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Register a new userAutomated target tracking in kilovoltage images using dynamic templates of fiducial marker clusters
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Purpose: Implanted fiducial markers are often used in radiotherapy to facilitate accurate visualization and localization of tumors. Typically, such markers are used to aid daily patient positioning and to verify the targets position during treatment. This work introduces a novel, automated method for identifying fiducial markers in planar x-ray imaging. Methods: In brief, the method consists of automated filtration and reconstruction steps that generate 3D templates of marker positions. The normalized cross-correlation was the used to identify fiducial markers in projection images. To quantify the accuracy of the technique, a phantom study was performed. 75 pre-treatment CBCT scans of 15 pancreatic cancer patients were analyzed to test the automated technique under real life conditions, including several challenging scenarios for tracking fiducial markers. Results: In phantom and patient studies, the method automatically tracked visible marker clusters in 100% of projection images. For scans in which a phantom exhibited 0D, 1D, and 3D motion, the automated technique showed median errors of 39 $mu$m, 53 $mu$m, and 93 $mu$m, respectively. Human precision was worse in comparison. Automated tracking was performed accurately despite the presence of other metallic objects. Additionally, transient differences in the cross-correlation score identified instances where markers disappeared from view. Conclusions: A novel, automated method for producing dynamic templates of fiducial marker clusters has been developed. Production of these templates automatically provides measurements of tumor motion that occurred during the CBCT scan that was used to produce them. Additionally, using these templates with intra-fractional images could potentially allow for more robust real-time target tracking in radiotherapy.
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Navigation using only one marker, which contains four artificial features, is a challenging task since camera pose estimation using only four coplanar points suffers from the rotational ambiguity problem in a real-world application. This paper presents a framework of vision-based navigation for a self-driving vehicle equipped with multiple cameras and a wheel odometer. A multiple camera setup is presented for the camera cluster which has 360-degree vision such that our framework solely requires one planar marker. A Kalman-Filter-based fusion method is introduced for the multiple-camera and wheel odometry. Furthermore, an algorithm is proposed to resolve the rotational ambiguity problem using the prediction of the Kalman Filter as additional information. Finally, the lateral and longitudinal controllers are provided. Experiments are conducted to illustrate the effectiveness of the theory.
Quantitative measures of uptake in caudate, putamen, and globus pallidus in dopamine transporter (DaT) brain SPECT have potential as biomarkers for the severity of Parkinson disease. Reliable quantification of uptake requires accurate segmentation of these regions. However, segmentation is challenging in DaT SPECT due to partial-volume effects, system noise, physiological variability, and the small size of these regions. To address these challenges, we propose an estimation-based approach to segmentation. This approach estimates the posterior mean of the fractional volume occupied by caudate, putamen, and globus pallidus within each voxel of a 3D SPECT image. The estimate is obtained by minimizing a cost function based on the binary cross-entropy loss between the true and estimated fractional volumes over a population of SPECT images, where the distribution of the true fractional volumes is obtained from magnetic resonance images from clinical populations. The proposed method accounts for both the sources of partial-volume effects in SPECT, namely the limited system resolution and tissue-fraction effects. The method was implemented using an encoder-decoder network and evaluated using realistic clinically guided SPECT simulation studies, where the ground-truth fractional volumes were known. The method significantly outperformed all other considered segmentation methods and yielded accurate segmentation with dice similarity coefficients of ~ 0.80 for all regions. The method was relatively insensitive to changes in voxel size. Further, the method was relatively robust up to +/- 10 degrees of patient head tilt along transaxial, sagittal, and coronal planes. Overall, the results demonstrate the efficacy of the proposed method to yield accurate fully automated segmentation of caudate, putamen, and globus pallidus in 3D DaT-SPECT images.
Motion blur can impede marker detection and marker-based pose estimation, which is common in real-world robotic applications involving fiducial markers. To solve this problem, we propose a novel lightweight generative adversarial network (GAN), Ghost-DeblurGAN, for real-time motion deblurring. Furthermore, a new large-scale dataset, YorkTag, provides pairs of sharp/blurred images containing fiducial markers and is proposed to train and qualitatively and quantitatively evaluate our model. Experimental results demonstrate that when applied along with fudicual marker systems to motion-blurred images, Ghost-DeblurGAN improves the marker detection significantly and mitigates the rotational ambiguity problem in marker-based pose estimation.
Dynamic contrast-enhanced magnetic resonance imaging (DCE- MRI) is a widely used multi-phase technique routinely used in clinical practice. DCE and similar datasets of dynamic medical data tend to contain redundant information on the spatial and temporal components that may not be relevant for detection of the object of interest and result in unnecessarily complex computer models with long training times that may also under-perform at test time due to the abundance of noisy heterogeneous data. This work attempts to increase the training efficacy and performance of deep networks by determining redundant information in the spatial and spectral components and show that the performance of segmentation accuracy can be maintained and potentially improved. Reported experiments include the evaluation of training/testing efficacy on a heterogeneous dataset composed of abdominal images of pediatric DCE patients, showing that drastic data reduction (higher than 80%) can preserve the dynamic information and performance of the segmentation model, while effectively suppressing noise and unwanted portion of the images.
Target detection and tracking provides crucial information for motion planning and decision making in autonomous driving. This paper proposes an online multi-object tracking (MOT) framework with tracking-by-detection for maneuvering vehicles under motion uncertainty in dynamic road context. We employ a point cloud based vehicle detector to provide real-time 3D bounding boxes of detected vehicles and conduct the online bipartite optimization of the maneuver-orientated data association between the detections and the targets. Kalman Filter (KF) is adopted as the backbone for multi-object tracking. In order to entertain the maneuvering uncertainty, we leverage the interacting multiple model (IMM) approach to obtain the textit{a-posterior} residual as the cost for each association hypothesis, which is calculated with the hybrid model posterior (after mode-switch). Road context is integrated to conduct adjustments of the time varying transition probability matrix (TPM) of the IMM to regulate the maneuvers according to road segments and traffic sign/signals, with which the data association is performed in a unified spatial-temporal fashion. Experiments show our framework is able to effectively track multiple vehicles with maneuvers subject to dynamic road context and localization drift.
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