An efficient motion estimator with application to medical image registration

Development of a piecewise linear omnidirectional 3D image registration method

This paper proposes a new piecewise linear omnidirectional image registration method. The proposed method segments an image captured by multiple cameras into 2D segments defined by feature points of the image and then stitches each segment geometrically by considering the inclination of the segment in the 3D space. Depending on the intended use of image registration, the proposed method can be used to improve image registration accuracy or reduce the computation time in image registration because the trade-off between the computation time and image registration accuracy can be controlled for. In general, nonlinear image registration methods have been used in 3D omnidirectional image registration processes to reduce image distortion by camera lenses. The proposed method depends on a linear transformation process for omnidirectional image registration, and therefore it can enhance the effectiveness of the geometry recognition process, increase image registration accuracy by increasing the number of cameras or feature points of each image, increase the image registration speed by reducing the number of cameras or feature points of each image, and provide simultaneous information on shapes and colors of captured objects.

Evaluation of Medical Image Registration Techniques Based on Nature and Domain of the Transformation

A lot of research has been done during the past 20 years in the area of medical image registration for obtaining detailed, important, and complementary information from two or more images and aligning them into a single, more informative image. Nature of the transformation and domain of the transformation are two important medical image registration techniques that deal with characters of objects (motions) in images. This article presents a detailed survey of the registration techniques that belong to both categories with detailed elaboration on their features, issues, and challenges. An investigation estimating similarity and dissimilarity measures and performance evaluation is the main objective of this work. This article also provides reference knowledge in a compact form for researchers and clinicians looking for the proper registration technique for a particular application.

A review of atlas-based segmentation for magnetic resonance brain images

Normal and abnormal brains can be segmented by registering the target image with an atlas. Here, an atlas is defined as the combination of an intensity image (template) and its segmented image (the atlas labels). After registering the atlas template and the target image, the atlas labels are propagated to the target image. We define this process as atlas-based segmentation. In recent years, researchers have investigated registration algorithms to match atlases to query subjects and also strategies for atlas construction. In this paper we present a review of the automated approaches for atlas-based segmentation of magnetic resonance brain images. We aim to point out the strengths and weaknesses of atlas-based methods and suggest new research directions. We use two different criteria to present the methods. First, we refer to the algorithms according to their atlas-based strategy: label propagation, multi-atlas methods, and probabilistic techniques. Subsequently, we classify the methods according to their medical target: the brain and its internal structures, tissue segmentation in healthy subjects, tissue segmentation in fetus, neonates and elderly subjects, and segmentation of damaged brains. A quantitative comparison of the results reported in the literature is also presented.

Groupwise geometric and photometric direct image registration

Image registration consists in estimating geometric and photometric transformations that align two images as best as possible. The direct approach consists in minimizing the discrepancy in the intensity or color of the pixels. The inverse compositional algorithm has been recently proposed by Baker et al. for the direct estimation of groupwise geometric transformations. It is efficient in that it performs several computationally expensive calculations at a pre-computation phase. Photometric transformations act on the value of the pixels. They account for effects such as lighting change. Jointly estimating geometric and photometric transformations is thus important for many tasks such as image mosaicing. We propose an algorithm to jointly estimate groupwise geometric and photometric transformations while preserving the efficient pre-computation based design of the original inverse compositional algorithm. It is called the dual inverse compositional algorithm. It uses different approximations than the simultaneous inverse compositional algorithm and handles groupwise geometric and global photometric transformations. Its name stems from the fact that it uses an inverse compositional update rule for both the geometric and the photometric transformations. We demonstrate the proposed algorithm and compare it to previous ones on simulated and real data. This shows clear improvements in computational efficiency and in terms of convergence.

Maximum likelihood wavelet density estimation with applications to image and shape matching

Density estimation for observational data plays an integral role in a broad spectrum of applications, e.g., statistical data analysis and information-theoretic image registration. Of late, wavelet-based density estimators have gained in popularity due to their ability to approximate a large class of functions, adapting well to difficult situations such as when densities exhibit abrupt changes. The decision to work with wavelet density estimators brings along with it theoretical considerations (e.g., non-negativity, integrability) and empirical issues (e.g., computation of basis coefficients) that must be addressed in order to obtain a bona fide density. In this paper, we present a new method to accurately estimate a non-negative density which directly addresses many of the problems in practical wavelet density estimation. We cast the estimation procedure in a maximum likelihood framework which estimates the square root of the density radicalp, allowing us to obtain the natural non-negative density representation ( radicalp)(2). Analysis of this method will bring to light a remarkable theoretical connection with the Fisher information of the density and, consequently, lead to an efficient constrained optimization procedure to estimate the wavelet coefficients. We illustrate the effectiveness of the algorithm by evaluating its performance on mutual information-based image registration, shape point set alignment, and empirical comparisons to known densities. The present method is also compared to fixed and variable bandwidth kernel density estimators.

Efficient computational fluid dynamics mesh generation by image registration

Most implementations of computational fluid dynamics (CFD) solutions require a discretisation or meshing of the solution domain. The production from a medical image of a computationally efficient mesh representing the structures of interest can be time consuming and labour-intensive, and remains a major bottleneck in the clinical application of CFD. This paper presents a method for deriving a patient-specific mesh from a medical image. The method uses volumetric registration of a pseudo-image, produced from an idealised template mesh, with the medical image. The registration algorithm used is robust and computationally efficient. The accuracy of the new algorithm is measured in terms of the distance between a registered surface and a known surface, for image data derived from casts of the lumen of two different vessels. The true surface is identified by laser profiling. The average distance between the surface points measured by the laser profiler and the surface of the mapped mesh is better than 0.2 mm. For the images analysed, the new algorithm is shown to be 2-3 times more accurate than a standard published algorithm based on maximising normalised mutual information. Computation times are approximately 18 times faster for the new algorithm than the standard algorithm. Examples of the use of the algorithm on two clinical examples are also given. The registration methodology lends itself immediately to the construction of dynamic mesh models in which vessel wall motion is obtained directly using registration.

Kernel Fisher discriminant for shape-based classification in epilepsy

In this paper, we present the application of kernel Fisher discriminant in the statistical analysis of shape deformations that indicate the hemispheric location of an epileptic focus. The scans of two classes of patients with epilepsy, those with a right and those with a left anterior medial temporal lobe focus (RATL and LATL), as validated by clinical consensus and subsequent surgery, were compared to a set of age and sex matched healthy volunteers using both volume and shape based features. Shape-based features are derived from the displacement field characterizing the non-rigid deformation between the left and right hippocampi of a control or a patient as the case may be. Using the shape-based features, the results show a significant improvement in distinguishing between the controls and the rest (RATL and LATL) vis-a-vis volume-based features. Using a novel feature, namely, the normalized histogram of the 3D displacement field, we also achieved significant improvement over the volume-based feature in classifying the patients as belonging to either of the two classes LATL or RATL, respectively. It should be noted that automated identification of hemispherical foci of epilepsy has not been previously reported.

Validation of an accelerated ‘demons’ algorithm for deformable image registration in radiation therapy

A greyscale-based fully automatic deformable image registration algorithm, originally known as the 'demons' algorithm, was implemented for CT image-guided radiotherapy. We accelerated the algorithm by introducing an 'active force' along with an adaptive force strength adjustment during the iterative process. These improvements led to a 40% speed improvement over the original algorithm and a high tolerance of large organ deformations. We used three methods to evaluate the accuracy of the algorithm. First, we created a set of mathematical transformations for a series of patient's CT images. This provides a 'ground truth' solution for quantitatively validating the deformable image registration algorithm. Second, we used a physically deformable pelvic phantom, which can measure deformed objects under different conditions. The results of these two tests allowed us to quantify the accuracy of the deformable registration. Validation results showed that more than 96% of the voxels were within 2 mm of their intended shifts for a prostate and a head-and-neck patient case. The mean errors and standard deviations were 0.5 mm+/-1.5 mm and 0.2 mm+/-0.6 mm, respectively. Using the deformable pelvis phantom, the result showed a tracking accuracy of better than 1.5 mm for 23 seeds implanted in a phantom prostate that was deformed by inflation of a rectal balloon. Third, physician-drawn contours outlining the tumour volumes and certain anatomical structures in the original CT images were deformed along with the CT images acquired during subsequent treatments or during a different respiratory phase for a lung cancer case. Visual inspection of the positions and shapes of these deformed contours agreed well with human judgment. Together, these results suggest that the accelerated demons algorithm has significant potential for delineating and tracking doses in targets and critical structures during CT-guided radiotherapy.

A new & robust information theoretic measure and its application to image alignment

In this paper we develop a novel measure of information in a random variable based on its cumulative distribution that we dub cumulative residual entropy (CRE). This measure parallels the well known Shannon entropy but has the following advantages: (1) it is more general than the Shannon Entropy as its definition is valid in the discrete and continuous domains, (2) it possess more general mathematical properties and (3) it can be easily computed from sample data and these computations asymptotically converge to the true values. Based on CRE, we define the cross-CRE (CCRE) between two random variables, and apply it to solve the image alignment problem for parameterized (3D rigid and affine) transformations. The key strengths of the CCRE over using the mutual information (based on Shannon's entropy) are that the former has significantly larger tolerance to noise and a much larger convergence range over the field of parameterized transformations. We demonstrate these strengths via experiments on synthesized and real image data.

Image registration via level-set motion: applications to atlas-based segmentation

Image registration is an often encountered problem in various fields including medical imaging, computer vision and image processing. Numerous algorithms for registering image data have been reported in these areas. In this paper, we present a novel curve evolution approach expressed in a level-set framework to achieve image intensity morphing and a simple non-linear PDE for the corresponding coordinate registration. The key features of the intensity morphing model are that (a) it is very fast and (b) existence and uniqueness of the solution for the evolution model are established in a Sobolev space as opposed to using viscosity methods. The salient features of the coordinate registration model are its simplicity and computational efficiency. The intensity morph is easily achieved via evolving level-sets of one image into the level-sets of the other. To explicitly estimate the coordinate transformation between the images, we derive a non-linear PDE-based motion model which can be solved very efficiently. We demonstrate the performance of our algorithm on a variety of images including synthetic and real data. As an application of the PDE-based motion model, atlas based segmentation of hippocampal shape from several MR brain scans is depicted. In each of these experiments, automated hippocampal shape recovery results are validated via manual "expert" segmentations.

Coupling dense and landmark-based approaches for nonrigid registration

In this paper, we investigate the introduction of cortical constraints for non rigid intersubject brain registration. We extract sulcal patterns with the active ribbon method, presented by Le Goualher et al. (1997). An energy based registration method (Hellier et al., 2001), which will be called photometric registration method in this paper, makes it possible to incorporate the matching of cortical sulci. The local sparse similarity and the photometric similarity are, thus, expressed in a unified framework. We show the benefits of cortical constraints on a database of 18 subjects, with global and local assessment of the registration. This new registration scheme has also been evaluated on functional magnetoencephalography data. We show that the anatomically constrained registration leads to a substantial reduction of the intersubject functional variability.

Local frequency representations for robust multimodal image registration

Automatic registration of multimodal images involves algorithmically estimating the coordinate transformation required to align the data sets. Most existing methods in the literature are unable to cope with registration of image pairs with large nonoverlapping field of view (FOV). We propose a robust algorithm, based on matching dominant local frequency image representations, which can cope with image pairs with large nonoverlapping FOV. The local frequency representation naturally allows for processing the data at different scales/resolutions, a very desirable property from a computational efficiency view point. Our algorithm involves minimizing-over all rigid/affine transformations--the integral of the squared error (ISE or L2 E) between a Gaussian model of the residual and its true density function. The residual here refers to the difference between the local frequency representations of the transformed (by an unknown transformation) source and target data. We present implementation results for image data sets, which are misaligned magnetic resonance (MR) brain scans obtained using different image acquisition protocols as well as misaligned MR-computed tomography scans. We experimently show that our L2E-based scheme yields better accuracy over the normalized mutual information.