基于线特征差分投影的空间目标姿态估计方法

空间目标姿态估计是有效实现基于ISAR图像空间目标识别的重要前提。本文针对利用线特征二维投影进行姿态估计时,线特征投影的检测误差会严重影响姿态估计精度这一问题,提出一种基于线特征差分投影的空间目标姿态估计方法。该法利用DP算法检测线特征在ISAR图像中的投影,通过建立线特征在实测ISAR图像和姿态估计值下的仿真图像中的二维差分投影,将线特征投影检测的绝对误差转化成相对误差,有效减小了线特征投影的检测误差对姿态估计的影响;同时,利用差分投影求取姿态估计的修正量,形成姿态估计的优化迭代过程,不断提高姿态估计精度。仿真实验验证了方法的可靠性与有效性。      

Stopping Rule for the MLE Algorithm Based on Statistical Hypothesis Testing

It is known that when the maximum likelihood estimator (MLE) algorithm passes a certain point, it produces images that begin to deteriorate. We propose a quantitative criterion with a simple probabilistic interpretation that allows the user to stop the algorithm just before this effect begins. The MLE algorithm searches for the image that has the maximum probability to generate the projection data. The underlying assumption of the algorithm is a Poisson distribution of the data. Therefore, the best image, according to the MLE algorithm, is the one that results in projection means which are as close to the data as possible. It is shown that this goal conflicts with the assumption that the data are Poisson-distributed. We test a statistical hypothesis whereby the projection data could have been generated by the image produced after each iteration. The acceptance or rejection of the hypothesis is based on a parameter that decreases as the images improve and increases as they deteriorate. We show that the best MLE images, which pass the test, result in somewhat lower noise in regions of high activity than the filtered back-projection results and much improved images in low activity regions. The applicability of the proposed stopping rule to other iterative schemes is discussed.     

多特征点拓扑确定位姿测量算法研究

为解决单目视觉位姿测量时,由目标特征点较多导致图像点与目标点拓扑关系未知的问题,提出了一种多特征点拓扑确定位姿测量算法。较多特征点可在目标进行大角度运动时保证足够的特征点进行位姿解算,与较少特征点相比提高测量精度。该算法将拓扑确定的过程和位姿求解的迭代过程进行嵌套,同时进行拓扑确定和位姿计算。位姿计算的迭代过程基于平行透视投影模型,不需要目标重心投影点坐标作为迭代初始值。拓扑确定的过程转化为分配问题的求解过程。每次位姿迭代的过程中进行一次拓扑确定,拓扑确定的结果可以计算更优的位姿估计。通过多位姿测量实验和精度对比实验结果证明:该算法适合大范围、高精度的位姿测量,在-120~120范围内,位姿测量均方根误差为0。272。     

Quantitative statistical assessment of conditional models for synthetic aperture radar

Many applications of object recognition in the presence of pose uncertainty rely on statistical models-conditioned on pose-for observations. The image statistics of three-dimensional (3-D) objects are often assumed to belong to a family of distributions with unknown model parameters that vary with one or more continuous-valued pose parameters. Many methods for statistical model assessment, for example the tests of Kolmogorov-Smirnov and K. Pearson, require that all model parameters be fully specified or that sample sizes be large. Assessing pose-dependent models from a finite number of observations over a variety of poses can violate these requirements. However, a large number of small samples, corresponding to unique combinations of object, pose, and pixel location, are often available. We develop methods for model testing which assume a large number of small samples and apply them to the comparison of three models for synthetic aperture radar images of 3-D objects with varying pose. Each model is directly related to the Gaussian distribution and is assessed both in terms of goodness-of-fit and underlying model assumptions, such as independence, known mean, and homoscedasticity. Test results are presented in terms of the functional relationship between a given significance level and the percentage of samples that wold fail a test at that level.     

A Projection System for Real World Three-Dimensional Objects Using Spatial Light Modulators

We discuss a projection system for real world three-dimensional objects using spatial light modulators (SLM). An algorithm to encode the digital holograms of real world objects on to an SLM is presented. We present results from experiments to project holograms of real world holograms using a nematic liquid crystal SLM. We discuss the case when the pixel sizes of the charge-coupled device (CCD) and SLM used for recording the hologram and projection are different.     

高速旋转物体的CT图像重建方法

高速旋转物体的CT成像是难点问题,相关研究论文较少.由于CT检测系统的单幅投影的数据采集时间无法足够短,导致无法采集高速旋转物体准静止的CT扫描数据,从而使得基于逐条射线的经典CT成像模型不再适用于高速旋转物体CT成像.本文针对高速旋转物体CT,给出了数据采集准则,建立了射线混叠CT成像模型,并提出了相应迭代重建算法.仿真数据和实际数据的实验结果表明,本文提出的方法可以较好地对高速旋转物体进行CT成像.     

Cone-beam reprojection using projection-matrices

This paper addresses reprojection of three-dimensional (3-D) reconstructions obtained from cone-beam scans using a C-arm imaging equipment assisted by a pose-determining system. The emphasis is on reprojecting without decomposing the estimated projection matrix (P-matrix) associated with a pose. Both voxel- and ray-driven methods are considered. The voxel-driven reprojector follows the algorithm for backprojection using a P-matrix. The ray-driven reprojector is derived by extracting from the P-matrix the equation of the line joining a detector-pixel and the X-ray source position. This reprojector can be modified to a ray-driven backprojector. When the geometry is specified explicitly in terms of the physical parameters of the imaging system, the projection matrices can be constructed. The resulting "projection-matrix method" is advantageous, especially when the scanning trajectory is irregular. The algorithms presented are useful in iterative methods of image reconstruction and enhancement procedures, apart from their well-known role in visualization and volume rendering. Reprojections of 3-D patient data compare favorably with the original X-ray projections obtained from a prototype C-arm system. The algorithms for reprojection can be modified to compute perspective maximum intensity projection.     

3-D model-based vehicle tracking.

This paper aims at tracking vehicles from monocular intensity image sequences and presents an efficient and robust approach to three-dimensional (3-D) model-based vehicle tracking. Under the weak perspective assumption and the ground-plane constraint, the movements of model projection in the two-dimensional image plane can be decomposed into two motions: translation and rotation. They are the results of the corresponding movements of 3-D translation on the ground plane (GP) and rotation around the normal of the GP, which can be determined separately. A new metric based on point-to-line segment distance is proposed to evaluate the similarity between an image region and an instantiation of a 3-D vehicle model under a given pose. Based on this, we provide an efficient pose refinement method to refine the vehicle's pose parameters. An improved EKF is also proposed to track and to predict vehicle motion with a precise kinematics model. Experimental results with both indoor and outdoor data show that the algorithm obtains desirable performance even under severe occlusion and clutter.     

Stereoscopic ranging by matching image modulations

We apply an AM-FM surface albedo model to analyze the projection of surface patterns viewed through a binocular camera system. This is used to support the use of modulation-based stereo matching where local image phase is used to compute stereo disparities. The local image phase is an advantageous feature for image matching, since the problem of computing disparities reduces to identifying local phase shifts between the stereoscopic image data. Local phase shifts, however, are problematic at high frequencies due to phase wrapping when disparities exceed +/-pi. We meld powerful multichannel Gabor image demodulation techniques for multiscale (coarse-to-fine) computation of local image phase with a disparity channel model for depth computation. The resulting framework unifies phase-based matching approaches with AM-FM surface/image models. We demonstrate the concepts in a stereo algorithm that generates a dense, accurate disparity map without the problems associated with phase wrapping.     

基于Mean Shift和插值图像修复算法的CT图像金属伪影消除方法

近年来CT成像技术在临床医学中广泛应用,但当病人体内含有金属移植物时,由于射线硬化等原因很可能在金属物体周围产生亮暗伪影,降低图像质量,影响诊断的准确性.为了消除CT图像中的金属伪影,本文提出基于Mean Shift和插值图像修复的算法,基本流程为用自适应Mean Shift算法预处理CT图像,平滑噪声和轻度伪影,用简化的Mean Shift算法快速精确分割金属物体,由修复组织信息的插值图像生成先验图像,用先验图像的投影数据替换原投影数据得到校正后的CT图像.经过对比实验,文中算法在去除金属伪影的同时,能够保护原有CT图像的组织结构,取得了更好的处理效果.     

Fast, Accurate and Shift-Varying Line Projections for Iterative Reconstruction Using the GPU

List-mode processing provides an efficient way to deal with sparse projections in iterative image reconstruction for emission tomography. An issue often reported is the tremendous amount of computation required by such algorithm. Each recorded event requires several back- and forward line projections. We investigated the use of the programmable graphics processing unit (GPU) to accelerate the line-projection operations and implement fully-3D list-mode ordered-subsets expectation-maximization for positron emission tomography (PET). We designed a reconstruction approach that incorporates resolution kernels, which model the spatially-varying physical processes associated with photon emission, transport and detection. Our development is particularly suitable for applications where the projection data is sparse, such as high-resolution, dynamic, and time-of-flight PET reconstruction. The GPU approach runs more than 50 times faster than an equivalent CPU implementation while image quality and accuracy are virtually identical. This paper describes in details how the GPU can be used to accelerate the line projection operations, even when the lines-of-response have arbitrary endpoint locations and shift-varying resolution kernels are used. A quantitative evaluation is included to validate the correctness of this new approach.      

基于视点特征直方图的激光点云模型的位姿估计

提出一种基于视点特征直方图的点云模型位姿估计 算法。首先在目标物体周围采 集三维点云,拼接后获得物体的完整点云模型;然后对点云模型计算其视点特征直方图, 构建特征数据 库;对待估计点云同样计算其特征直方图,使用KNN算法在数据库中搜索与之最接近的位 姿作为初始位 姿估计值;最后使用迭代最近点(ICP)算法将待估计点云精确配准到模型点云,从而获得坐 标系之间的相 对位姿。实验表明,这种方法对于物体位姿识别有很强的稳健性,能很好实现目标物体的 三维位姿计算。     

Aperture collimation correction and maximum-likelihood image reconstruction for near-field coded aperture imaging of single photon emission computerized tomography

Coded aperture (CA) imaging originally developed in X-ray astronomy has not been widely used in nuclear medicine due to the decoding complexity of near-field CA images. In this paper, we present a near-field CA imaging technique and image reconstruction method for high sensitivity and high resolution single photon emission computerized tomography (SPECT). Our approach makes three contributions. First, a correction method for the aperture collimation effect is used to eliminate the near-field artifacts without dual acquisitions of mask and anti-mask images. Second, a maximum-likelihood expectation-maximization (MLEM) deconvolution method is used to restore CA images. Finally, a new MLEM-based algorithm is used to partially reconstruct three-dimensional (3-D) objects from a single projection of CA images. Experiments conducted using a dual-head SPECT system equipped with a parallel-hole collimator and a CA module show a tenfold increase in count sensitivity and significant improvement in image resolution with CA collimation as compared to parallel-hole collimation. Experiments conducted using the same dual-head SPECT system equipped with a pinhole collimator show that when the object is closer to the pinhole collimator the CA image resolution is only slightly inferior to the pinhole collimated image. We found that the MLEM deconvolution method provides an inherent nonnegativity constraint on pixel values and remarkably reduces background activities of CA images. The MLEM reconstruction algorithm for CA images is capable of reconstructing 3-D objects from a single projection and can be potentially extended to full 3-D SPECT reconstruction for CA images.     

基于单视图像的球体姿态估计

该文给出一种基于图像信息估计3D目标球体及其中心轴孔空间姿态的视觉检测技术。若相机焦距已知,且给定球体与圆特征形状参数,则可由单视方法估计球心与圆特征中心位置及其法向方向,从而可由球及中轴构成的多个圆特征给出对目标球体姿态的初步估计。由于图像噪声及投影椭圆拟合误差的存在,每一个特征的独立估计结果并不完全一致,进一步引入非线性最小二乘方法对上述初步结果进行优化以改善估计精度。仿真及实际图像处理结果验证了算法的有效性。     

直接体绘制中增强深度感知的网格投影算法

体绘制技术生成的图像中丢失了深度信息,已有的增强深度感知方法通常只针对某些结构区域,牺牲其它结构信息的同时又直接修改体绘制算法。面向光线投射体绘制算法,该文提出一种增强深度感知的方法,不直接修改光线投射算法。投影均匀网格到体数据表面,网格跟随表面变形后经光线投射绘制在结果图像中,用户根据变形网格能够感知图像中的深度信息。同时,为突显变形网格所反映的深度信息,对投影后的网格线进行深度相关的着色,并添加投影辅助线以连接不同深度表面上的投影网格。算法在统一计算设备架构下并行执行后,不仅能够实时生成图像支持用户的交互控制,且图像中增强深度感知的效果明显,特别是当体数据包含多个分离或者交叉物体时。     

Distributed representation of geometrically correlated images with compressed linear measurements

This paper addresses the problem of distributed coding of images whose correlation is driven by the motion of objects or the camera positioning. It concentrates on the problem where images are encoded with compressed linear measurements. We propose a geometry-based correlation model that describes the common information in pairs of images. We assume that the constitutive components of natural images can be captured by visual features that undergo local transformations (e.g., translation) in different images. We first identify prominent visual features by computing a sparse approximation of a reference image with a dictionary of geometric basis functions. We then pose a regularized optimization problem in order to estimate the corresponding features in correlated images that are given by quantized linear measurements. The correlation model is thus given by the relative geometric transformations between corresponding features. We then propose an efficient joint decoding algorithm that reconstructs the compressed images such that they are consistent with both the quantized measurements and the correlation model. Experimental results show that the proposed algorithm effectively estimates the correlation between images in multiview data sets. In addition, the proposed algorithm provides effective decoding performance that advantageously compares to independent coding solutions and state-of-the-art distributed coding schemes based on disparity learning.     

Sparse‐View CT Image Recovery Using Two‐Step Iterative Shrinkage‐Thresholding Algorithm

We investigate an image recovery method for sparse‐view computed tomography (CT) using an iterative shrinkage algorithm based on a second‐order approach. The two‐step iterative shrinkage‐thresholding (TwIST) algorithm including a total variation regularization technique is elucidated to be more robust than other first‐order methods; it enables a perfect restoration of an original image even if given only a few projection views of a parallel‐beam geometry. We find that the incoherency of a projection system matrix in CT geometry sufficiently satisfies the exact reconstruction principle even when the matrix itself has a large condition number. Image reconstruction from fan‐beam CT can be well carried out, but the retrieval performance is very low when compared to a parallel‐beam geometry. This is considered to be due to the matrix complexity of the projection geometry. We also evaluate the image retrieval performance of the TwIST algorithm using measured projection data.     

High-quality image resizing using oblique projection operators

The standard interpolation approach to image resizing is to fit the original picture with a continuous model and resample the function at the desired rate. However, one can obtain more accurate results if one applies a filter prior to sampling, a fact well known from sampling theory. The optimal solution corresponds to an orthogonal projection onto the underlying continuous signal space. Unfortunately, the optimal projection prefilter is difficult to implement when sine or high order spline functions are used. We propose to resize the image using an oblique rather than an orthogonal projection operator in order to make use of faster, simpler, and more general algorithms. We show that we can achieve almost the same result as with the orthogonal projection provided that we use the same approximation space. The main advantage is that it becomes perfectly feasible to use higher order models (e.g. splines of degree n=/>3). We develop the theoretical background and present a simple and practical implementation procedure using B-splines. Our experiments show that the proposed algorithm consistently outperforms the standard interpolation methods and that it provides essentially the same performance as the optimal procedure (least squares solution) with considerably fewer computations. The method works for arbitrary scaling factors and is applicable to both image enlargement and reduction.     

Ultra fast symmetry and SIMD-based projection-backprojection (SSP) algorithm for 3-D PET image reconstruction

Remarkable progress in positron emission tomography (PET) development has occurred in recent years, in hardware, software, and computer implementation of image reconstruction. Recent development in PET scanners such as the high-resolution research tomograph (HRRT) developed by CTI (now Siemens) represents such a case and is capable of greatly enhanced resolution as well as sensitivity. In these PET scanners, the amount of coincidence line data collected contains more than 4.5 x 10(9) coincidence lines of response generated by as many nuclear detectors as 120 000. This formidable amount of data and the reconstruction of this data set pose a real problem in HRRT and have also been of the major bottle neck in further developments of high resolution PET scanners as well as their applications. In these classes of PET scanners, therefore, obtaining one set of reconstructed images often requires many hours of image reconstruction. For example, in HRRT with full data collection in a normal brain scan (using SPAN 3), the image reconstruction time is close to 80 min, making it practically impossible to attempt any list-mode-based dynamic imaging since the image reconstruction time would take many days (as much as 43 h or more for 32-frame dynamic image reconstruction). To remedy this data-handling problem in image reconstruction, we developed a new algorithm based on the symmetry properties of the projection and backprojection processes, especially in the 3-D OSEM algorithm where multiples of projection and back-projection are required. In addition, the single-instruction multiple-data (SIMD) technique also allowed us to successfully incorporate the symmetry properties mentioned above, thereby effectively reducing the total image reconstruction time to a few minutes. We refer to this technique as the symmetry and SIMD-based projection-backprojection (SSP) technique or algorithm and the details of the technique will be discussed and an example of the application of the technique to the HRRT's OSEM algorithm will be presented as a demonstration.     

改进的Camshift与Kalman融合的目标跟踪算法

Camshift算法主要利用物体的颜色信息进行跟踪,在复杂背景条件下容易造成目标的跟丢,且在目标被遮挡时,也容易造成跟踪失效。本文提出了一种改进的Camshift目标跟踪算法。首先将目标图像的HSV模型的三个分量进行加权建立一种新的目标颜色模型,然后由对整帧图像计算反向投影改为比搜索窗口稍大的区域计算反向投影,减少了相似背景的干扰。同时为了解决遮挡问题,结合了Kalman滤波器,有效地预测了目标的位置。实验表明,本算法能够避免背景颜色干扰和解决遮挡问题,实现了对运动目标准确跟踪。