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Comparison of registration methods using mamographic images

Comparison of registration methods using mamographic images

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IEEE International Conference on Image Processing

作者： Yago Díez Arnau Oliver Xavier Lladó Robert Martí Computer Vision and Robotics Group University of Girona Spain

The detection of architectural distortions and abnormal structures in mammographic images can be based on the analysis of bilateral and temporal cases using image registration. This work presents a quantitative evaluation of eight state-of-the art image registration methods applied to mammographic images. These methods range from a global and rigid transformation to local deformable paradigms using various metrics and multi-resolution approaches. The aim of this study is to assess the suitability of these methods for mammographic image analysis. Evaluation using temporal cases based on quantitative analysis gives an indication of the accuracy and robustness of the different algorithms. This work shows that local deformable paradigms (B-spline deformations) obtain the most accurate registration results.

关键词： Measurement Spline Image registration Breast Image resolution Biomedical imaging Bars

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Two steps natural actor critic learning for underwater cable tracking

Two steps natural actor critic learning for underwater cable...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Andres El-Fakdi Marc Carreras Enric Galceran Computer Vision and Robotics Group University of Girona Girona Spain

This paper proposes a field application of a high-level Reinforcement Learning (RL) control system for solving the action selection problem of an autonomous robot in a cable tracking task. The underwater vehicle ICTINEU AUV learns to perform a visual based cable tracking task in a two step learning process. First, a policy is computed by means of simulation where a hydrodynamic model of the vehicle simulates the cable following task. Once the simulated results are accurate enough, in a second step, the learned-in-simulation policy is transferred to the vehicle where the learning procedure continues in a real environment, improving the initial policy. The natural actor-critic (NAC) algorithm has been selected to solve the problem in both steps. This algorithm aims to take advantage of policy gradient and value function techniques for fast convergence. Actor's policy gradient gives convergence guarantees under function approximation and partial observability while critic's value function reduces variance of the estimates update improving the convergence process.

关键词： Underwater cables Underwater tracking Computational modeling Convergence Learning Control systems Robots Underwater vehicles Hydrodynamics Remotely operated vehicles

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Augmented reality approach for paper map visualization

Augmented reality approach for paper map visualization

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作者： Adithya, C. Kowsik, K. Namrata, D. Nageli, V.S. Shrivastava, Sangeeta Rakshit, S. B M Shrinivassayya College of Engineering Dept. of Information Science Bangalore India Computer Vision Group Centre for Artificial Intelligence and Robotics Bangalore India

ISBN: (纸本)9788183713696

Paper map visualization is good value proposition, even in the everything is digital world, because of the huge information density and ease of use at any remote or mobile location, especially in the military context. Completely doing away with the paper map brings in a discomfort factor for the military user. In this paper, we present a paper map data visualization solution that augments the information from the digital world onto a spread of a paper map. Augmented Reality techniques are used to enhance paper maps digitally resulting in a 3D visualization space with some interactions. The dynamic information of the terrain, placing virtual objects and interaction are features of the digital world that are superimposed onto a paper map. We have used ARToolkit marker tracking based approach and a see through Head Mounted Device for implementation. The digital elevation data in VRML format is split into smaller bits before rendering. The rendering is done after culling the relevant part of the terrain data and the same is popped up in stereo for enhanced visualization. The user can place virtual objects using markers. The distance between markers (user and reference) is calculated and is used for interactive features. The interaction options are load/select, slice/split and latch/freeze. We have achieved better performance by loading only the region of interest and not the complete terrain. The paper also illustrates the basic hardware set-up required for implementation. © 2010 Kongu Engineering College.

关键词： Augmented reality

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A Rectangle-Intersection Algorithm with Limited Resource Requirements

A Rectangle-Intersection Algorithm with Limited Resource Req...

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International Conference on computer and Information Technology (CIT)

作者： Frank Dévai László Neumann Department of Informatics London South Bank University London UK ICREA and Computer Vision and Robotics Group University of Girona Spain ICREA and Computer Vision and Robotics Group University of Girona Spain

It is demonstrated that power-efficient software also requires simplicity and the use of elementary data structures in addition to asymptotically optimal CPU and memory requirements. Though in the past few decades much effort has been devoted to reporting all k intersecting pairs in a planar set of n iso-oriented rectangles, all the known algorithms using elementary data structures, such as linked lists, are either not optimal, report some intersections repeatedly or fail to report some altogether. A simpler algorithm is proposed that uses only linear arrays and that takes O(n log n + k) time and O(n) space, which are the best possible under the algebraic RAM model of computation. The algorithm is designed for systems with limited resources, such as mobile 3D graphics, and can be implemented in less than 100 lines of Java code.

关键词： Arrays Algorithm design and analysis Java Software algorithms Software Rendering (computer graphics)

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Tracking method for Human computer Interaction using Wii Remote

Tracking method for Human Computer Interaction using Wii Rem...

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International Conference on Emerging Trends in robotics and Communication Technologies (INTERACT)

作者： L Bharath S Shashank V S Nageli Sangeeta Shrivastava S Rakshit BNM Institute of Technology Bangalore India Computer Vision Group Center for Artificial Intelligence and Robotics Bangalore India

Over the years the techniques and methods that have been used to interact with the computers have evolved significantly. From the primitive use of punch cards to the latest touch screen panels we can see the vast improvement in interaction with the system. The same applies to the projection technology for creating various geometric displays. Researchers are exploring new ways of projection and interaction technologies to create `illusion' that can reshape our perception and interaction methodologies. In this paper we implemented (Infrared) IR light source tracking system which can be used for tracking single and multiple IR light source positions and can be used effectively in optical tracking problems such as tracking head position which is all pervasive requirement in a Virtual Reality System. We present a method of mapping IR light source position and orientation to an image. We defined the interaction techniques for an image manipulations with the help of fingers such as zoom, tilt/rotate, scale etc. We can extend our tracking capabilities to implement the touch screen feature to commercial applications. The paper illustrates the hardware and software used for implementing IR light source tracking based applications.

关键词： Head Bluetooth Light emitting diodes Cameras Tracking Software Libraries

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On adapting pixel-based classification to unsupervised texture segmentation

On adapting pixel-based classification to unsupervised textu...

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2010 20th International Conference on Pattern Recognition, ICPR 2010

作者： Melendez, Jaime Puig, Domenec Angel Garcia, Miguel Intelligent Robotics and Computer Vision Group Rovira I Virgili University Dept. of Computer Science and Mathematics Av. Paisos Catalans 26 43007 Tarragona Spain Autonomous University of Madrid Dept. of Informatics Engineering Francisco Tomas y Valiente 11 28049 Madrid Spain

ISBN: (纸本)9780769541099

An inherent problem of unsupervised texture segmentation is the absence of previous knowledge regarding the texture patterns present in the images to be segmented. A new efficient methodology for unsupervised image segmentation based on texture is proposed. It takes advantage of a supervised pixel-based texture classifier trained with feature vectors associated with a set of texture patterns initially extracted through a clustering algorithm. Therefore, the final segmentation is achieved by classifying each image pixel into one of the patterns obtained after the previous clustering process. Multi-sized evaluation windows following a top-down approach are applied during pixel classification in order to improve accuracy. The proposed technique has been experimentally validated on MeasTex, VisTex and Brodatz compositions, as well as on complex ground and aerial outdoor images. Comparisons with state-of-the-art unsupervised texture segmenters are also provided. © 2010 IEEE.

关键词： Clustering algorithms

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Prostate Segmentation with Texture Enhanced Active Appearance Model

Prostate Segmentation with Texture Enhanced Active Appearanc...

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International IEEE Conference on Signal-Image Technologies and Internet-Based System

作者： Soumya Ghose Arnau Oliver Robert Martí Xavier Lladó Jordi Freixenet Joan C. Vilanova Fabrice Meriaudeau Laboratoire Le21 - UMR CNRS 5158 Université de Bourgogne Le Creusot France Computer Vision and Robotics Group Campus Montilivi Girona Spain Computer Vision and Robotics Group University of Girona Girona Spain Comput. Vision & Robot. Group Univ. of Girona Girona Spain Clinica Girona Girona Spain

Prostate contour segmented from Trans Rectal Ultra Sound (TRUS) and Magnetic Resonance (MR) images could improve inter-modality registration accuracy and reduce computational complexity of the procedure. However, prostate segmentation in each of these modalities is a challenging task in presence of imaging artifacts, intensity heterogeneities, and large inter patient shape variabilities of the prostate. We propose to use Haar wavelet approximation coefficients to extract texture features of the prostate region in both modalities to guide a deformable parametric model to segment the prostate in a multi-resolution framework. Principal Component Analysis (PCA) of the shape and texture information of the prostate region obtained from the training data aids contour propagation of the deformable parametric model. Prior knowledge of the optimization space is utilized for optimal segmentation of the prostate. Our method achieves a mean Dice Similarity Coefficient (DSC) value of 0.95±0.01, with mean segmentation time of 0.72±0.05 seconds in a leave-one-out validation framework with 25 TRUS images grabbed from a video sequence. DSC value of 0.88±0.06 with a mean segmentation time of 0.81±0.02 seconds was recorded for MR images when validated with 15 central slice images of 15 datasets from the MICCAI prostate segmentation challenge 2009. Our proposed method performs computationally efficient accurate multi-modal prostate segmentation in presence of intensity heterogeneities and imaging artifacts.

关键词： Image segmentation Active appearance model Shape Wavelet transforms Approximation methods Accuracy Principal component analysis

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Robust color image segmentation through tensor voting

Robust color image segmentation through tensor voting

引用

International Conference on Pattern Recognition

作者： Moreno, Rodrigo Garcia, Miguel Angel Puig, Domenec Rovira I Virgili University Intelligent Robotics and Computer Vision Group Dept. of Computer Science and Mathematics Av. Països Catalans 26 43007 Tarragona Spain Autonomous University of Madrid Dept. of Informatics Engineering Francisco Tomas y Valiente 11 28049 Madrid Spain

ISBN: (纸本)9780769541099

This paper presents a new method for robust color image segmentation based on tensor voting, a robust perceptual grouping technique used to extract salient information from noisy data. First, an adaptation of tensor voting to both image denoising and robust edge detection is applied. Second, pixels in the filtered image are classified into likely-homogeneous and likely-inhomogeneous by means of the edginess maps generated in the first step. Third, the likely-homogeneous pixels are segmented through an efficient graph-based segmenter. Finally, a modified version of the same graph-based segmenter is applied to the likely-inhomogeneous pixels in order to obtain the final segmentation. Experiments show that the proposed algorithm has a better performance than the state-of-the-art. © 2010 IEEE.

关键词： Pixels

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Selective Submap Joining for underwater large scale 6-DOF SLAM

Selective Submap Joining for underwater large scale 6-DOF SL...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Josep Aulinas Xavier Lladó Joaquim Salvi Yvan R. Petillot Computer Vision and Robotics Group University of Girona Girona Spain Oceans Systems Lab Heriot Watt University Edinburgh United Kingdom

Autonomous Underwater Vehicles (AUVs) need positioning systems different than the Global Positioning System (GPS), which does not work in underwater scenarios. A possible solution to this lack of GPS signal are the Simultaneous Localization and Mapping (SLAM) algorithms. SLAM algorithms aim to build a map while simultaneously localize the vehicle within it. These algorithms suffer from several limitations in front of large scale scenarios. For instance, they do not perform consistent maps for large areas, mainly because uncertainties increase with the scenario. In addition, the computational cost increases with the map size. It has been demonstrated that the use of local maps reduces computational cost and improves map consistency. Following this idea, in this paper we propose a new SLAM technique based on using independent local maps, combined with a global level stochastic map. The global level contains the relative transformations between local maps. These local maps are updated once a new loop is detected and the amount of overlapping between local maps is high. Thus, maps sharing a high number of features are updated through fusion, maintaining the correlation between landmarks and vehicle. Experimental results on real data obtained from the REMUS-100 AUV show that our approach is able to obtain large map areas consistently.

关键词： Vehicles Simultaneous localization and mapping Sonar navigation Uncertainty Underwater vehicles

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Multimodal Prostate Registration Using Thin-Plate Splines from Automatic Correspondences

Multimodal Prostate Registration Using Thin-Plate Splines fr...

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Proceedings of the Digital Image Computing: Technqiues and Applications (DICTA)

作者： Jhimli Mitra Arnau Oliver Robert Martí Xavier Lladó Joan C. Vilanova Fabrice Meriaudeau Computer Vision and Robotics Group University of Girona Girona Spain Laboratoire Le2I - UMR CNRS 5158 Université de Bourgogne Le Creusot France Computer Vision and Robotics Group Campus Montilivi Girona Spain Clinica Girona Calle Joan Maragal126 Girona Spain

Registration is an important step during prostate biopsy with interventional Ultrasound (US) to project the Magnetic Resonance (MR) information of the corresponding slice of a pre-acquired MR volume of the same patient. This paper presents a method of deformable registration between US and MR prostate modalities using Thin-Plate Splines (TPS). The use of radial-basis functions such as splines is a typical approach for deformable registration wherein, TPS are more computationally efficient than Bsplines. However, registration with TPS employs strategic choice of correspondence points in the moving and reference images and therefore, has been rarely used by researchers for prostate registration. Aiming to deal with this issue, a novel method to automatically choose correspondence points (control points) based on the prostate geometry is presented in this paper. Shepard's interpolation is used with the TPS in order to deal with the interpolation artifacts produced by reverse TPS transform. To evaluate the accuracy of our correspondence generation method, two intuitive geometric methods for prostate contour sampling are also implemented. Our registration results are validated using 4 patient datasets obtaining an average DSC of 0.97 ± 0.01.

关键词： Interpolation Shape Spline Pixel Image resolution Biopsy Accuracy

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