Image registration by maximization of combined mutual information and gradient information

Mutual information has developed into an accurate measure for rigid and affine monomodality and multimodality image registration. The robustness of the measure is questionable, however. A possible reason for this is the absence of spatial information in the measure. The present paper proposes to include spatial information by combining mutual information with a term based on the image gradient of the images to be registered. The gradient term not only seeks to align locations of high gradient magnitude, but also aims for a similar orientation of the gradients at these locations. Results of combining both standard mutual information as well as a normalized measure are presented for rigid registration of three-dimensional clinical images [magnetic resonance (MR), computed tomography (CT), and positron emission tomography (PET)]. The results indicate that the combined measures yield a better registration function does mutual information or normalized mutual information per se. The registration functions are less sensitive to low sampling resolution, do not contain incorrect global maxima that are sometimes found in the mutual information function, and interpolation-induced local minima can be reduced. These characteristics yield the promise of more robust registration measures. The accuracy of the combined measures is similar to that of mutual information-based methods.     

Multimodality Image Registration Using Spatial Procrustes Analysis and Modified Conditional Entropy

In this paper, we propose a new image registration technique using two kinds of information known as object shapes and voxel intensities. The proposed approach consists of two registration steps. First, an initial registration is carried out for two volume images by applying Procrustes analysis theory to the two sets of 3D feature points representing object shapes. During this first stage, a volume image is segmented by using a geometric deformable model. Then, 3D feature points are extracted from the boundary of a segmented object. We conduct an initial registration by applying Procrustes analysis theory with two sets of 3D feature points. Second, a fine registration is followed by using a new measure based on the entropy of conditional probabilities. Here, to achieve the final registration, we define a modified conditional entropy (MCE) computed from the joint histograms for voxel intensities of two given volume images. By using a two step registration method, we can improve the registration precision. To evaluate the performance of the proposed registration method, we conduct various experiments for our method as well as existing methods based on the mutual information (MI) and maximum likelihood (ML) criteria. We evaluate the precision of MI, ML and MCE-based measurements by comparing their registration traces obtained from magnetic resonance (MR) images and transformed computed tomography (CT) images with respect to x-translation and rotation. The experimental results show that our method has great potential for the registration of a variety of medical images.     

A protocol for evaluation of similarity measures for rigid registration

The accuracy and robustness of a registration method depend on a number of factors, such as imaging modality, image content and image degrading effects, the class of spatial transformation used for registration, similarity measure, optimization, and numerous implementation details. The complex interdependence of these factors makes the assessment of the influence of a particular factor on registration difficult, although it is often desirable to have some estimate of such influences prior to registration. The similarity measure used to create the cost function is one of the factors that most influences the quality of registration. Traditionally, limited information on the behavior of a similarity measure is obtained either by studying the quality of the final registration or by drawing plots of similarity measure values obtained by translating or rotating one image relative to the "gold standard." In this paper, we present a protocol for a more thorough, optimization-independent, and systematic statistical evaluation of similarity measures. This protocol estimates a similarity measure's capture range, the number, location and extent of local optima, and the accuracy and distinctiveness of the global optimum. To show that the proposed evaluation protocol is viable, we have conducted several experiments with nine similarity measures and real computed tomography and magnetic resonance (MR) images of a spine phantom, MR brain images, and MR and positron emission tomography brain images, for which "gold standard" registrations were available. We have also studied the impact of histogram bin size on the behavior of nine similarity measures. The proposed evaluation protocol is useful for selecting the best similarity measure and corresponding optimization method for a particular application, as well as for studying the influence of sampling, interpolation, histogram bin size, partial image overlap, and image degradation, such as noise, intensity inhomogeneity, and geometrical distortions on the behavior of a similarity measure.     

Multimodality image registration by maximization of mutualinformation

A new approach to the problem of multimodality medical image registration is proposed, using a basic concept from information theory, mutual information (MI), or relative entropy, as a new matching criterion. The method presented in this paper applies MI to measure the statistical dependence or information redundancy between the image intensities of corresponding voxels in both images, which is assumed to be maximal if the images are geometrically aligned. Maximization of MI is a very general and powerful criterion, because no assumptions are made regarding the nature of this dependence and no limiting constraints are imposed on the image content of the modalities involved. The accuracy of the MI criterion is validated for rigid body registration of computed tomography (CT), magnetic resonance (MR), and photon emission tomography (PET) images by comparison with the stereotactic registration solution, while robustness is evaluated with respect to implementation issues, such as interpolation and optimization, and image content, including partial overlap and image degradation. Our results demonstrate that subvoxel accuracy with respect to the stereotactic reference solution can be achieved completely automatically and without any prior segmentation, feature extraction, or other preprocessing steps which makes this method very well suited for clinical applications     

Evaluating similarity measures for brain image registration

Evaluation of similarity measures for image registration is a challenging problem due to its complex interaction with the underlying optimization, regularization, image type and modality. We propose a single performance metric, named robustness, as part of a new evaluation method which quantifies the effectiveness of similarity measures for brain image registration while eliminating the effects of the other parts of the registration process. We show empirically that similarity measures with higher robustness are more effective in registering degraded images and are also more successful in performing intermodal image registration. Further, we introduce a new similarity measure, called normalized spatial mutual information, for 3D brain image registration whose robustness is shown to be much higher than the existing ones. Consequently, it tolerates greater image degradation and provides more consistent outcomes for intermodal brain image registration.     

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.     

Likelihood maximization approach to image registration

A likelihood maximization approach to image registration is developed in this paper. It is assumed that the voxel values in two images in registration are probabilistically related. The principle of maximum likelihood is then exploited to find the optimal registration: the likelihood that given image f, one has image g and given image g, one has image f is optimized with respect to registration parameters. All voxel pairs in the overlapping volume or a portion of it can be used to compute the likelihood. A knowledge-based method and a self-consistent technique are proposed to obtain the probability relation. In the knowledge-based method, prior knowledge of the distribution of voxel pairs in two registered images is assumed, while such knowledge is not required in the self-consistent method. The accuracy and robustness of the likelihood maximization approach is validated by single modality registration of single photon emission computed tomographic (SPECT) images and magnetic resonance (MR) images and by multimodality registration (MR/SPECT). The results demonstrate that the performance of the likelihood maximization approach is comparable to that of the mutual information maximization technique. Finally the relationship between the likelihood approach and the entropy, conditional entropy, and mutual information approaches is discussed.     

Three-dimensional multimodal brain warping using the demons algorithm and adaptive intensity corrections

This paper presents an original method for three-dimensional elastic registration of multimodal images. We propose to make use of a scheme that iterates between correcting for intensity differences between images and performing standard monomodal registration. The core of our contribution resides in providing a method that finds the transformation that maps the intensities of one image to those of another. It makes the assumption that there are at most two functional dependencies between the intensities of structures present in the images to register, and relies on robust estimation techniques to evaluate these functions. We provide results showing successful registration between several imaging modalities involving segmentations, T1 magnetic resonance (MR), T2 MR, proton density (PD) MR and computed tomography (CT). We also argue that our intensity modeling may be more appropriate than mutual information (MI) in the context of evaluating high-dimensional deformations, as it puts more constraints on the parameters to be estimated and, thus, permits a better search of the parameter space.     

融合确定性信息和随机信息的插值方法研究

为了提高医学图像配准过程中的测度曲线光滑性和运算速度,本文利用图像的灰度概率分布作为确定性信息,同时利用非整数网格位置处的灰度随机性信息,定义了融合确定性信息和随机性信息的置信区域(DSCR);结合最近邻域插值法,提出了基于DSCR的最近邻域插值法(DSCRNN)。使用DSCRNN插值方法得到测度在整数平移位置处的值是准确无误差的。通过医学图像之间的刚体配准实验,从函数曲线、运算时间、抗噪鲁棒性和收敛性能方面对比分析了8种插值方法,结果表明,相对其它插值方法,DSCRNN插值方法在不牺牲插值速度的前提条件下可以提高归一化互信息(NMI)测度的收敛性能和抗噪声能力。     

A review of cardiac image registration methods

In this paper, the current status of cardiac image registration methods is reviewed. The combination of information from multiple cardiac image modalities, such as magnetic resonance imaging, computed tomography, positron emission tomography, single-photon emission computed tomography, and ultrasound, is of increasing interest in the medical community for physiologic understanding and diagnostic purposes. Registration of cardiac images is a more complex problem than brain image registration because the heart is a nonrigid moving organ inside a moving body. Moreover, as compared to the registration of brain images, the heart exhibits much fewer accurate anatomical landmarks. In a clinical context, physicians often mentally integrate image information from different modalities. Automatic registration, based on computer programs, might, however, offer better accuracy and repeatability and save time.     

一种基于频带一致性的多模态图像校准算法

提出了一种基于图像频带一致性的多模态图像校准算法,该方法通过调整图像频谱的带宽,利用带宽调整后图像的强度对代替传统互信息定义中的图像灰度值,可以有效地克服互信息的局部极值问题。理论分析和实验表明该方法是可行、有效的。     

Fingerprint registration by maximization of mutual information.

Fingerprint registration is a critical step in fingerprint matching. Although a variety of registration alignment algorithms have been proposed, accurate fingerprint registration remains an unresolved problem. We propose a new algorithm for fingerprint registration using orientation field. This algorithm finds the correct alignment by maximization of mutual information between features extracted from orientation fields of template and input fingerprint images. Orientation field, representing the flow of ridges, is a relatively stable global feature of fingerprint images. This method uses the statistics and distribution of global feature of fingerprint images so that it is robust to image quality and local changes in images. The primary characteristic of this method is that it uses this stable global feature to align fingerprints, and that its behavior may resemble the way humans compare fingerprints. Experimental results show that the occurrence of misalignment is dramatically reduced and that registration accuracy is greatly improved at the same time, leading to enhanced matching performance.     

采用改进梯度互信息和粒子群优化算法的红外与可见光图像配准算法

针对传统互信息图像配准容易产生局部极值,以及传统梯度互信息配准方法计算量大等问题,在互信息和梯度方法基础上构建了一种改进的梯度互信息方法,该方法直接统计梯度图像的互信息,有效地将图像梯度信息和灰度信息结合起来,不仅保证了配准精度,而且较传统梯度互信息方法减少了计算量。在参量优化的过程中,针对传统粒子群优化算法易陷入局部极值的缺点,提出了改进的粒子群优化算法,该算法在传统粒子群优化算法基础上引入混沌优化思想和遗传算法中的杂交思想,不仅能够有效抑制局部极值,而且加快了收敛速度。多种红外与可见光图像配准实验结果证明,文中提出的算法能够有效提高配准精度和速度。     

Alignment of sparse freehand 3-D ultrasound with preoperative images of the liver using models of respiratory motion and deformation

We present a method for alignment of an interventional plan to optically tracked two-dimensional intraoperative ultrasound (US) images of the liver. Our clinical motivation is to enable the accurate transfer of information from three-dimensional preoperative imaging modalities [magnetic resonance (MR) or computed tomography (CT)] to intraoperative US to aid needle placement for thermal ablation of liver metastases. An initial rigid registration to intraoperative coordinates is obtained using a set of US images acquired at maximum exhalation. A preprocessing step is applied to both the preoperative images and the US images to produce evidence of corresponding structures. This yields two sets of images representing classification of regions as vessels. The registration then proceeds using these images. The preoperative images and plan are then warped to correspond to a single US slice acquired at an unknown point in the breathing cycle where the liver is likely to have moved and deformed relative to the preoperative image. Alignment is constrained using a patient-specific model of breathing motion and deformation. Target registration error is estimated by carrying out simulation experiments using resliced MR volumes to simulate real US and comparing the registration results to a "bronze-standard" registration performed on the full MR volume. Finally, the system is tested using real US and verified using visual inspection.     

图像插值方法对互信息局部极值的影响分析

多模态图像配准中常使用互信息作为配准度量,互信息中的联合概率密度函数一般是利用图像灰度对的统计值来代替的,而图像插值可能产生新的灰度对,造成互信息出现局部极值。该文利用一维信号从理论上分析了线性和最近邻两种插值方法对互信息的影响。理论分析表明,线性插值造成互信息局部极值的可能性较小,而最近邻插值会使互信息出现周期性局部极值。试验结果证实了该文的结论。分析结果对基于互信息的多模态图像配准具有理论参考价值。     

Voxel similarity measures for 3-D serial MR brain image registration

The authors have evaluated eight different similarity measures used for rigid body registration of serial magnetic resonance (MR) brain scans. To assess their accuracy the authors used 33 clinical three-dimensional (3-D) serial MR images, with deformable extradural tissue excluded by manual segmentation and simulated 3-D MR images with added intensity distortion. For each measure the authors determined the consistency of registration transformations for both sets of segmented and unsegmented data. They have shown that of the eight measures tested, the ones based on joint entropy produced the best consistency. In particular, these measures seemed to be least sensitive to the presence of extradural tissue. For these data the difference in accuracy of these joint entropy measures, with or without brain segmentation, was within the threshold of visually detectable change in the difference images     

Remote sensing image registration via active contour model

Image registration is the process by which we determine a transformation that provides the most accurate match between two images. The search for the matching transformation can be automated with the use of a suitable metric, but it can be very time-consuming and tedious. In this paper, we introduce a registration algorithm that combines active contour segmentation together with mutual information. Our approach starts with a segmentation procedure. It is formed by a novel geometric active contour, which incorporates edge knowledge, namely Edgeflow, into active contour model. Two edgemap images filled with closed contours are obtained. After ruling out mismatched curves, we use mutual information (MI) as a similarity measure to register two edgemap images. Experimental results are provided to illustrate the performance of the proposed registration algorithm using both synthetic and multisensor images. Quantitative error analysis is also provided and several images are shown for subjective evaluation.     

Automatic two-stage IR and MMW image registration algorithm forconcealed weapons detection

A two-stage registration scheme for the concealed weapons detection (CWD) problem is developed. The goal is to automatically register images taken simultaneously from two different (infrared (IR) and millimetre wave (MMW)) but parallel sensors whose lines of sight (LOS) are close to each other. The purpose of the first stage is to register the images coarsely. A feature-based image registration algorithm based on human body silhouettes is developed at this stage. The pose parameters found at this stage are used as the starting search point for the second stage of the registration algorithm. At the second stage, maximisation of the mutual information measure between IR and MMW images is performed to improve the pose parameters obtained at the first stage. Two-dimensional partial volume interpolation is employed to estimate the joint histogram that is needed to calculate mutual information (MI). The simplex search algorithm is utilised to maximise the MI measure. In both stages, the distortion between the two images is assumed to be a rigid body transformation. Experimental results indicate that the automated two-stage registration algorithm performs fairly well     

基于边界距离场互信息的图像配准方法

基于图像边界平均Hausdorff距离的配准方法实现简单、速度快、有较大应用价值,但对图像边界不完全对应的情况配准效果不好。提出了一种以图像边界距离场互信息作为相似度函数的图像配准方法,以参考边界的距离场和浮动二值边界为两个离散概率分布,将其互信息作为相似度函数进行配准。实验结果表明,该算法对图像内容完全一致和内容不完全对应的图像均可得到良好的配准结果。     

Rapid Dynamic Image Registration of the Beating Heart for Diagnosis and Surgical Navigation

Dynamic cardiac magnetic resonance imaging (MR) and computed tomography (CT) provide cardiologists and cardiac surgeons with high-quality 4-D images for diagnosis and therapy, yet the effective use of these high-quality anatomical models remains a challenge. Ultrasound (US) is a flexible imaging tool, but the US images produced are often difficult to interpret unless they are placed within their proper 3-D anatomical context. The ability to correlate real-time 3-D US volumes (RT3D US) with dynamic MR/CT images would offer a significant contribution to improve the quality of cardiac procedures. In this paper, we present a rapid two-step method for registering RT3D US to high-quality dynamic 3-D MR/CT images of the beating heart. This technique overcomes some major limitations of image registration (such as the correct registration result not necessarily occurring at the maximum of the mutual information (MI) metric) using the MI metric. We demonstrate the effectiveness of our method in a dynamic heart phantom (DHP) study and a human subject study. The achieved mean target registration error of CT+US images in the phantom study is 2.59 mm. Validation using human MR/US volumes shows a target registration error of 1.76 mm. We anticipate that this technique will substantially improve the quality of cardiac diagnosis and therapies.