Extended Object Tracking: Introduction, Overview and Applications

This article provides an elaborate overview of current research in extended object tracking. We provide a clear definition of the extended object tracking problem and discuss its delimitation to other types of object tracking. Next, different aspects of extended object modelling are extensively discussed. Subsequently, we give a tutorial introduction to two basic and well used extended object tracking approaches - the random matrix approach and the Kalman filter-based approach for star-convex shapes. The next part treats the tracking of multiple extended objects and elaborates how the large number of feasible association hypotheses can be tackled using both Random Finite Set (RFS) and Non-RFS multi-object trackers. The article concludes with a summary of current applications, where four example applications involving camera, X-band radar, light detection and ranging (lidar), red-green-blue-depth (RGB-D) sensors are highlighted.Comment: 30 pages, 19 figure

Multimodal breast imaging: Registration, visualization, and image synthesis

The benefit of registration and fusion of functional images with anatomical images is well appreciated in the advent of combined positron emission tomography and x-ray computed tomography scanners (PET/CT). This is especially true in breast cancer imaging, where modalities such as high-resolution and dynamic contrast-enhanced magnetic resonance imaging (MRI) and F-18-FDG positron emission tomography (PET) have steadily gained acceptance in addition to x-ray mammography, the primary detection tool. The increased interest in combined PET/MRI images has facilitated the demand for appropriate registration and fusion algorithms. A new approach to MRI-to-PET non-rigid breast image registration was developed and evaluated based on the location of a small number of fiducial skin markers (FSMs) visible in both modalities. The observed FSM displacement vectors between MRI and PET, distributed piecewise linearly over the breast volume, produce a deformed Finite-Element mesh that reasonably approximates non-rigid deformation of the breast tissue between the MRI and PET scans. The method does not require a biomechanical breast tissue model, and is robust and fast. The method was evaluated both qualitatively and quantitatively on patients and a deformable breast phantom. The procedure yields quality images with average target registration error (TRE) below 4 mm. The importance of appropriately jointly displaying (i.e. fusing) the registered images has often been neglected and underestimated. A combined MRI/PET image has the benefits of directly showing the spatial relationships between the two modalities, increasing the sensitivity, specificity, and accuracy of diagnosis. Additional information on morphology and on dynamic behavior of the suspicious lesion can be provided, allowing more accurate lesion localization including mapping of hyper- and hypo-metabolic regions as well as better lesion-boundary definition, improving accuracy when grading the breast cancer and assessing the need for biopsy. Eight promising fusion-for-visualization techniques were evaluated by radiologists from University Hospital, in Syracuse, NY. Preliminary results indicate that the radiologists were better able to perform a series of tasks when reading the fused PET/MRI data sets using color tables generated by a newly developed genetic algorithm, as compared to other commonly used schemes. The lack of a known ground truth hinders the development and evaluation of new algorithms for tasks such as registration and classification. A preliminary mesh-based breast phantom containing 12 distinct tissue classes along with tissue properties necessary for the simulation of dynamic positron emission tomography scans was created. The phantom contains multiple components which can be separately manipulated, utilizing geometric transformations, to represent populations or a single individual being imaged in multiple positions. This phantom will support future multimodal breast imaging work

Leveraging multiple imaging modalities to improve breast cancer detection, diagnosis, and management

ANSYS On Campus article. Breast cancer is the most common malignant disease in women, and the second leading cause of cancer death among American women today [1]. The primary tool for detection and diagnosis of breast cancer is x-ray mammography, but it is hoped that additional information provided by Positron Emission Tomography (PET) and Magnetic Resonance Imaging (MRI) will provide a means to determine if a suspected lesion, seen in mammography, is malignant or not. The procedure may prevent a large number of retrospectively unnecessary breast biopsies, a surgical procedure, which can result in pain, bruising, and scaring, that is presently used to evaluate suspected breast lesions

A New Application for Displaying and Fusing Multimodal Data Sets

A recently developed, freely available, application specifically designed for the visualization of multimodal data sets is presented. The application allows multiple 3D data sets such as CT (x-ray computer tomography), MRI (magnetic resonance imaging), PET (positron emission tomography), and SPECT (single photon emission tomography) of the same subject to be viewed simultaneously. This is done by maintaining synchronization of the spatial location viewed within all modalities, and by providing fused views of the data where multiple data sets are displayed as a single volume. Different options for the fused views are provided by plug-ins. Plug-ins typically used include color-overlays and interlacing, but more complex plug-ins such as those based on different color spaces, and component analysis techniques are also supported. Corrections for resolution differences and user preference of contrast and brightness are made. Pre-defined and custom color tables can be used to enhance the viewing experience. In addition to these essential capabilities, multiple options are provided for mapping 16-bit data sets onto an 8-bit display, including windowing, automatically and dynamically defined tone transfer functions, and histogram based techniques. The 3D data sets can be viewed not only as a stack of images, but also as the preferred three orthogonal cross sections through the volume. More advanced volumetric displays of both individual data sets and fused views are also provided. This includes the common MIP (maximum intensity projection) both with and without depth correction for both individual data sets and multimodal data sets created using a fusion plug-in

Design of a Multiple Component Geometric Breast Phantom

The quality and realism of simulated images is currently limited by the quality of the digital phantoms used for the simulations. The transition from simple raster based phantoms to more detailed geometric (mesh) based phantoms has the potential to increase the usefulness of the simulated data. A preliminary breast phantom which contains 12 distinct tissue classes along with the tissue properties necessary for the simulation of dynamic positron emission tomography scans was created (activity and attenuation). The phantom contains multiple components which can be separately manipulated, utilizing geometric transformations, to represent populations or a single individual being imaged in multiple positions. A new relational descriptive language is presented which conveys the relationships between individual mesh components. This language, which defines how the individual mesh components are composed into the phantom, aids in phantom development by enabling the addition and removal of components without modification of the other components, and simplifying the definition of complex interfaces. Results obtained when testing the phantom using the SimSET PET/SPECT simulator are very encouraging

Multimodal display techniques with application to breast imaging

Application of a multimodality approach is advantageous for detection, diagnosis and management of breast cancer. In this context, F-18-FDG positron emission tomography (PET), and high-resolution and dynamic contrast-enhanced magnetic resonance imaging (MRI) have steadily gained clinical acceptance. Obtaining the spatial relationships between these modalities and conveying them to the observer maximizes the benefit that can be achieved. Traditionally the registered images are displayed side by side. However, it is believed that a combined MRI/PET display may be more beneficial. The advantage of a combined image lies in our inability to visually judge spatial relationships between images when they are viewed side by side. The process of combining the MRI and PET 3D images into a single 3D image is called image fusion. Color tables were defined for the fusion of MRI/PET images. This included color tables, which satisfy specific requirements, that were generated by a previously developed genetic algorithm. Radiologists were asked to evaluate images created using the selected fusion-for-visualization techniques. The study determined radiologists’ preference, ease of use, understanding, efficiency, and accuracy when reading images using each technique. The data studied, the data collected, the applications used to administer the study and analyze the results, and the processed results are provided through this interactive document

In Vivo Ligands of MDA5 and RIG-I in Measles Virus-Infected Cells

RIG-I-like receptors (RLRs: RIG-I, MDA5 and LGP2) play a major role in the innate immune response against viral infections and detect patterns on viral RNA molecules that are typically absent from host RNA. Upon RNA binding, RLRs trigger a complex downstream signaling cascade resulting in the expression of type I interferons and proinflammatory cytokines. In the past decade extensive efforts were made to elucidate the nature of putative RLR ligands. In vitro and transfection studies identified 5'-triphosphate containing blunt-ended double-strand RNAs as potent RIG-I inducers and these findings were confirmed by next-generation sequencing of RIG-I associated RNAs from virus-infected cells. The nature of RNA ligands of MDA5 is less clear. Several studies suggest that double-stranded RNAs are the preferred agonists for the protein. However, the exact nature of physiological MDA5 ligands from virus-infected cells needs to be elucidated. In this work, we combine a crosslinking technique with next-generation sequencing in order to shed light on MDA5-associated RNAs from human cells infected with measles virus. Our findings suggest that RIG-I and MDA5 associate with AU-rich RNA species originating from the mRNA of the measles virus L gene. Corresponding sequences are poorer activators of ATP-hydrolysis by MDA5 in vitro, suggesting that they result in more stable MDA5 filaments. These data provide a possible model of how AU-rich sequences could activate type I interferon signaling

Deformable Model for 3D Intramodal Nonrigid Breast Image Registration with Fiducial Skin Markers

We implemented a new approach to intramodal non-rigid 3D breast image registration. Our method uses fiducial skin markers (FSM) placed on the breast surface. After determining the displacements of FSM, finite element method (FEM) is used to distribute the markers’ displacements linearly over the entire breast volume using the analogy between the orthogonal components of the displacement field and a steady state heat transfer (SSHT). It is valid because the displacement field in x, y and z direction and a SSHT problem can both be modeled using LaPlace’s equation and the displacements are analogous to temperature differences in SSHT. It can be solved via standard heat conduction FEM software with arbitrary conductivity of surface elements significantly higher than that of volume elements. After determining the displacements of the mesh nodes over the entire breast volume, moving breast volume is registered to target breast volume using an image warping algorithm. Very good quality of the registration was obtained. Following similarity measurements were estimated: Normalized Mutual Information (NMI), Normalized Correlation Coefficient (NCC) and Sum of Absolute Valued Differences (SAVD). We also compared our method with rigid registration technique

Execution of the SimSET Monte Carlo PET/SPECT Simulator in the Condor Distributed Computing Environment

SimSET is a package for simulation of emission tomography data sets. Condor is a popular distributed computing environment. Simple C/C++ applications and shell scripts are presented which allow the execution of SimSET on the Condor environment. This is accomplished without any modification to SimSET by executing multiple instances and using its combinebin utility. This enables research facilities without dedicated parallel computing systems to utilize the idle cycles of desktop workstations to greatly reduce the run times of their SimSET simulations. The necessary steps to implement this approach in other environments are presented along with sample results

Tetraquarks with colour-blind forces in chiral quark models

We discuss the stability of multiquark systems within the recent model of Glozman et al. where the chromomagnetic hyperfine interaction is replaced by pseudoscalar-meson exchange contributions. We find that such an interaction binds a heavy tetraquark systems $QQ\bar q\bar q$ ($Q=c,b and q=u,d)$ by 0.2-0.4 GeV. This is at variance with results of previous models where $cc\bar q\bar q$ is unstable.Comment: 10 pages, plain te