2-D and 3-D Image Registration for Medical, Remote Sensing, and Industrial Applications-[1]-[A Ardeshir Goshtasby].pdf
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2-D and 3-D Image Registration for Medical, Remote Sensing, and Industrial Applications-[1]-[A Ardeshir Goshtasby].pdf
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2-Dand3-DImageRegistrationforMedical,RemoteSensing,andIndustrialApplicationsA.ArdeshirGoshtasbyAJohnWiley&Sons,Inc.,PublicationCopyrightc?
2005byJohnWiley&Sons,Inc.Allrightsreserved.PublishedbyJohnWiley&Sons,Inc.,Hoboken,NewJersey.PublishedsimultaneouslyinCanada.Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmittedinanyformorbyanymeans,electronic,mechanical,photocopying,recording,scanning,orotherwise,exceptaspermittedunderSection107or108ofthe1976UnitedStatesCopyrightAct,withouteitherthepriorwrittenpermissionofthePublisher,orauthorizationthroughpaymentoftheappropriateper-copyfeetotheCopyrightClearanceCenter,Inc.,222RosewoodDrive,Danvers,MA01923,978-750-8400,fax978-646-8600,oronthewebat.RequeststothePublisherforpermissionshouldbeaddressedtothePermissionsDepartment,JohnWiley&Sons,Inc.,111RiverStreet,Hoboken,NJ07030,(201)748-6011,fax(201)748-6008.LimitofLiability/DisclaimerofWarranty:
Whilethepublisherandauthorhaveusedtheirbesteffortsinpreparingthisbook,theymakenorepresentationsorwarrantieswithrespecttotheaccuracyorcompletenessofthecontentsofthisbookandspecificallydisclaimanyimpliedwarrantiesofmerchantabilityorfitnessforaparticularpurpose.Nowarrantymaybecreatedorextendedbysalesrepresentativesorwrittensalesmaterials.Theadviceandstrategiescontainedhereinmaynotbesuitableforyoursituation.Youshouldconsultwithaprofessionalwhereappropriate.Neitherthepublishernorauthorshallbeliableforanylossofprofitoranyothercommercialdamages,includingbutnotlimitedtospecial,incidental,consequential,orotherdamages.ForgeneralinformationonourotherproductsandservicespleasecontactourCustomerCareDepartmentwithintheU.S.at877-762-2974,outsidetheU.S.at317-572-3993orfax317-572-4002.Wileyalsopublishesitsbooksinavarietyofelectronicformats.Somecontentthatappearsinprint,however,maynotbeavailableinelectronicformat.LibraryofCongressCataloging-in-PublicationData:
Goshtasby,Ardeshir.2-Dand3-Dimageregistrationformedical,remotesensing,andindustrialapplications/A.ArdeshirGoshtasby.p.cm.“Wiley-Intersciencepublication.”Includesbibliographicalreferencesandindex.ISBN0-471-64954-6(cloth:
alk.paper)1.ImageprocessingDigitaltechniques.2.ImageanalysisDataprocessing.I.Title.TA1637.G682005621.367dc222004059083PrintedintheUnitedStatesofAmerica10987654321ToMyParentsandMarikoandParvizContentsPrefacexiAcknowledgmentsxiiiAcronymsxv1Introduction11.1Terminologies31.2StepsinImageRegistration41.3SummaryoftheChapterstoFollow51.4BibliographicalRemarks52Preprocessing72.1ImageEnhancement72.1.1Imagesmoothing72.1.2Deblurring112.2ImageSegmentation152.2.1Intensitythresholding152.2.2Boundarydetection172.3Summary39viiviiiCONTENTS2.4BibliographicalRemarks403FeatureSelection433.1Points433.2Lines513.2.1LinedetectionusingtheHoughtransform523.2.2Least-squareslinefitting533.2.3Linedetectionusingimagegradients563.3Regions583.4Templates593.5Summary603.6BibliographicalRemarks604FeatureCorrespondence634.1PointPatternMatching634.1.1Matchingusingscenecoherence644.1.2Matchingusingclustering674.1.3Matchingusinginvariance704.2LineMatching744.3RegionMatching774.3.1Shapematching784.3.2Regionmatchingbyrelaxationlabeling824.4ChamferMatching864.4.1Distancetransform874.5TemplateMatching924.5.1Similaritymeasures924.5.2Gaussian-weightedtemplates994.5.3Templatesize1004.5.4Coarse-to-finemethods1014.6Summary1034.7BibliographicalRemarks1035TransformationFunctions1075.1SimilarityTransformation112CONTENTSix5.2ProjectiveandAffineTransformations1155.3Thin-PlateSpline1165.4Multiquadric1205.5WeightedMeanMethods1235.6PiecewiseLinear1295.7WeightedLinear1315.8ComputationalComplexity1345.9PropertiesoftheTransformationFunctions1365.10Summary1395.11BibliographicalRemarks1406Resampling1436.1NearestNeighbor1446.2BilinearInterpolation1456.3CubicConvolution1476.4CubicSpline1496.5RadiallySymmetricKernels1506.6Summary1536.7BibliographicalRemarks1547PerformanceEvaluation1557.1FeatureSelectionPerformance1567.2FeatureCorrespondencePerformance1607.3TransformationFunctionPerformance1617.4RegistrationPerformance1637.5Summary1647.6BibliographicalRemarks1648ImageFusion1678.1FusingMulti-ExposureImages1688.1.1Imageblending1688.1.2Examples1728.2FusingMulti-FocusImages1758.3Summary177xCONTENTS8.4BibliographicalRemarks1779ImageMosaicking1819.1ProblemDescription1829.2DeterminingtheGlobalTransformation1829.3BlendingImageIntensities1859.4Examples1869.5MosaickingRangeImages1899.6Evaluation1929.7Summary1939.8BibliographicalRemarks19410StereoDepthPerception19710.1StereoCameraGeometry19810.2CameraCalibration20210.3ImageRectification20410.4TheCorrespondenceProcess20710.4.1Constraintsinstereo20710.4.2Correspondencealgorithms21010.5Interpolation21710.6Summary21910.7BibliographicalRemarks220Glossary223References229Index255PrefaceImageregistrationistheprocessofspatiallyaligningtwoormoreimagesofascene.Thisbasiccapabilityisneededinvariousimageanalysisapplications.Thealignmentprocesswilldeterminethecorrespondencebetweenpointsintheimages,enablingthefusionofinformationintheimagesandthedeterminationofscenechanges.Ifidentitiesofobjectsinoneoftheimagesareknown,byregisteringtheimages,identitiesofobjectsandtheirlocationsinanotherimagecanbedetermined.Imageregistrationisacriticalcomponentofremotesensing,medical,andindustrialimageanalysissystems.Thisbookisintendedforimageanalysisresearchersaswellasgraduatestudentswhoarestartingresearchinimageanalysis.Thebookprovidesdetailsofimageregistration,andeachchaptercoversacomponentofimageregistrationoranappli-cationofit.Whereapplicable,implementationstrategiesaregivenandrelatedworkissummarized.InChapter1,themainterminologiesusedinthebookaredefined,anexampleofimageregistrationisgiven,andimageregistrationstepsarenamed.InChapter2,preprocessingofimagestofacilitateimageregistrationisdescribed.Thisincludesimageenhancementandimagesegmentation.Imageenhancementisusedtoremovenoiseandblurfromimagesandimagesegmentationisusedtopartitionimagesintoregionsorextractregionboundariesoredgesforuseinfeatureselection.Chapters35areconsideredthemainchaptersinthebook,coveringtheimageregistrationsteps.InChapter3,methodsandalgorithmsfordetectingpoints,lines,andregionsaredescribed,inChapter4,methodsandalgorithmsfordeterminingthecorrespondencebetweentwosetsoffeaturesaregiven,andinChapter5,transforma-xixiiPREFACEtionfunctionsthatusefeaturecorrespondencestodetermineamappingfunctionforimagealignmentarediscussed.InChapter6resamplingmethodsaregivenandinChapter7performanceevalu-ationmeasures,includingaccuracy,reliability,robustness,andspeedarediscussed.Chapters810coverapplicationsofimageregistration.Chapter8discussescre-ationofintensityandrangeimagemosaicsbyregisteringoverlappingareasintheimages,andChapter9discussesmethodsforcombininginformationintwoormoreregisteredimagesintoasinglehighlyinformativeimage.Inparticular,fusionofmulti-exposureandmulti-focusimagesisdiscussed.Finally,Chapter10discussesregistrationofstereoimagesfordepthperception.Cameracalibrationandcorrespon-dencealgorithmsarediscussedindetailandexamplesaregiven.Someofthediscussionssuchasstereodepthperceptionapplytoonly2-Dimages,butmanyofthetopicscoveredinthebookcanbeappliedtoboth2-Dand3-Dimages.Therefore,discussionson2-Dimageregistrationand3-Dimageregistrationcontinueinparallel.Firstthe2-Dmethodsandalgorithmsaredescribedandthentheirextensionsto3-Dareprovided.Thisbookrepresentsmyownexperiencesonimageregistrationduringthepasttwentyyears.Themainobjectivehasbeentocoverthefundamentalsofimageregistrationindetail.Applicationsofimageregistrationarenotdiscussedindepth.AlargenumberofapplicationpapersappearannuallyinProc.ComputerVisionandPatternRecognition,Proc.IntlConf.ComputerVision,Proc.IntlConf.PatternRecognition,Proc.SPIEIntlSym.MedicalImaging,andProc.IntlSym.RemoteSensingofEnvironment.Imageregistrationpapersfrequentlyappearinthefollowingjournals:
IntlJ.ComputerVision,ComputerVisionandImageUnderstanding,IEEETrans.PatternAnalysisandMachineIntelligence,IEEETrans.MedicalImaging,IEEETrans.GeoscienceandRemoteSensing,ImageandVisionComputing,andPatternRecognition.Thefiguresusedinthebookareavailableonlineandmaybeobtainedbyvisitingthewebsitehttp:
/softwareimplementingthemethodsandalgorithmsdiscussedinthebookcanbeobtainedbyvisitingthesamesite.Anytypographicalerrorsorerratafoundinthebookwillalsobepostedonthissite.Thesitealsocontainsothersourcesofinformationrelatingtoimageregistration.A.ARDESHIRGOSHTASBYDayton,Ohio,USAAcknowledgmentsIwouldliketothankNASAforprovidingthesatelliteimagesandKetteringMed-icalCenter,Kettering,Ohio,forprovidingthemedicalimagesusedinthisbook.IalsowouldliketothankShreeNayarofColumbiaUniversityforprovidingthemulti-exposureimagesshowninFigs8.28.5;MaxLyonsforprovidingthemulti-exposureimagesshowninFig.8.6;PaoloFavaro,HailinJin,andStefanoSaottoofUniversityofCaliforniaatLosAngelesforprovidingthemulti-focusimagesshowninFig.8.7;CodyBenkelmanofPositiveSystemsforprovidingtheaerialimagesshowninFig.9.4;YuichiOhtaofTsukubaUniversityforprovidingthestereoimagepairshowninFig.10.10;andDanielScharsteinofMiddleburyCollegeandRickSzeliskiofMicrosoftResearchforprovidingthestereoimagepairshowninFig.10.11.MyPh.D.students,LyubomirZagorchev,LijunDing,andMarcelJackowski,have
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