Nonrigid registration using free-form deformations: application tobreast MR images

In this paper we present a new approach for the nonrigid registration of contrast-enhanced breast MRI. A hierarchical transformation model of the motion of the breast has been developed. The global motion of the breast is modeled by an affine transformation while the local breast motion is described by a free-form deformation (FFD) based on B-splines. Normalized mutual information is used as a voxel-based similarity measure which is insensitive to intensity changes as a result of the contrast enhancement. Registration is achieved by minimizing a cost function, which represents a combination of the cost associated with the smoothness of the transformation and the cost associated with the image similarity. The algorithm has been applied to the fully automated registration of three-dimensional (3-D) breast MRI in volunteers and patients. In particular, we have compared the results of the proposed nonrigid registration algorithm to those obtained using rigid and affine registration techniques. The results clearly indicate that the nonrigid registration algorithm is much better able to recover the motion and deformation of the breast than rigid or affine registration algorithms.     

Coincident bit counting-a new criterion for image registration

A similarity measure based on the number of coincident bits in multichannel images is presented. The similarity criterion incorporated in the image registration algorithm uses a coincident bit counting (CBC) method to obtain the number of matching bits between the frames of interest. The CBC method not only performs favorably compared with traditional techniques, but also renders simpler implementation in conventional computing machines. An image registration algorithm that incorporates the CBC criterion is proposed to determine the translation motion among sequences of images. The errors caused by noise, misregistration, and a combination of these two are analyzed. Some experimental studies using low-contrast coronary images from a digital angiographic sequence are discussed. The results compare favorably with those obtained by using other nonparametric methods.     

采用最优峰值的相位相关红外图像配准方法

对数极坐标域下的图像配准方法常因相位相关互功率谱呈现多峰分布而影响匹配准确度,为此提出了一种基于区域最优峰值的相位相关红外图像配准方法。首先将待配准图像和参考图像转换到对数极坐标域,其次以自适应巴特沃斯高通滤波为预处理,最后结合归一化互相关和相位相关的相似性测度,在合理截断互功率谱半径轴低数值段的基础上,筛选出最优峰值实现自动配准,同时研究了对数极坐标变换尺寸对匹配性能的影响,给出了最优尺寸变换比。实验结果表明:该算法对噪声污染图像表现出较好的鲁棒性,对于存在平移、旋转和缩放的红外图像具有更高的配准精度。     

融合显性和隐性度量的多模图像配准算法

为解决基于隐性度量的图像配准算法初始配准误差大容易引起失配的问题,本文提出了一种融合显性度量和隐性度量的多模图像分层配准算法。首先采用金字塔分解算法得到低分辨率待配准图像。然后在每一层金字塔图像中,先采用互信息作为显性度量,利用粒子群算法获得初始的配准参数;以此作为初始值,采用基于隐性度量的配准算法,利用融合粒子群和鲍威尔搜索法的优化算法获取更准确的配准参数。基于低分辨率图像计算得到配准参数后,先对高分辨率待配准图像进行变换,然后利用提出的上述算法进行参数优化,根据每层得到的配准参数计算最终的配准参数。最后,采用可见光与红外图像、多波段SAR图像进行了配准实验。实验结果表明,提出的算法适用于多模图像配准,能够减小配准误差,具有一定的适用性。      

前景重配准的改进帧间误差最小化非均匀性校正算法

由于基于帧间配准误差最小化的非均匀性校正算法（IRLMS）在对红外图像非均匀性的校正过程中,对于存在运动前景的场景缺乏对运动前景位移的准确估计,和配准精度较低时校正参数不能自适应地控制其更新速率,产生鬼影现象。为了解决这一问题,提出了一种改进的帧间误差最小化非均匀性校正方法。该方法使用LK 光流对场景中的运动前景进行重新配准,估计出运动位移,修正误差图像,以克服前景运动产生的鬼影现象;同时通过估计出相邻帧图像之间去除非均匀性后的相位相关矩阵的峰值,以其峰值自适应地修正参数更新的速率,以克服在配准精度较低时校正参数更新过快造成的影响。实验结果表明:该方法能够克服前景运动和配准精度较低时产生的鬼影现象,有效地提高了IRLMS 算法的实用性。     

Modelling prostate motion for data fusion during image-guided interventions

There is growing clinical demand for image registration techniques that allow multimodal data fusion for accurate targeting of needle biopsy and ablative prostate cancer treatments. However, during procedures where transrectal ultrasound (TRUS) guidance is used, substantial gland deformation can occur due to TRUS probe pressure. In this paper, the ability of a statistical shape/motion model, trained using finite element simulations, to predict and compensate for this source of motion is investigated. Three-dimensional ultrasound images acquired on five patient prostates, before and after TRUS-probe-induced deformation, were registered using a nonrigid, surface-based method, and the accuracy of different deformation models compared. Registration using a statistical motion model was found to outperform alternative elastic deformation methods in terms of accuracy and robustness, and required substantially fewer target surface points to achieve a successful registration. The mean final target registration error (based on anatomical landmarks) using this method was 1.8 mm. We conclude that a statistical model of prostate deformation provides an accurate, rapid and robust means of predicting prostate deformation from sparse surface data, and is therefore well-suited to a number of interventional applications where there is a need for deformation compensation.     

基于LK和FAST的时间序列图像快速配准算法

LK光流算法是一种精确高效的特征跟踪算法,能够较大幅度提高图像配准的精度和速度。针对时间序列图像的配准问题,基于LK光流算法,通过基于图像金字塔的方式跟踪改进后的FAST特征角点,采用一种鲁棒的单应矩阵估计算法解算配准参数,提出了一种基于LK光流和改进FAST特征的实时鲁棒配准算法。通过一组时间序列图像从配准精度和配准速度两个方面对所提出算法的性能进行了验证分析,平均重投影误差为0.16,平均处理速度为30 Hz。实验结果表明,该算法能够提取稳定的FAST角点,快速准确地跟踪匹配序列图像之间的特征,较好地解决时间序列图像的实时配准问题。     

基于点云配准的多固态激光雷达标定算法

针对多个固态激光雷达协同工作时,需要准确地进行外参标定的实际需求,提出一种基于点云配准的多固态激光雷达自动标定算法。该标定算法由标定物分割、初始配准和精确配准三个阶段构成。在标定物分割阶段,首先通过叠加多帧非重复扫描数据制作标定点云,再使用半径滤波和体素下采样滤波分割出纹理特征明显的目标点云。在初始配准阶段,使用3D-HARRIS算法提取关键点,并使用方向直方图(SHOT)特征描述子进行特征描述,然后匹配对应点并使用采样一致算法完成初始配准;在精配准阶段使用迭代最近邻(ICP)算法进行精确配准,从而获得精确的外参标定效果。在Bunny兔数据集和现场获得的数据上进行实验,结果表明,当保证配准平均误差小于1 mm的前提下,所提出算法的性能优于多种现有算法。     

Semiautomatic 3-D image registration as applied to interventional MRI liver cancer treatment

We evaluated semiautomatic, voxel-based registration methods for a new application, the assessment and optimization of interventional magnetic resonance imaging (I-MRI) guided thermal ablation of liver cancer. The abdominal images acquired on a low-field-strength, open I-MRI system contain noise, motion artifacts, and tissue deformation. Dissimilar images can be obtained as a result of different MRI acquisition techniques and/or changes induced by treatments. These features challenge a registration algorithm. We evaluated one manual and four automated methods on clinical images acquired before treatment, immediately following treatment, and during several follow-up studies. Images were T2-weighted, T1-weighted Gd-DTPA enhanced, T1-weighted, and short-inversion-time inversion recovery (STIR). Registration accuracy was estimated from distances between anatomical landmarks. Mutual information gave better results than entropy, correlation, and variance of gray-scale ratio. Preprocessing steps such as masking and an initialization method that used two-dimensional (2-D) registration to obtain initial transformation estimates were crucial. With proper preprocessing, automatic registration was successful with all image pairs having reasonable image quality. A registration accuracy of approximately equal to 3 mm was achieved with both manual and mutual information methods. Despite motion and deformation in the liver, mutual information registration is sufficiently accurate and robust for useful applications in I-MRI thermal ablation therapy.     

红外搜索跟踪系统中实时图像配准的研究和实现

为实现在红外探测器运动的条件下地面弱小目标的快速搜索与跟踪,提出了一种基于相位相关法配准和角点法配准相结合的红外图像配准方法实现对红外图像的运动补偿。根据相位相关法配准和角点法配准的特点,首先利用相位相关法对运动中的红外图像进行粗配准,然后利用相位相关法配准的结果作为角点法配准的先验信息实现图像的高精度配准。实验结果表明该算法能够在不降低配准精度的条件下,实时地为红外搜索跟踪系统提供红外图像的位移信息,有效地提高了红外搜索跟踪系统对弱小目标的检测率和检测精度。     

基于傅里叶梅林变换的SURF算法

针对加速鲁棒性特征算法,在没有后续去误匹配等处理的情况下,对存在较大旋转角度的两幅待匹配图像,匹配精度较低的问题,提出了一种基于傅里叶梅林变换的SURF算法。该算法通过对待匹配图像和参考图像实施傅里叶变换和梅林变换,利用能量谱求出两幅图像发生的旋转角度,并利用SURF算法找出图像间发生的平移和尺度变化,实现了图像间的匹配。实验结果表明,该算法可有效地实现图像间存在较大旋转角度时的几何匹配,且相比已有的SIFT和SURF算法,具有更好的匹配效果。     

Elastic registration of fMRI data using Bézier-spline transformations

A three-dimensional (3-D) elastic registration algorithm has been developed to find a veridical transformation that maps activation patterns from functional magnetic resonance imaging (fMRI) experiments onto a 3-D high-resolution anatomical dataset. The proposed algorithm uses trilinear Bézier-splines and a 3-D voxel-based optimization technique to determine the transformation that maps the functional data onto the coordinate system of the anatomical dataset. Simple conditions are presented which guarantee that the data are mapped one-to-one on each other. Two voxel-based similarity measures, the linear correlation coefficient and the entropy correlation coefficient, are used. Their performance with respect to the registration of fMRI data is compared. Tests on simulated and real data have been performed to evaluate the accuracy of the method. Our results demonstrate that subvoxel accuracy can be achieved even for noisy low-resolution multislice datasets with local distortions up to 10 mm. Although the method is optimized for the registration of functional and anatomical MR images, it can also be used for solving other elastic registration problems.     

Sparse registration for three-dimensional stress echocardiography

Three-dimensional (3-D) stress echocardiography is a novel technique for diagnosing cardiac dysfunction. It involves evaluating wall motion of the left ventricle, by visually analyzing ultrasound images obtained in rest and in different stages of stress. Since the acquisitions are performed minutes apart, variabilities may exist in the visualized cross-sections. To improve anatomical correspondence between rest and stress, aligning the images is essential. We developed a new intensity-based, sparse registration method to retrieve standard anatomical views from 3-D stress images that were equivalent to the manually selected views in the rest images. Using sparse image planes, the influence of common image artifacts could be reduced. We investigated different similarity measures and different levels of sparsity. The registration was tested using data of 20 patients and quantitatively evaluated based on manually defined anatomical landmarks. Alignment was best using sparse registration with two long-axis and two short-axis views; registration errors were reduced significantly, to the range of interobserver variabilities. In 91% of the cases, the registration result was qualitatively assessed as better than or equal to the manual alignment. In conclusion, sparse registration improves the alignment of rest and stress images, with a performance similar to manual alignment. This is an important step towards objective quantification in 3-D stress echocardiography.      

基于直线空间结构特征的图像匹配方法

直线匹配在图像配准、目标识别等领域有重要应用。提出利用直线空间结构特征进行匹配的方法,算法采用粗精两级匹配的思路,粗匹配阶段用四参数仿射变换模型对待匹配图像进行粗步校正,精匹配阶段利用反映直线空间结构分布特征的直线交点方位角直方图,把直线匹配映射成两个点集的匹配,结合随机抽样共识(RANSAC)算法和参数迭代一致性方法剔除错配点对,实现图像的自动匹配。实验结果表明,本文方法能够取得较高的匹配精度。     

基于传感器参数和改良CPD算法的红外与可见光图像点云配准

为实现前下视红外图像与可见光图像的有效配准,提出了一种基于传感器参数和改良CPD算法的红外与可见光图像自动配准算法.首先,利用传感器的姿态和高度信息,对前下视红外图像进行几何透视校正,消除图像间的旋转和比例缩放等差异;然后,对可见光图像和校正后的红外图像提取边缘特征点,基于相似变换模型,利用改良的CPD算法对其实现精配准.实测数据验证表明,该方法能实现对红外与可见光图像的良好配准,配准精度达到1个像素左右.     

Three-dimensional (3-D) reconstruction of the spine from a single X-ray image and prior vertebra models

The lateral bending test is routinely used by clinicians for the preoperative assessment of spinal mobility. The evaluation of bending motion is usually based on the qualitative analysis of a two-dimensional (2-D) antero-posterior X-ray image. The aim of this paper is to introduce a novel three-dimensional (3-D) reconstruction technique that is a prerequisite for the quantitative 3-D analysis of lateral bending motion. An algorithm was developed for the 3-D reconstruction of the spine from a single X-ray image. The X-ray is calibrated using a small calibration object and an explicit calibration algorithm. The information contained in the single X-ray is completed by registering a priori 3-D geometric models of individual vertebrae. Part of the error yielded by the 3-D/2-D registration is corrected by a vertebral alignment constraint that aims to minimize intervertebral dislocations. Three-dimensional models of 15 different scoliosis patients, obtained from a standard stereo-radiographic 3-D reconstruction, were used in simulation and validation experiments. Experimental results show that the new method is robust and accurate. With pessimistic levels of simulated noise, the average root mean square reconstruction error is 2.89 mm, which is appropriate for common clinical applications.     

一种基于图像纹理的模板匹配算法

为了提高实际工程应用中图像匹配算法计算的实时性,增强图像匹配算法对复杂场景跟踪的鲁棒性,提出了一种新的基于图像纹理的模板匹配算法(TTM)。依据邻域内像素灰度变化的趋势分别提取水平、垂直方向二值化的图像纹理矩阵,然后根据定义的一个相似性判别准则,分别度量水平、垂直两个方向二值化图像矩阵之间的相关置信度。最后,通过合成两个方向上的图像匹配置信度结果得到目标配准置信度。实验结果表明,该算法对图像光照变化、目标部分被遮挡等情况具有较好的适应性。     

Validation of object-induced MR distortion correction for framelessstereotactic neurosurgery

Spatial fidelity is a paramount issue in image guided neurosurgery. Until recently, three-dimensional computed tomography (3D CT) has been the primary modality because it provides fast volume capture with pixel level (1 mm) accuracy. While three-dimensional magnetic resonance (3D MR) images provide superior anatomic information, published image capture protocols are time consuming and result in scanner- and object-induced magnetic field inhomogeneities which raise inaccuracy above pixel size. Using available scanner calibration software, a volumetric algorithm to correct for object-based geometric distortion, and a Fast Low Angle SHot (FLASH) 3D MR-scan protocol, the authors were able to reduce mean CT to MR skin-adhesed fiducial marker registration error from 1.36 to 1.09 mm. After dropping the worst one or two of six fiducial markers, mean registration error dropped to 0.62 mm (subpixel accuracy). Three dimensional object-induced error maps present highest 3D MR spatial infidelity at the tissue interfaces (skin/air, scalp/skull) where frameless stereotactic fiducial markers are commonly applied. The algorithm produced similar results in two patient 3D MR-scans     

最优控制点选取的遥感图像亚像素配准算法

分析了已有图像配准算法应用遥感图像配准方面的面临的问题,针对提高不同模态遥感图像配准精度问题,提出了一种人工辅助多模态图像配准算法。该算法首先由人工对待配准图像(测试图像)和参考图像输入控制点,利用高斯差分算子确定测试图像极值点;其次利用投影变换和最小线性平方差算法计算双边平均配准误差;最后,根据配准误差自动对控制点进行亚像素调整,取得亚像素级控制点匹配,实现遥感图像精确配准。实验结果表明,该算法具备更高的配准精度。      

基于直方图散度和小波分解的图像配准算法

针对基于互信息的图像配准方法运行时间长、抗噪声差的问题,提出了一种基于新的相似性测度的图像配准算法,在分析两幅图像的联合直方图点集分布情况的基础上,定义了直方图点集的散度公式,并将其作为相似性测度.为加速参数的搜索过程,配准是在小波域内进行的,并使用遗传算法与Powell算法相结合的方法来优化参数.实验证明,相对于基于互信息的图像配准算法,本算法参数优化方法选择可以更灵活,时间消耗更少,噪声鲁棒性更优.