基于自适应自由变形法和梯度下降法的胸部多模医学图像配准*

为了实现胸部多模态医学图像的自动配准,提出了一种基于层次B样条自适应自由变形法和梯度下降法的配准方法。首先采用GVF Snake与Canny算子实现边缘提取,并自动配对特征点;接着,采用矩主轴法对多模医学图像进行全局粗配准;最后,基于层次B样条自适应自由变形法对多模态医学图像进行自动细配准,并且采用梯度下降法以及最大信息熵准则加速求自由变形系数。实验证明该方法不仅效率高,而且配准效果好。     

一种基于遗传算法的分布式系统的任务调度

一般而言,分布式多处理机上的任意任务图的调度问题即使做了简化假设后依然是NP完全的。遗传算法被证明是解决任务调度等组合问题的有效工具。对现有文献中的关于调度问题的遗传算法进行研究和比较后,该文提出了一种基于遗传算法的任务调度方法,在算法中设计了一种与其他算法不同的变异算子。     

胸部多模医学图像快速配准

为了实现胸部多模态医学图像的自动配准,提出了一种基于层次B样条自适应自由变形的快速配准方法。首先采用C-V水平集方法实现感兴趣区域的提取,并基于并行计算实现自动配对特征点;接着,采用矩主轴法对多模医学图像进行全局粗配准;最后,基于层次B样条自适应自由变形法对多模态医学图像进行自动细配准,并且采用梯度下降法以及最大信息熵准则加速求自由变形系数。实验证明该方法不仅效率高,而且配准效果好。     

Simultaneous Registration of Multiple Corresponding Point Sets

We present a new technique for the simultaneous registration of multiple corresponding point sets with rigid 3D transformations. This class of problems is a generalization of the classic pairwise point set registration task, involving multiple views with multiple correspondences existing between them. The proposed technique requires the computation of a constant matrix which encodes the point correspondence information, followed by an efficient iterative algorithm to compute the optimal rotations. The optimal translations are then recovered directly through the solution of a linear equation system. The algorithm supports weighting of data according to confidence, and we show how it may be incorporated into two robust estimation frameworks to detect and reject outlier data. We have integrated our method into a generalized multiview ICP surface matching system and tested it with synthetic and real data. These tests indicate that the technique is accurate and efficient. The algorithm also compares favorably to another multiview technique from the literature.     

A fast registration algorithm of rock point cloud based on spherical projection and feature extraction

Point cloud registration is an essential step in the process of 3D reconstruction. In this paper, a fast registration algorithm of rock mass point cloud is proposed based on the improved iterative closest point (ICP) algorithm. In our proposed algorithm, the point cloud data of single station scanner is transformed into digital images by spherical polar coordinates, then image features are extracted and edge points are removed, the features used in this algorithm is scale-invariant feature transform (SIFT). By analyzing the corresponding relationship between digital images and 3D points, the 3D feature points are extracted, from which we can search for the two-way correspondence as candidates. After the false matches are eliminated by the exhaustive search method based on random sampling, the transformation is computed via the Levenberg-Marquardt-Iterative Closest Point (LM-ICP) algorithm. Experiments on real data of rock mass show that the proposed algorithm has the similar accuracy and better registration efficiency compared with the ICP algorithm and other algorithms.     

基于局部特征的点云配准算法

针对覆盖率较低的点云,提出一种基于局部特征的点云配准算法。首先提取点云 的局部深度、法线偏角和点云密度等局部特征,得到局部特征描述子;然后计算局部特征集的 相关性,得到相关候选点集;再次通过删减外点达到点云粗配准的目的;最后采用基于旋转角 约束和动态迭代系数的改进迭代最近点(ICP)算法,实现点云的细配准。实验结果表明,基于局 部特征的点云配准算法可以实现覆盖率较低点云的精确配准,是一种精度高、速度快的点云配 准算法。     

A saw-tooth genetic algorithm combining the effects of variable population size and reinitialization to enhance performance

A genetic algorithm (GA) is proposed that uses a variable population size and periodic partial reinitialization of the population in the form of a saw-tooth function. The aim is to enhance the overall performance of the algorithm relying on the dynamics of evolution of the GA and the synergy of the combined effects of population size variation and reinitialization. Preliminary parametric studies to test the validity of these assertions are performed for two categories of problems, a multimodal function and a unimodal function with different features. The proposed scheme is compared with the conventional GA and micro GA (/spl mu/GA) of equal computing cost and guidelines for the selection of effective values of the involved parameters are given, which facilitate the implementation of the algorithm. The proposed algorithm is tested for a variety of benchmark problems and a problem generator from which it becomes evident that the saw-tooth scheme enhances the overall performance of GAs.     

基于多模态牙科图像的牙体硬组织自动配准

牙科图像由于成像模式、图像质量、不同病人之间存在差异性,导致临床应用中牙体硬组织的精确配准成为难点。针对这些问题,并根据相关研究工作,提出了一种更适用于多模态牙科图像的牙体硬组织自动配准方法。该方法基于改进的ICP算法,对多模态的牙科荧光图像和自然光图像进行分析。首先,根据多模态牙科图像的特点,算法对图像进行了预处理;其次,研究了鲁棒的特征点提取方法,即将牙体硬组织边缘选取为特征点,并同时根据口腔病理学先验知识,提取多模态图像中的病损组织区域,进一步优化了配准点集;最后,利用改进的ICP算法对齿科图像进行了配准,配准过程中对ICP的迭代策略和鲁棒损失函数进行了分析和优化。实验结果表明,该方法能更快速地收敛,且具有更好的鲁棒性和准确性。     

含各向异性尺度形变数据集匹配问题的Lie群方法

通过分析含各向异性尺度形变的数据集匹配问题, 将尺度约束引入模型, 再结合迭代最近点(Iterative closest point, ICP)方法的一般过程, 将含各向异性尺度形变的数据集匹配问题描述为Lie群约束优化问题. 通过Lie群的局部参数化和局部线性化方法, 将带尺度上下界约束的Lie群约束优化问题转化为一系列的二次规划问题, 最终形成了一个完整的匹配迭代算. 该方法不仅具有传统ICP方法的快速准确的特点, 而且还能够处理存在大尺度形变的数据集匹配问题. 由于对尺度参数进行约束, 因此比传统方法有更好的鲁棒性. 最后, 为确保匹配的全局性, 给出了一套初始变换的选择方案.     

Registration for 3-D point cloud using angular-invariant feature

This paper proposes an angular-invariant feature for 3-D registration procedure to perform reliable selection of point correspondence. The feature is a k-dimensional vector, and each element within the vector is an angle between the normal vector and one of its k nearest neighbors. The angular feature is invariant to scale and rotation transformation, and is applicable for the surface with small curvature. The feature improves the convergence and error without any assumptions about the initial transformation. Besides, no strict sampling strategy is required. Experiments illustrate that the proposed angular-based algorithm is more effective than iterative closest point (ICP) and the curvature-based algorithm.     

双目立体测量中多视角深度图同时融合算法

提出一种将多次测量得到的深度图数据融合生成完整单一的网格曲面来描述被测物体表面的融合算法.依次将每幅深度图作为基准图,在基准图的基础上定义多幅深度图重叠对应关系;然后合并重叠数据,保留基准图网格;最后将相邻的基准图通过网格缝合连接成单一无缝的曲面.该算法能同时对多幅深度图进行融合,通过对重叠区域的优化,使得最终融合结果更精确地逼近被测物体表面的真实数据.融合实验结果验证了该算法的有效性.     

Adaptive directed mutation for real-coded genetic algorithms

Adaptive directed mutation (ADM) operator, a novel, simple, and efficient real-coded genetic algorithm (RCGA) is proposed and then employed to solve complex function optimization problems. The suggested ADM operator enhances the abilities of GAs in searching global optima as well as in speeding convergence by integrating the local directional search strategy and the adaptive random search strategies. Using 41 benchmark global optimization test functions, the performance of the new algorithm is compared with five conventional mutation operators and then with six genetic algorithms (GAs) reported in literature. Results indicate that the proposed ADM-RCGA is fast, accurate, and reliable, and outperforms all the other GAs considered in the present study.     

Rejecting Mismatches by Correspondence Function

A novel method ICF (Identifying point correspondences by Correspondence Function) is proposed for rejecting mismatches from given putative point correspondences. By analyzing the connotation of homography, we introduce a novel concept of correspondence function for two images of a general 3D scene, which captures the relationships between corresponding points by mapping a point in one image to its corresponding point in another. Since the correspondence functions are unknown in real applications, we also study how to estimate them from given putative correspondences, and propose an algorithm IECF (Iteratively Estimate Correspondence Function) based on diagnostic technique and SVM. Then, the proposed ICF method is able to reject the mismatches by checking whether they are consistent with the estimated correspondence functions. Extensive experiments on real images demonstrate the excellent performance of our proposed method. In addition, the ICF is a general method for rejecting mismatches, and it is applicable to images of rigid objects or images of non-rigid objects with unknown deformation.     

基于ICP和SVD的视网膜图像特征点配准算法

视网膜图像配准是视网膜眼底疾病诊断及激光治疗中的关键一步 .针对荧光造影视网膜图像和无赤光视网膜图像的特点 ,提出一种采用迭代最近点 (ICP)和奇异值分解 (SVD)的方法 ,用于视网膜图像之间的配准 .即用 ICP算法确定两个特征点集的对应性及点集数目不等的问题 ,用 SVD方法求解空间变换参数 .实验证明在一个点集数目缺少75 %的情况下 ,算法仍然能达到较好的配准精度 ,可以满足荧光造影和无赤光视网膜图像之间的配准 ,且具有运算速度快的特点     

一种基于混合优化算法的医学图像配准方法

为了实现脑部多模医学图像配准,提出了一种基于混合优化算法的配准方法。该算法采用遗传算法中的杂交思想改进了混沌粒子群算法,并用最大互信息测度对脑部MRI及CT图像进行配准。该改进算法可有效地避免优化算子陷入局部极值,而且算法收敛快。实验结果证明了提出的基于遗传思想的改进混沌粒子群优化算法对多模医学图像配准具有有效性。     

Geometrical Analysis of Two Sets of 3D Correspondence Data Patterns for the Registration of Free-Form Shapes

The iterative closest point (ICP) algorithm represents an efficient method to establish an initial set of possible correspondences between two overlapping range images. An inherent limitation of the algorithm is the introduction of false matches, a problem that has been tackled by a variety of schemes mainly based on local invariants described in a single coordinate frame. In this paper we propose using global rigid motion constraints to deal with false matches. Such constraints are derived from geometric properties of correspondence vectors bridging the points described in different coordinate frames before and after a rigid motion. In order to accurately and efficiently estimate the parameters of interest, the Monte Carlo resampling technique is used and motion parameter candidates are then synthesised by a median filter. The proposed algorithm is validated based on both synthetic data and real range images. Experimental results show that the proposed algorithm has advantages over existing registration methods concerning robustness, accuracy, and efficiency.     

A two-stage registration algorithm for oil spill aerial image by invariants-based similarity and improved ICP

Image registration is a crucial progress in detecting oil spilled on the sea and is also important for estimating the volume of the oil spill, especially when one image cannot cover the entire polluted region. In this article, a new algorithm is proposed to register geometrically distorted aerial images of oil spill accurately and automatically. There are two stages in this algorithm: coarse registration and fine registration. Invariants-based similarity and relative space distance are applied to coarse matching. Then improved iterative closest point (ICP) algorithm is used for registering images finely, which is the combination of ICP and a method of solving assignment problem to deal with mismatches. The performance of the proposed algorithm is evaluated by registering oil spill ultraviolet (UV) and infrared (IR) images, respectively. Compared with traditional ICP and other algorithms, the efficiency and accuracy of the proposed algorithm are highly improved.     

3D registration of laser range scenes by coincidence of coarse binary cubes

Scene registration of a pair of three-dimensional (3D) range images is a 6D optimization problem usually required in mobile robotics. This problem is different from object registration, since all scan directions and depths may contain relevant data, and because farther regions are sampled with lower densities. The paper proposes an efficient scene matching method based on the concept of coarse binary cubes. An integer objective function is defined as the number of coincident cubes between both scans. This is a metric of the degree of overlap that does not employ point distances. Its value is obtained without actually using any 3D grid data structure, with a computational complexity of order O(n), where n represents the number of laser points. This objective function is optimized with a globalized version of the downhill Simplex algorithm to avoid local minima. Experimental results are presented from indoor and outdoor environments with different degrees of structuring. The effect of cube size and the number of vertices on registration performance has been analyzed. Besides, experiments show that the proposed method achieves similar accuracy as iterative closest points (ICP) and normal distribution transform (NDT), while it improves both computation time and robustness against initial misalignments.