A robust multigrid approach for variational image registration models

AbstractVariational registration models are non-rigid and deformable imaging techniques for accurate registration of two images. As with other models for inverse problems using the Tikhonov regularization, they must have a suitably chosen regularization term as well as a data fitting term. One distinct feature of registration models is that their fitting term is always highly nonlinear and this nonlinearity restricts the class of numerical methods that are applicable. This paper first reviews the current state-of-the-art numerical methods for such models and observes that the nonlinear fitting term is mostly ‘avoided’ in developing fast multigrid methods. It then proposes a unified approach for designing fixed point type smoothers for multigrid methods. The diffusion registration model (second-order equations) and a curvature model (fourth-order equations) are used to illustrate our robust methodology. Analysis of the proposed smoothers and comparisons to other methods are given. As expected of a multigrid method, being many orders of magnitude faster than the unilevel gradient descent approach, the proposed numerical approach delivers fast and accurate results for a range of synthetic and real test images

Prostate Biopsy Assistance System with Gland Deformation Estimation for Enhanced Precision

Computer-assisted prostate biopsies became a very active research area during the last years. Prostate tracking makes it possi- ble to overcome several drawbacks of the current standard transrectal ultrasound (TRUS) biopsy procedure, namely the insufficient targeting accuracy which may lead to a biopsy distribution of poor quality, the very approximate knowledge about the actual location of the sampled tissues which makes it difficult to implement focal therapy strategies based on biopsy results, and finally the difficulty to precisely reach non-ultrasound (US) targets stemming from different modalities, statistical atlases or previous biopsy series. The prostate tracking systems presented so far are limited to rigid transformation tracking. However, the gland can get considerably deformed during the intervention because of US probe pres- sure and patient movements. We propose to use 3D US combined with image-based elastic registration to estimate these deformations. A fast elastic registration algorithm that copes with the frequently occurring US shadows is presented. A patient cohort study was performed, which yielded a statistically significant in-vivo accuracy of 0.83+-0.54mm.Comment: This version of the paper integrates a correction concerning the local similarity measure w.r.t. the proceedings (this typing error could not be corrected before editing the proceedings

A novel variational model for image registration using Gaussian curvature

Image registration is one important task in many image processing applications. It aims to align two or more images so that useful information can be extracted through comparison, combination or superposition. This is achieved by constructing an optimal trans- formation which ensures that the template image becomes similar to a given reference image. Although many models exist, designing a model capable of modelling large and smooth deformation field continues to pose a challenge. This paper proposes a novel variational model for image registration using the Gaussian curvature as a regulariser. The model is motivated by the surface restoration work in geometric processing [Elsey and Esedoglu, Multiscale Model. Simul., (2009), pp. 1549-1573]. An effective numerical solver is provided for the model using an augmented Lagrangian method. Numerical experiments can show that the new model outperforms three competing models based on, respectively, a linear curvature [Fischer and Modersitzki, J. Math. Imaging Vis., (2003), pp. 81- 85], the mean curvature [Chumchob, Chen and Brito, Multiscale Model. Simul., (2011), pp. 89-128] and the diffeomorphic demon model [Vercauteren at al., NeuroImage, (2009), pp. 61-72] in terms of robustness and accuracy.Comment: 23 pages, 5 figures. Key words: Image registration, Non-parametric image registration, Regularisation, Gaussian curvature, surface mappin

An Efficient Numerical Method for Mean Curvature-Based Image Registration Model

Mean curvature-based image registration model firstly proposed by Chumchob-Chen-Brito (2011) offered a better regularizer technique for both smooth and nonsmooth deformation fields. However, it is extremely challenging to solve efficiently this model and the existing methods are slow or become efficient only with strong assumptions on the smoothing parameter β. In this paper, we take a different solution approach. Firstly, we discretize the joint energy functional, following an idea of relaxed fixed point is implemented and combine with Gauss-Newton scheme with Armijo's Linear Search for solving the discretized mean curvature model and further to combine with a multilevel method to achieve fast convergence. Numerical experiments not only confirm that our proposed method is efficient and stable, but also it can give more satisfying registration results according to image quality

Interactive Medical Image Registration With Multigrid Methods and Bounded Biharmonic Functions

Interactive image registration is important in some medical applications since automatic image registration is often slow and sometimes error-prone. We consider interactive registration methods that incorporate user-specified local transforms around control handles. The deformation between handles is interpolated by some smooth functions, minimizing some variational energies. Besides smoothness, we expect the impact of a control handle to be local. Therefore we choose bounded biharmonic weight functions to blend local transforms, a cutting-edge technique in computer graphics. However, medical images are usually huge, and this technique takes a lot of time that makes itself impracticable for interactive image registration. To expedite this process, we use a multigrid active set method to solve bounded biharmonic functions (BBF). The multigrid approach is for two scenarios, refining the active set from coarse to fine resolutions, and solving the linear systems constrained by working active sets. We\u27ve implemented both weighted Jacobi method and successive over-relaxation (SOR) in the multigrid solver. Since the problem has box constraints, we cannot directly use regular updates in Jacobi and SOR methods. Instead, we choose a descent step size and clamp the update to satisfy the box constraints. We explore the ways to choose step sizes and discuss their relation to the spectral radii of the iteration matrices. The relaxation factors, which are closely related to step sizes, are estimated by analyzing the eigenvalues of the bilaplacian matrices. We give a proof about the termination of our algorithm and provide some theoretical error bounds. Another minor problem we address is to register big images on GPU with limited memory. We\u27ve implemented an image registration algorithm with virtual image slices on GPU. An image slice is treated similarly to a page in virtual memory. We execute a wavefront of subtasks together to reduce the number of data transfers. Our main contribution is a fast multigrid method for interactive medical image registration that uses bounded biharmonic functions to blend local transforms. We report a novel multigrid approach to refine active set quickly and use clamped updates based on weighted Jacobi and SOR. This multigrid method can be used to efficiently solve other quadratic programs that have active sets distributed over continuous regions

A Total Fractional-Order Variation Model for Image Restoration with Non-homogeneous Boundary Conditions and its Numerical Solution

To overcome the weakness of a total variation based model for image restoration, various high order (typically second order) regularization models have been proposed and studied recently. In this paper we analyze and test a fractional-order derivative based total $\alpha$-order variation model, which can outperform the currently popular high order regularization models. There exist several previous works using total $\alpha$-order variations for image restoration; however first no analysis is done yet and second all tested formulations, differing from each other, utilize the zero Dirichlet boundary conditions which are not realistic (while non-zero boundary conditions violate definitions of fractional-order derivatives). This paper first reviews some results of fractional-order derivatives and then analyzes the theoretical properties of the proposed total $\alpha$-order variational model rigorously. It then develops four algorithms for solving the variational problem, one based on the variational Split-Bregman idea and three based on direct solution of the discretise-optimization problem. Numerical experiments show that, in terms of restoration quality and solution efficiency, the proposed model can produce highly competitive results, for smooth images, to two established high order models: the mean curvature and the total generalized variation.Comment: 26 page