Dense Vision in Image-guided Surgery

Image-guided surgery needs an efficient and effective camera tracking system in order to perform augmented reality for overlaying preoperative models or label cancerous tissues on the 2D video images of the surgical scene. Tracking in endoscopic/laparoscopic scenes however is an extremely difficult task primarily due to tissue deformation, instrument invasion into the surgical scene and the presence of specular highlights. State of the art feature-based SLAM systems such as PTAM fail in tracking such scenes since the number of good features to track is very limited. When the scene is smoky and when there are instrument motions, it will cause feature-based tracking to fail immediately. The work of this thesis provides a systematic approach to this problem using dense vision. We initially attempted to register a 3D preoperative model with multiple 2D endoscopic/laparoscopic images using a dense method but this approach did not perform well. We subsequently proposed stereo reconstruction to directly obtain the 3D structure of the scene. By using the dense reconstructed model together with robust estimation, we demonstrate that dense stereo tracking can be incredibly robust even within extremely challenging endoscopic/laparoscopic scenes. Several validation experiments have been conducted in this thesis. The proposed stereo reconstruction algorithm has turned out to be the state of the art method for several publicly available ground truth datasets. Furthermore, the proposed robust dense stereo tracking algorithm has been proved highly accurate in synthetic environment (< 0.1 mm RMSE) and qualitatively extremely robust when being applied to real scenes in RALP prostatectomy surgery. This is an important step toward achieving accurate image-guided laparoscopic surgery.Open Acces

Working With Incremental Spatial Data During Parallel (GPU) Computation

Central to many complex systems, spatial actors require an awareness of their local environment to enable behaviours such as communication and navigation. Complex system simulations represent this behaviour with Fixed Radius Near Neighbours (FRNN) search. This algorithm allows actors to store data at spatial locations and then query the data structure to find all data stored within a fixed radius of the search origin. The work within this thesis answers the question: What techniques can be used for improving the performance of FRNN searches during complex system simulations on Graphics Processing Units (GPUs)? It is generally agreed that Uniform Spatial Partitioning (USP) is the most suitable data structure for providing FRNN search on GPUs. However, due to the architectural complexities of GPUs, the performance is constrained such that FRNN search remains one of the most expensive common stages between complex systems models. Existing innovations to USP highlight a need to take advantage of recent GPU advances, reducing the levels of divergence and limiting redundant memory accesses as viable routes to improve the performance of FRNN search. This thesis addresses these with three separate optimisations that can be used simultaneously. Experiments have assessed the impact of optimisations to the general case of FRNN search found within complex system simulations and demonstrated their impact in practice when applied to full complex system models. Results presented show the performance of the construction and query stages of FRNN search can be improved by over 2x and 1.3x respectively. These improvements allow complex system simulations to be executed faster, enabling increases in scale and model complexity

Mixing multi-core CPUs and GPUs for scientific simulation software

Recent technological and economic developments have led to widespread availability of multi-core CPUs and specialist accelerator processors such as graphical processing units (GPUs). The accelerated computational performance possible from these devices can be very high for some applications paradigms. Software languages and systems such as NVIDIA's CUDA and Khronos consortium's open compute language (OpenCL) support a number of individual parallel application programming paradigms. To scale up the performance of some complex systems simulations, a hybrid of multi-core CPUs for coarse-grained parallelism and very many core GPUs for data parallelism is necessary. We describe our use of hybrid applica- tions using threading approaches and multi-core CPUs to control independent GPU devices. We present speed-up data and discuss multi-threading software issues for the applications level programmer and o er some suggested areas for language development and integration between coarse-grained and ne-grained multi-thread systems. We discuss results from three common simulation algorithmic areas including: partial di erential equations; graph cluster metric calculations and random number generation. We report on programming experiences and selected performance for these algorithms on: single and multiple GPUs; multi-core CPUs; a CellBE; and using OpenCL. We discuss programmer usability issues and the outlook and trends in multi-core programming for scienti c applications developers

Acceleration of parasitic multistatic radar system using GPGPU

This dissertation details the implementation of PMR [Parasitic Multistatic Radar] signal processing chain in the GPGPU [General Purpose Graphic Processing Units] platform. The primary objective of the project is to accelerate the signal processing chain without compromising the algorithm efficiency and to prove that GPGPUs are a promising platform for parasitic radar signal processing

CGiS : high-level data-parallel GPU programming

In the last few years, PC technology underwent a paradigm shift. The current trend leads aways from raising sequential performance to enhancing the available parallelism. The rapid performance increase of Graphics Processing Units (GPUs) is a part of this trend. However, it is difficult to harness the computational potential because for the longest time GPUs could be directed only through graphics APIs and in low-level code. The language CGiS has been developed to remedy this situation. CGiS is a data-parallel programming language, which offers a high-level abstraction of GPUs, letting programmers use GPUs as co-processors for massively parallel algorithms. This work presents the language and the compiler for CGiS in the context of general purpose programming on GPUs (GPGPU).Seit einigen Jahren zeichnet sich bei handelsüblichen PCs ein Trend weg von der Erhöhung der sequentiellen Leistung hin zur Parallelverarbeitung ab. Ein Bestandteil dieses Trends ist die rasche Leistungsentwicklung der Grafikkarten (GPUs), deren Rechenleistung die aktueller CPUs mittlerweile übertrifft. Es ist jedoch schwierig, diese Leistung auch abzurufen, da diese Geräte lange Zeit nur hardwarenah und über Grafik-APIs ansteuerbar waren. Um dies zu ändern, ist CGiS entwickelt worden, eine datenparallele Programmiersprache, die die GPUs abstrahiert und ihre Benutzung als Co-Prozessoren für massiv-datenparallele Algorithmen ermöglicht. Diese Arbeit stellt die Sprache und den Compiler im Kontext dieser Entwicklung vor

Adaptive heterogeneous parallelism for semi-empirical lattice dynamics in computational materials science.

With the variability in performance of the multitude of parallel environments available today, the conceptual overhead created by the need to anticipate runtime information to make design-time decisions has become overwhelming. Performance-critical applications and libraries carry implicit assumptions based on incidental metrics that are not portable to emerging computational platforms or even alternative contemporary architectures. Furthermore, the significance of runtime concerns such as makespan, energy efficiency and fault tolerance depends on the situational context. This thesis presents a case study in the application of both Mattsons prescriptive pattern-oriented approach and the more principled structured parallelism formalism to the computational simulation of inelastic neutron scattering spectra on hybrid CPU/GPU platforms. The original ad hoc implementation as well as new patternbased and structured implementations are evaluated for relative performance and scalability. Two new structural abstractions are introduced to facilitate adaptation by lazy optimisation and runtime feedback. A deferred-choice abstraction represents a unified space of alternative structural program variants, allowing static adaptation through model-specific exhaustive calibration with regards to the extrafunctional concerns of runtime, average instantaneous power and total energy usage. Instrumented queues serve as mechanism for structural composition and provide a representation of extrafunctional state that allows realisation of a market-based decentralised coordination heuristic for competitive resource allocation and the Lyapunov drift algorithm for cooperative scheduling

Distributed texture-based terrain synthesis

Terrain synthesis is an important field of Computer Graphics that deals with the generation of 3D landscape models for use in virtual environments. The field has evolved to a stage where large and even infinite landscapes can be generated in realtime. However, user control of the generation process is still minimal, as well as the creation of virtual landscapes that mimic real terrain. This thesis investigates the use of texture synthesis techniques on real landscapes to improve realism and the use of sketch-based interfaces to enable intuitive user control

DeepFactors: Real-time probabilistic dense monocular SLAM

The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry representation (sparse landmarks, dense maps), the consistency metric used for optimising the multi-view problem, and the use of learned priors. We present a SLAM system that unifies these methods in a probabilistic framework while still maintaining real-time performance. This is achieved through the use of a learned compact depth map representation and reformulating three different types of errors: photometric, reprojection and geometric, which we make use of within standard factor graph software. We evaluate our system on trajectory estimation and depth reconstruction on real-world sequences and present various examples of estimated dense geometry

Accelerating incoherent dedispersion

Incoherent dedispersion is a computationally intensive problem that appears frequently in pulsar and transient astronomy. For current and future transient pipelines, dedispersion can dominate the total execution time, meaning its computational speed acts as a constraint on the quality and quantity of science results. It is thus critical that the algorithm be able to take advantage of trends in commodity computing hardware. With this goal in mind, we present analysis of the 'direct', 'tree' and 'sub-band' dedispersion algorithms with respect to their potential for efficient execution on modern graphics processing units (GPUs). We find all three to be excellent candidates, and proceed to describe implementations in C for CUDA using insight gained from the analysis. Using recent CPU and GPU hardware, the transition to the GPU provides a speed-up of 9x for the direct algorithm when compared to an optimised quad-core CPU code. For realistic recent survey parameters, these speeds are high enough that further optimisation is unnecessary to achieve real-time processing. Where further speed-ups are desirable, we find that the tree and sub-band algorithms are able to provide 3-7x better performance at the cost of certain smearing, memory consumption and development time trade-offs. We finish with a discussion of the implications of these results for future transient surveys. Our GPU dedispersion code is publicly available as a C library at: http://dedisp.googlecode.com/Comment: 15 pages, 4 figures, 2 tables, accepted for publication in MNRA