3 research outputs found
Approximation of Images via Generalized Higher Order Singular Value Decomposition over Finite-dimensional Commutative Semisimple Algebra
Low-rank approximation of images via singular value decomposition is
well-received in the era of big data. However, singular value decomposition
(SVD) is only for order-two data, i.e., matrices. It is necessary to flatten a
higher order input into a matrix or break it into a series of order-two slices
to tackle higher order data such as multispectral images and videos with the
SVD. Higher order singular value decomposition (HOSVD) extends the SVD and can
approximate higher order data using sums of a few rank-one components. We
consider the problem of generalizing HOSVD over a finite dimensional
commutative algebra. This algebra, referred to as a t-algebra, generalizes the
field of complex numbers. The elements of the algebra, called t-scalars, are
fix-sized arrays of complex numbers. One can generalize matrices and tensors
over t-scalars and then extend many canonical matrix and tensor algorithms,
including HOSVD, to obtain higher-performance versions. The generalization of
HOSVD is called THOSVD. Its performance of approximating multi-way data can be
further improved by an alternating algorithm. THOSVD also unifies a wide range
of principal component analysis algorithms. To exploit the potential of
generalized algorithms using t-scalars for approximating images, we use a pixel
neighborhood strategy to convert each pixel to "deeper-order" t-scalar.
Experiments on publicly available images show that the generalized algorithm
over t-scalars, namely THOSVD, compares favorably with its canonical
counterparts.Comment: 20 pages, several typos corrected, one appendix adde
Genetic Programming based Feature Manipulation for Skin Cancer Image Classification
Skin image classification involves the development of computational methods for solving problems such as cancer detection in lesion images, and their use for biomedical research and clinical care. Such methods aim at extracting relevant information or knowledge from skin images that can significantly assist in the early detection of disease. Skin images are enormous, and come with various artifacts that hinder effective feature extraction leading to inaccurate classification. Feature selection and feature construction can significantly reduce the amount of data while improving
classification performance by selecting prominent features and constructing high-level features. Existing approaches mostly rely on expert intervention and follow multiple stages for pre-processing, feature extraction, and classification, which decreases the reliability, and increases the computational complexity. Since good generalization accuracy is not always the primary objective, clinicians are also interested in analyzing specific features such as pigment network, streaks, and blobs responsible for developing the disease; interpretable methods are favored. In Evolutionary
Computation, Genetic Programming (GP) can automatically evolve an interpretable model and address the curse of dimensionality (through feature selection and construction). GP has been successfully applied to many areas, but its potential for feature selection, feature construction, and classification in skin images has not been thoroughly investigated.
The overall goal of this thesis is to develop a new GP approach to skin image classification by utilizing GP to evolve programs that are capable of automatically selecting prominent image features, constructing new high level features, interpreting useful image features which can help dermatologist to diagnose a type of cancer, and are robust to processing skin images captured from specialized instruments and standard cameras. This thesis focuses on utilizing a wide range of texture, color, frequency-based, local, and global image properties at the terminal nodes of GP to classify skin cancer images from multiple modalities effectively.
This thesis develops new two-stage GP methods using embedded and wrapper feature selection and construction approaches to automatically generating a feature vector of selected and constructed features for classification. The results show that wrapper approach outperforms the embedded approach, the existing baseline GP and other machine learning methods, but the embedded approach is faster than the wrapper approach.
This thesis develops a multi-tree GP based embedded feature selection approach for melanoma detection using domain specific and domain independent features. It explores suitable crossover and mutation operators to evolve GP classifiers effectively and further extends this approach using a weighted fitness function. The results show that these multi-tree approaches outperformed single tree GP and other classification methods. They identify that a specific feature extraction method extracts most suitable features for particular images taken from a specific optical instrument.
This thesis develops the first GP method utilizing frequency-based wavelet features, where the wrapper based feature selection and construction methods automatically evolve useful constructed features to improve the classification performance. The results show the evidence of successful feature construction by significantly outperforming existing GP approaches, state-of-the-art CNN, and other classification methods.
This thesis develops a GP approach to multiple feature construction for ensemble learning in classification. The results show that the ensemble method outperformed existing GP approaches, state-of-the-art skin image classification, and commonly used ensemble methods. Further analysis of the evolved constructed features identified important image features that can potentially help the dermatologist identify further medical procedures in real-world situations
A continuum robotic platform for endoscopic non-contact laser surgery: design, control, and preclinical evaluation
The application of laser technologies in surgical interventions has been accepted in the clinical
domain due to their atraumatic properties. In addition to manual application of fibre-guided
lasers with tissue contact, non-contact transoral laser microsurgery (TLM) of laryngeal tumours
has been prevailed in ENT surgery. However, TLM requires many years of surgical training
for tumour resection in order to preserve the function of adjacent organs and thus preserve the
patient’s quality of life. The positioning of the microscopic laser applicator outside the patient
can also impede a direct line-of-sight to the target area due to anatomical variability and limit
the working space. Further clinical challenges include positioning the laser focus on the tissue
surface, imaging, planning and performing laser ablation, and motion of the target area during
surgery. This dissertation aims to address the limitations of TLM through robotic approaches and
intraoperative assistance. Although a trend towards minimally invasive surgery is apparent, no
highly integrated platform for endoscopic delivery of focused laser radiation is available to date.
Likewise, there are no known devices that incorporate scene information from endoscopic imaging
into ablation planning and execution. For focusing of the laser beam close to the target tissue, this
work first presents miniaturised focusing optics that can be integrated into endoscopic systems.
Experimental trials characterise the optical properties and the ablation performance. A robotic
platform is realised for manipulation of the focusing optics. This is based on a variable-length
continuum manipulator. The latter enables movements of the endoscopic end effector in five
degrees of freedom with a mechatronic actuation unit. The kinematic modelling and control of the
robot are integrated into a modular framework that is evaluated experimentally. The manipulation
of focused laser radiation also requires precise adjustment of the focal position on the tissue. For
this purpose, visual, haptic and visual-haptic assistance functions are presented. These support
the operator during teleoperation to set an optimal working distance. Advantages of visual-haptic
assistance are demonstrated in a user study. The system performance and usability of the overall
robotic system are assessed in an additional user study. Analogous to a clinical scenario, the
subjects follow predefined target patterns with a laser spot. The mean positioning accuracy of the
spot is 0.5 mm. Finally, methods of image-guided robot control are introduced to automate laser
ablation. Experiments confirm a positive effect of proposed automation concepts on non-contact
laser surgery.Die Anwendung von Lasertechnologien in chirurgischen Interventionen hat sich aufgrund der atraumatischen Eigenschaften in der Klinik etabliert. Neben manueller Applikation von fasergefĂĽhrten
Lasern mit Gewebekontakt hat sich die kontaktfreie transorale Lasermikrochirurgie (TLM) von
Tumoren des Larynx in der HNO-Chirurgie durchgesetzt. Die TLM erfordert zur Tumorresektion
jedoch ein langjähriges chirurgisches Training, um die Funktion der angrenzenden Organe zu
sichern und damit die Lebensqualität der Patienten zu erhalten. Die Positionierung des mikroskopis chen Laserapplikators außerhalb des Patienten kann zudem die direkte Sicht auf das Zielgebiet
durch anatomische Variabilität erschweren und den Arbeitsraum einschränken. Weitere klinische
Herausforderungen betreffen die Positionierung des Laserfokus auf der Gewebeoberfläche, die
Bildgebung, die Planung und AusfĂĽhrung der Laserablation sowie intraoperative Bewegungen
des Zielgebietes. Die vorliegende Dissertation zielt darauf ab, die Limitierungen der TLM durch
robotische Ansätze und intraoperative Assistenz zu adressieren. Obwohl ein Trend zur minimal
invasiven Chirurgie besteht, sind bislang keine hochintegrierten Plattformen fĂĽr die endoskopische
Applikation fokussierter Laserstrahlung verfĂĽgbar. Ebenfalls sind keine Systeme bekannt, die
Szeneninformationen aus der endoskopischen Bildgebung in die Ablationsplanung und -ausfĂĽhrung
einbeziehen. Für eine situsnahe Fokussierung des Laserstrahls wird in dieser Arbeit zunächst
eine miniaturisierte Fokussieroptik zur Integration in endoskopische Systeme vorgestellt. Experimentelle Versuche charakterisieren die optischen Eigenschaften und das Ablationsverhalten. Zur
Manipulation der Fokussieroptik wird eine robotische Plattform realisiert. Diese basiert auf einem
längenveränderlichen Kontinuumsmanipulator. Letzterer ermöglicht in Kombination mit einer
mechatronischen Aktuierungseinheit Bewegungen des Endoskopkopfes in fĂĽnf Freiheitsgraden.
Die kinematische Modellierung und Regelung des Systems werden in ein modulares Framework
eingebunden und evaluiert. Die Manipulation fokussierter Laserstrahlung erfordert zudem eine
präzise Anpassung der Fokuslage auf das Gewebe. Dafür werden visuelle, haptische und visuell haptische Assistenzfunktionen eingeführt. Diese unterstützen den Anwender bei Teleoperation
zur Einstellung eines optimalen Arbeitsabstandes. In einer Anwenderstudie werden Vorteile der
visuell-haptischen Assistenz nachgewiesen. Die Systemperformanz und Gebrauchstauglichkeit
des robotischen Gesamtsystems werden in einer weiteren Anwenderstudie untersucht. Analog zu
einem klinischen Einsatz verfolgen die Probanden mit einem Laserspot vorgegebene Sollpfade. Die
mittlere Positioniergenauigkeit des Spots beträgt dabei 0,5 mm. Zur Automatisierung der Ablation
werden abschließend Methoden der bildgestützten Regelung vorgestellt. Experimente bestätigen
einen positiven Effekt der Automationskonzepte fĂĽr die kontaktfreie Laserchirurgie