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At least 829 records · Page 46

Robotic Vision-Based Localization in an Urban Environment

A system of electronic hardware and software, now undergoing development, automatically estimates the location of a robotic land vehicle in an urban environment using a somewhat imprecise map, which has been generated in advance from aerial imagery. This system does not utilize the Global Positioning System and does not include any odometry, inertial measurement units, or any other sensors except a stereoscopic pair of black-and-white digital video cameras mounted on the vehicle. Of course, the system also includes a computer running software that processes the video image data. The software consists mostly of three components corresponding to the three major image-data-processing functions: Visual Odometry This component automatically tracks point features in the imagery and computes the relative motion of the cameras between sequential image frames. This component incorporates a modified version of a visual-odometry algorithm originally published in 1989. The algorithm selects point features, performs multiresolution area-correlation computations to match the features in stereoscopic images, tracks the features through the sequence of images, and uses the tracking results to estimate the six-degree-of-freedom motion of the camera between consecutive stereoscopic pairs of images (see figure). Urban Feature Detection and Ranging Using the same data as those processed by the visual-odometry component, this component strives to determine the three-dimensional (3D) coordinates of vertical and horizontal lines that are likely to be parts of, or close to, the exterior surfaces of buildings. The basic sequence of processes performed by this component is the following: 1. An edge-detection algorithm is applied, yielding a set of linked lists of edge pixels, a horizontal-gradient image, and a vertical-gradient image. 2. Straight-line segments of edges are extracted from the linked lists generated in step 1. Any straight-line segments longer than an arbitrary threshold (e.g., 30 pixels) are assumed to belong to buildings or other artificial objects. 3. A gradient-filter algorithm is used to test straight-line segments longer than the threshold to determine whether they represent edges of natural or artificial objects. In somewhat oversimplified terms, the test is based on the assumption that the gradient of image intensity varies little along a segment that represents the edge of an artificial object.

Mchenry, Michael↗

Astrobiology Survey of a Lava Cave at Lava Beds National Monument by a Rover Carrying a Remote Sensing Instrument Payload

We report here on a survey of a lava tube cave by a rover that is instrumented for astrobiology missions. The NASA Ames testbed rover, CaveR, was deployed in Valentine Cave in Lava Beds National Monument (N. CA, USA) during August of 2018. The rover carried an instrument package consisting of Near Infrared and Visible Spectrometer System (NIRVSS) a point spectrometer operating in 1590-3400 nm range, sensitive to H2O and -OH bearing minerals, pyroxenes, and carbonates (Roush, et al 2018); the bore sighted Drill Operations Camera (DOC), a monochrome imager illuminated by LEDs at 410, 540, 640, 740, 905 and 940 nm; a Realsense ™ depth sensor system for 3D model generation; and a high resolution DSLR stereo camera. The payload was mounted on a tiltable instrument platform attached to the left side of the rover. The rover was driven manually in the cave by field operators, following instructions from a remote science operations team, and simulating a mission concept with science-guided autonomy. A simulated mission took place for 3 days with a team of 3 scientists selecting targets and interpreting data from the payload. To begin the mission, the rover drove along one wall of the cave imaging continuously with the Realsense in 20 m cave segments, three total. At the start of each day, the images from a 20m segment and a panorama stitched from them were provided to the science team to examine. The science team used these data to prioritize specific points along the cave wall for the collection of NIRVSS, DOC, and DSLR data. The objective of the data collection was to identify and study putative biological and mineralogical features in the cave. The data were delivered in xGDS, a customized mapping, planning, and data base management software developed at NASA Ames (Lee, et al 2013). Once the targets for further observations were selected, a plan for collecting the observations (positions in the cave and pointing for each requested observation) was constructed using xGDS and delivered to a rover team to execute the science data collection plan. Acquired data were delivered back to the science team for analysis. Preliminary results from the experiment illustrate the utility of the system (rover plus payload) to study the cave geology and mineralogy and its potential for identifying biomineral features.

Wong, Uland↗

WE-G-BRF-06: Positron Emission Tomography (PET)-Guided Dynamic Lung Tumor Tracking for Cancer Radiotherapy: First Patient Simulations

Purpose: PET-guided dynamic tumor tracking is a novel concept of biologically targeted image guidance for radiotherapy. A dynamic tumor tracking algorithm based on list-mode PET data has been developed and previously tested on dynamic phantom data. In this study, we investigate if dynamic tumor tracking is clinically feasible by applying the method to lung cancer patient PET data. Methods: PET-guided tumor tracking estimates the target position of a segmented volume in PET images reconstructed continuously from accumulated coincidence events correlated with external respiratory motion, simulating real-time applications, i.e., only data up to the current time point is used to estimate the target position. A target volume is segmented with a 50% threshold, consistently, of the maximum intensity in the predetermined volume of interest. Through this algorithm, the PET-estimated trajectories are quantified from four lung cancer patients who have distinct tumor location and size. The accuracy of the PET-estimated trajectories is evaluated by comparing to external respiratory motion because the ground-truth of tumor motion is not known in patients; however, previous phantom studies demonstrated sub-2mm accuracy using clinically derived 3D tumor motion. Results: The overall similarity of motion patterns between the PET-estimated trajectories and the external respiratory traces implies that the PET-guided tracking algorithm can provide an acceptable level of targeting accuracy. However, there are variations in the tracking accuracy between tumors due to the quality of the segmentation which depends on target-to-background ratio, tumor location and size. Conclusion: For the first time, a dynamic tumor tracking algorithm has been applied to lung cancer patient PET data, demonstrating clinical feasibility of real-time tumor tracking for integrated PET-linacs. The target-to-background ratio is a significant factor determining accuracy: screening during treatment planning would enable appropriate patient selection for PET-guided dynamic tumor tracking in radiotherapy.

60 APPLIED LIFE SCIENCES↗

Shape-Constrained Segmentation Approach for Arctic Multiyear Sea Ice Floe Analysis

The melting of sea ice is correlated to increases in sea surface temperature and associated climatic changes. Therefore, it is important to investigate how rapidly sea ice floes melt. For this purpose, a new Tempo Seg method for multi temporal segmentation of multi year ice floes is proposed. The microwave radiometer is used to track the position of an ice floe. Then,a time series of MODIS images are created with the ice floe in the image center. A Tempo Seg method is performed to segment these images into two regions: Floe and Background.First, morphological feature extraction is applied. Then, the central image pixel is marked as Floe, and shape-constrained best merge region growing is performed. The resulting tworegionmap is post-filtered by applying morphological operators.We have successfully tested our method on a set of MODIS images and estimated the area of a sea ice floe as afunction of time.

SEA ICE FLOE↗

Computer-aided pulmonary image analysis in small animal models

Purpose: To develop an automated pulmonary image analysis framework for infectious lung diseases in small animal models. Methods: The authors describe a novel pathological lung and airway segmentation method for small animals. The proposed framework includes identification of abnormal imaging patterns pertaining to infectious lung diseases. First, the authors’ system estimates an expected lung volume by utilizing a regression function between total lung capacity and approximated rib cage volume. A significant difference between the expected lung volume and the initial lung segmentation indicates the presence of severe pathology, and invokes a machine learning based abnormal imaging pattern detection system next. The final stage of the proposed framework is the automatic extraction of airway tree for which new affinity relationships within the fuzzy connectedness image segmentation framework are proposed by combining Hessian and gray-scale morphological reconstruction filters. Results: 133 CT scans were collected from four different studies encompassing a wide spectrum of pulmonary abnormalities pertaining to two commonly used small animal models (ferret and rabbit). Sensitivity and specificity were greater than 90% for pathological lung segmentation (average dice similarity coefficient > 0.9). While qualitative visual assessments of airway tree extraction were performed by the participating expert radiologists, for quantitative evaluation the authors validated the proposed airway extraction method by using publicly available EXACT’09 data set. Conclusions: The authors developed a comprehensive computer-aided pulmonary image analysis framework for preclinical research applications. The proposed framework consists of automatic pathological lung segmentation and accurate airway tree extraction. The framework has high sensitivity and specificity; therefore, it can contribute advances in preclinical research in pulmonary diseases.

60 APPLIED LIFE SCIENCES↗

Automated Cardiovascular Pathology Assessment using Semantic Segmentation and Ensemble Learning

Cardiac magnetic resonance imaging provides high spatial resolution, enabling improved extraction of important functional and morphological features for cardiovascular disease staging. Segmentation of ventricular cavities and myocardium in cardiac cine sequencing provides a basis to quantify cardiac measures such as ejection fraction. A method is presented that curtails the expense and observer bias of manual cardiac evaluation by combining semantic segmentation and disease classification into a fully automatic processing pipeline. The initial processing element consists of a robust dilated convolutional neural network architecture for voxel-wise segmentation of the myocardium and ventricular cavities. The resulting comprehensive volumetric feature matrix captures diagnostic clinical procedure data and is utilized by the final processing element to model a cardiac pathology classifier. Our approach evaluated anonymized cardiac images from a training data set of 100 patients (4 pathology groups, 1 healthy group, 20 patients per group) examined at the University Hospital of Dijon. The top average Dice index scores achieved were 0.940, 0.886, 0.849 for structure segmentation of the left ventricle (LV), myocardium and right ventricle (RV) respectively. A 5-ary pathology classification accuracy of 90% was recorded on an independent test set using the trained model. Performance results demonstrate potential for advanced machine learning methods to deliver accurate, efficient and reproducible cardiac pathological assessment.

Semantic Segmentation↗

SU-E-J-97: Quality Assurance of Deformable Image Registration Algorithms: How Realistic Should Phantoms Be?

Purpose: Deformable image registration (DIR) has widespread uses in radiotherapy for applications such as dose accumulation studies, multi-modality image fusion, and organ segmentation. The quality assurance (QA) of such algorithms, however, remains largely unimplemented. This work aims to determine how detailed a physical phantom needs to be to accurately perform QA of a DIR algorithm. Methods: Virtual prostate and head-and-neck phantoms, made from patient images, were used for this study. Both sets consist of an undeformed and deformed image pair. The images were processed to create additional image pairs with one through five homogeneous tissue levels using Otsu’s method. Realistic noise was then added to each image. The DIR algorithms from MIM and Velocity (Deformable Multipass) were applied to the original phantom images and the processed ones. The resulting deformations were then compared to the known warping. A higher number of tissue levels creates more contrast in an image and enables DIR algorithms to produce more accurate results. For this reason, error (distance between predicted and known deformation) is utilized as a metric to evaluate how many levels are required for a phantom to be a realistic patient proxy. Results: For the prostate image pairs, the mean error decreased from 1–2 tissue levels and remained constant for 3+ levels. The mean error reduction was 39% and 26% for Velocity and MIM respectively. For head and neck, mean error fell similarly through 2 levels and flattened with total reduction of 16% and 49% for Velocity and MIM. For Velocity, 3+ levels produced comparable accuracy as the actual patient images, whereas MIM showed further accuracy improvement. Conclusion: The number of tissue levels needed to produce an accurate patient proxy depends on the algorithm. For Velocity, three levels were enough, whereas five was still insufficient for MIM.

60 APPLIED LIFE SCIENCES↗

Advances in Hyperspectral Image Classification Methods for Vegetation and Agricultural Cropland Studies

Hyperspectral data are becoming more widely available via sensors on airborne and unmanned aerial vehicle (UAV) platforms, as well as proximal platforms. While space-based hyperspectral data continue to be limited in availability, multiple spaceborne Earth-observing missions on traditional platforms are scheduled for launch, and companies are experimenting with small satellites for constellations to observe the Earth, as well as for planetary missions. Land cover mapping via classification is one of the most important applications of hyperspectral remote sensing and will increase in significance as time series of imagery are more readily available. However, while the narrow bands of hyperspectral data provide new opportunities for chemistry-based modeling and mapping, challenges remain. Hyperspectral data are high dimensional, and many bands are highly correlated or irrelevant for a given classification problem. For supervised classification methods, the quantity of training data is typically limited relative to the dimension of the input space. The resulting Hughes phenomenon, often referred to as the curse of dimensionality, increases potential for unstable parameter estimates, overfitting, and poor generalization of classifiers. This is particularly problematic for parametric approaches such as Gaussian maximum likelihood–based classifiers that have been the backbone of pixel-based multispectral classification methods. This issue has motivated investigation of alternatives, including regularization of the class covariance matrices, ensembles of weak classifiers, development of feature selection and extraction methods, adoption of nonparametric classifiers, and exploration of methods to exploit unlabeled samples via semi-supervised and active learning. Data sets are also quite large, motivating computationally efficient algorithms and implementations. This chapter provides an overview of the recent advances in classification methods for mapping vegetation using hyperspectral data. Three data sets that are used in the hyperspectral classification literature (e.g., Botswana Hyperion satellite data and AVIRIS airborne data over both Kennedy Space Center and Indian Pines) are described in Section 3.2 and used to illustrate methods described in the chapter. An additional high-resolution hyperspectral data set acquired by a SpecTIR sensor on an airborne platform over the Indian Pines area is included to exemplify the use of new deep learning approaches, and a multiplatform example of airborne hyperspectral data is provided to demonstrate transfer learning in hyperspectral image classification. Classical approaches for supervised and unsupervised feature selection and extraction are reviewed in Section 3.3. In particular, nonlinearities exhibited in hyperspectral imagery have motivated development of nonlinear feature extraction methods in manifold learning, which are outlined in Section 3.3.1.4. Spatial context is also important in classification of both natural vegetation with complex textural patterns and large agricultural fields with significant local variability within fields. Approaches to exploit spatial features at both the pixel level (e.g., co-occurrence–based texture and extended morphological attribute profiles [EMAPs]) and integration of segmentation approaches (e.g., HSeg) are discussed in this context in Section 3.3.2. Recently, classification methods that leverage nonparametric methods originating in the machine learning community have grown in popularity. An overview of both widely used and newly emerging approaches, including support vector machines (SVMs), Gaussian mixture models, and deep learning based on convolutional neural networks is provided in Section 3.4. Strategies to exploit unlabeled samples, including active learning and metric learning, which combine feature extraction and augmentation of the pool of training samples in an active learning framework, are outlined in Section 3.5. Integration of image segmentation with classification to accommodate spatial coherence typically observed in vegetation is also explored, including as an integrated active learning system. Exploitation of multisensor strategies for augmenting the pool of training samples is investigated via a transfer learning framework in Section 3.5.1.2. Finally, we look to the future, considering opportunities soon to be provided by new paradigms, as hyperspectral sensing is becoming common at multiple scales from ground-based and airborne autonomous vehicles to manned aircraft and space-based platforms.

Pasolli, Edoardo↗

Visualizing the Uncertainty of Graph-based 2D Segmentation with Min-path Stability

Here, this paper presents a novel approach to visualize the uncertainty in graph-based segmentations of scalar data. Segmentation of 2D scalar data has wide application in a variety of scientific and medical domains. Typically, a segmentation is presented as a single unambiguous boundary although the solution is often uncertain due to noise or blur in the underlying data as well as imprecision in user input. Our approach provides insight into this uncertainty by computing the “min-path stability”, a scalar measure analyzing the stability of the segmentation given a set of input constraints. Our approach is efficient, easy to compute, and can be generally applied to either graph cuts or live-wire (even partial) segmentations. In addition to its general applicability, our new approach to graph cuts uncertainty visualization improves on the time complexity of the current state-of-the-art with an additional fast approximate solution. We also introduce a novel query enabled by our approach which provides users with alternate segmentations by efficiently extracting local minima of the segmentation optimization. Finally, we evaluate our approach and demonstrate its utility on data from scientific and medical applications.

97 MATHEMATICS AND COMPUTING↗

Three-dimensional visualization and characterization of bone structure using reconstructed in-vitro μCT images: A pilot study for bone microarchitecture analysis

Micro Computed Tomography (μCT) has been largely used to perform micrometer scale imaging of specimens, bone biopsies and small animals for the study of porous or cavity-containing objects. One of its favored applications is for assessing structural properties of bone. In this research, we perform a pilot study to visualize and characterize bone structure of a chicken bone thigh, as well as to delineate its cortical and trabecular bone regions. We utilize an In-Vitro μCT scanner Skyscan 1173 to acquire a three dimensional image data of a chicken bone thigh. The thigh was scanned using X-ray voltage of 45 kV and current of 150 μA. The reconstructed images have spatial resolution of 142.50 μm/pixel. Using image processing and analysis e.i segmentation by thresholding the gray values (which represent the pseudo density) and binarizing the images, we were able to visualize each part of the bone, i.e., the cortical and trabecular regions. Total volume of the bone is 4663.63 mm{sup 3}, and the surface area of the bone is 7913.42 mm{sup 2}. The volume of the cortical is approximately 1988.62 mm{sup 3} which is nearly 42.64% of the total bone volume. This pilot study has confirmed that the μCT is capable of quantifying 3D bone structural properties and defining its regions separately. For further development, these results can be improved for understanding the pathophysiology of bone abnormality, testing the efficacy of pharmaceutical intervention, or estimating bone biomechanical properties.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

Automatic Extraction of Planetary Image Features

With the launch of several Lunar missions such as the Lunar Reconnaissance Orbiter (LRO) and Chandrayaan-1, a large amount of Lunar images will be acquired and will need to be analyzed. Although many automatic feature extraction methods have been proposed and utilized for Earth remote sensing images, these methods are not always applicable to Lunar data that often present low contrast and uneven illumination characteristics. In this paper, we propose a new method for the extraction of Lunar features (that can be generalized to other planetary images), based on the combination of several image processing techniques, a watershed segmentation and the generalized Hough Transform. This feature extraction has many applications, among which image registration.

Troglio, G.↗

Direct imaging of nonsolar planets with infrared telescopes using apodized coronagraphs

This research examines the use of modified Lyot coronagraphs with monolithic and segmented infrared telescopic systems for imaging nonsolar planets. These systems are investigated with the aim of reducing the effects of stellar diffracted energy on the planet image in the final image plane. A square telescope objective is best for this purpose. The associated coronagraph is composed of a cross-shaped apodizer in the first focal plane and either a square Lyot stop or circular corner Lyot stops in the corners of the pupil plane. The consequences of segmenting the aperture and the effects of various segment spacings and random piston and tilt errors of the individual segments are examined. A system to correct for the misalignments is proposed.

Mills, James P.↗

SU-D-BRF-07: Ultrasound and Fluoroscopy Based Intraoperative Image-Guidance System for Dynamic Dosimetry in Prostate Brachytherapy

Purpose: Prostate brachytherapy is a common treatment method for low-risk prostate cancer patients. Intraoperative treatment planning is known to improve the treatment procedure and the outcome. The current limitation of intraoperative treatment planning is the inability to localize the seeds in relation to the prostate. We developed an image-guidance system to fulfill this need to achieve intraoperative dynamic dosimetry in prostate brachytherapy. Methods: Our system is based on standard imaging equipments available in the operating room, including the transrectal ultrasound (TRUS) and the mobile C-arm. A simple fiducial is added to compute the C-arm pose. Three fluoroscopic images and an ultrasound volume of the seeds and the prostate are acquired and processed by four image processing algorithms: seed segmentation, fiducial detection with pose estimation, seed reconstruction, and seeds-to-TRUS registration. The updated seed positions allow the physician to assess the quality of implantation and dynamically adjust the treatment plan during the course of surgery to achieve improved exit dosimetry. Results: The system was tested on 10 phantoms and 37 patients. Seed segmentation resulted in a 1% false negative and 2% false positive rates. Fiducial detection with pose estimation resulted in a detection rate of 98%. Seed reconstruction had a mean reconstruction error of 0.4 mm. Seeds-to-TRUS registration had a mean registration error of 1.3 mm. The total processing time from image acquisition to registration was approximately 1 minute. Conclusion: We present an image-guidance system for intraoperative dynamic dosimetry in prostate brachytherapy. Using standard imaging equipments and a simple fiducial, our system can be easily adopted in any clinics. Robust image processing algorithms enable accurate and fast computation of the delivered dose. Especially, the system enables detection of possible hot/cold spots during the surgery, allowing the physician to address these in the operating room rather than requiring additional therapy afterwards. This research was supported in part by the National Institutes of Health/National Cancer Institute (NIH/NCI) under grant 2R44CA099374 and grant 1R01CA151395, and in part by the Department of Defense (DoD) under grant W81XWH-05-1-0407.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

SU-C-12A-05: Radiation Dose in High-Pitch Pediatric Cardiac CTA: Correlation Between Lung Dose and CTDIvol, DLP, and Size Specific Dose Estimates (SSDE)

Purpose: To investigate the radiation dose for pediatric high pitch cardiac CTA Methods: A total of 14 cases were included in this study, with mean age of 6.2 years (ranges from 2 months to 15 years). Cardiac CTA was performed using a dual-source CT system (Definition Flash, Siemens). Tube voltage (70, 80 and 100kV) was chosen based on patient weight. All patients were scanned using a high-pitch spiral mode (pitch ranges from 2.5 to 3) with tube current modulation technique (CareDose4D, Siemens). For each case, the three dimensional dose distributions were calculated using a Monte Carlo software package (IMPACT-MC, CT Image GmbH). Scanning parameters of each exam, including tube voltage, tube current, beamshaping filters, beam collimation, were defined in the Monte Carlo calculation. Tube current profile along projection angles was obtained from projection data of each tube, which included data within the over-scanning range along z direction. The volume of lungs was segmented out with CT images (3DSlicer). Lung doses of all patients were calculated and compared with CTDIvol, DLP, and SSDE. Results: The average (range) of CTDIvol, DLP and SSDE of all patients was 1.19 mGy (0.58 to 3.12mGy), 31.54 mGy*cm (12.56 to 99 mGy*cm), 2.26 mGy (1.19 to 6.24 mGy), respectively. Radiation dose to the lungs ranged from 0.83 to 4.18 mGy. Lung doses correlated with CTDIvol, DLP and SSDE with correlation coefficients(k) at 0.98, 0.93, and 0.99. However, for the cases with CTDIvol less than 1mGy, only SSDE preserved a strong correlation with lung doses (k=0.83), while much weaker correlations were found for CTDIvol (k=0.29) and DLP (k=-0.47). Conclusion: Lung doses to pediatric patients during Cardiac CTA were estimated. SSDE showed the most robust correlation with lung doses in contrast to CTDIvol and DLP.

60 APPLIED LIFE SCIENCES↗

Delineation of major geologic structures in Turkey using SIR-B data

Shuttle Imaging Radar-B (SIR-B) images of well mapped segments of major faults, such as the North Anatolian Fault (NAF) and East Anatolian Fault (EAF) will be studied to identify the prominent signatures that characterize the fault zones for those specific regions. The information will be used to delineate the unmapped fault zones in areas with similar geological and geomorphological properties. The data obtained from SIR-B images will be compared and correlated with the LANDSAT thematic mapper and seismicity alignments based on well constrained earthquake epicenters.

Toksoz, M. N.↗

Automated segmentation of porous thermal spray material CT scans with predictive uncertainty estimation

Abstract Thermal sprayed metal coatings are used in many industrial applications, and characterizing the structure and performance of these materials is vital to understanding their behavior in the field. X-ray computed tomography (CT) enables volumetric, nondestructive imaging of these materials, but precise segmentation of this grayscale image data into discrete material phases is necessary to calculate quantities of interest related to material structure. In this work, we present a methodology to automate the CT segmentation process as well as quantify uncertainty in segmentations via deep learning. Neural networks (NNs) have been shown to excel at segmentation tasks; however, memory constraints, class imbalance, and lack of sufficient training data often prohibit their deployment in high resolution volumetric domains. Our 3D convolutional NN implementation mitigates these challenges and accurately segments full resolution CT scans of thermal sprayed materials with maps of uncertainty that conservatively bound the predicted geometry. These bounds are propagated through calculations of material properties such as porosity that may provide an understanding of anticipated behavior in the field.

Martinez, Carianne↗

Enhancing Diagnosis through AI-driven Analysis of Reflectance Confocal Microscopy

Reflectance Confocal Microscopy (RCM) is a non-invasive imaging technique used in biomedical research and clinical dermatology. It provides virtual high-resolution images of the skin and superficial tissues, reducing the need for physical biopsies. RCM employs a laser light source to illuminate the tissue, capturing the reflected light to generate detailed images of microscopic structures at various depths. Recent studies explored AI and machine learning, particularly CNNs, for analyzing RCM images. Our study proposes a segmentation strategy based on textural features to identify clinically significant regions, empowering dermatologists in effective image interpretation and boosting diagnostic confidence. This approach promises to advance dermatological diagnosis and treatment.

Yoon, Hong-Jun↗