4,648 research outputs found
Exploiting flow dynamics for super-resolution in contrast-enhanced ultrasound
Ultrasound localization microscopy offers new radiation-free diagnostic tools
for vascular imaging deep within the tissue. Sequential localization of echoes
returned from inert microbubbles with low-concentration within the bloodstream
reveal the vasculature with capillary resolution. Despite its high spatial
resolution, low microbubble concentrations dictate the acquisition of tens of
thousands of images, over the course of several seconds to tens of seconds, to
produce a single super-resolved image. %since each echo is required to be well
separated from adjacent microbubbles. Such long acquisition times and stringent
constraints on microbubble concentration are undesirable in many clinical
scenarios. To address these restrictions, sparsity-based approaches have
recently been developed. These methods reduce the total acquisition time
dramatically, while maintaining good spatial resolution in settings with
considerable microbubble overlap. %Yet, non of the reported methods exploit the
fact that microbubbles actually flow within the bloodstream. % to improve
recovery. Here, we further improve sparsity-based super-resolution ultrasound
imaging by exploiting the inherent flow of microbubbles and utilize their
motion kinematics. While doing so, we also provide quantitative measurements of
microbubble velocities. Our method relies on simultaneous tracking and
super-localization of individual microbubbles in a frame-by-frame manner, and
as such, may be suitable for real-time implementation. We demonstrate the
effectiveness of the proposed approach on both simulations and {\it in-vivo}
contrast enhanced human prostate scans, acquired with a clinically approved
scanner.Comment: 11 pages, 9 figure
Fast Monte-Carlo Localization on Aerial Vehicles using Approximate Continuous Belief Representations
Size, weight, and power constrained platforms impose constraints on
computational resources that introduce unique challenges in implementing
localization algorithms. We present a framework to perform fast localization on
such platforms enabled by the compressive capabilities of Gaussian Mixture
Model representations of point cloud data. Given raw structural data from a
depth sensor and pitch and roll estimates from an on-board attitude reference
system, a multi-hypothesis particle filter localizes the vehicle by exploiting
the likelihood of the data originating from the mixture model. We demonstrate
analysis of this likelihood in the vicinity of the ground truth pose and detail
its utilization in a particle filter-based vehicle localization strategy, and
later present results of real-time implementations on a desktop system and an
off-the-shelf embedded platform that outperform localization results from
running a state-of-the-art algorithm on the same environment
- …