-cardium boundary. The robust edge segments are then joined using a normal spline curve. Experimental results are presented with very encouraging qualitative and quantitative results and a comparison is made against the state-of-the art level-sets method
Robot navigation control based on monocular images: An image processing algorithm for obstacle avoidance decisions
This paper covers the use of monocular vision to control autonomous navigation for a robot in a dynamically changing environment. The solution focused on using colour segmentation against a selected floor plane to distinctly separate obstacles from traversable space, this is then supplemented with canny edge detection to separate similarly coloured boundaries to the floor plane. The resulting binary map (where white identifies an obstacle-free area and black identifies an obstacle) could then be processed by fuzzy logic or neural networks to control the robot’s next movements. Findings shows that the algorithm performed strongly on solid coloured carpets, wooden and concrete floors but had difficulty in separating colours in multi-coloured floor types such as patterned carpets
Optic nerve head segmentation
Reliable and efficient optic disk localization and segmentation are important tasks in automated retinal screening. General-purpose edge detection algorithms often fail to segment the optic disk due to fuzzy boundaries, inconsistent image contrast or missing edge features. This paper presents an algorithm for the localization and segmentation of the optic nerve head boundary in low-resolution images (about 20 /spl mu//pixel). Optic disk localization is achieved using specialized template matching, and segmentation by a deformable contour model. The latter uses a global elliptical model and a local deformable model with variable edge-strength dependent stiffness. The algorithm is evaluated against a randomly selected database of 100 images from a diabetic screening programme. Ten images were classified as unusable; the others were of variable quality. The localization algorithm succeeded on all bar one usable image; the contour estimation algorithm was qualitatively assessed by an ophthalmologist as having Excellent-Fair performance in 83% of cases, and performs well even on blurred image
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