Abstract—Motivated by the problem of retinal image registration, this paper introduces and analyzes a new registration algorithm called Dual-Bootstrap Iterative Closest Point (Dual-Bootstrap ICP). The approach is to start from one or more initial, low-order estimates that are only accurate in small image regions, called bootstrap regions. In each bootstrap region, the algorithm iteratively: 1) refines the transformation estimate using constraints only from within the bootstrap region; 2) expands the bootstrap region; and 3) tests to see if a higher order transformation model can be used, stopping when the region expands to cover the overlap between images. Steps 1): and 3), the bootstrap steps, are governed by the covariance matrix of the estimated transformation. Estimation refinement [Step 2)] uses a novel robust version of the ICP algorithm. In registering retinal image pairs, Dual-Bootstrap ICP is initialized by automatically matching individual vascular landmarks, and it aligns images based on detected blood vessel centerlines. The resulting quadratic transformations are accurate to less than a pixel. On tests involving approximately 6000 image pairs, it successfully registered 99.5 % of the pairs containing at least one common landmark, and 100 % of the pairs containing at least one common landmark and at least 35 % image overlap. Index Terms—Iterative closest point, medical imaging, registration, retinal imaging, robust estimation.

We have developed a method for forming vascular atlases using vascular distance maps and a novel vascular model-to-image registration method. Our atlas formation process begins with MR or CT angiogram data from a set of subjects. We extract blood vessels from those data using our tubular object segmentation method. One subject's vascular network model is then chosen as a template, and its vascular distance map (DM) image is computed. Each of the remaining vascular network models is then registered with the DM template using our vascular model-to-image a#ne registration method. The DM images from the registered vascular models are then computed. The mean and variance images formed from those registered DM images are the vascular atlas. In this paper we apply the atlas formation process to build atlases of normal brain and liver vasculature. We use Monte Carlo simulations to demonstrate the reliability of the underlying registration method. Additionally, we explain the clinical potential of those atlases and conduct z -score analyses to compare individuals with the atlases to detect abnormal vessels.

Motivated by the goals of improving detection of low-contrast and narrow vessels and eliminating false detections at non-vascular structures, a new technique is presented for extracting vessels in retinal images. The core of the technique is a new likelihood ratio test that combines matched filter responses, confidence measures and vessel boundary measures. Matched filter responses are derived in scale-space to extract vessels of widely varying widths. A vessel confidence measure is defined as a projection of a vector formed from a normalized pixel neighborhood onto a normalized ideal vessel profile. Vessel boundary measures and associated confidences are computed at potential vessel boundaries. Combined, these responses form a 6-dimensional measurement vector at each pixel. A learning technique is applied to map this vector to a likelihood ratio that measures the "vesselness" at each pixel. Results comparing this vesselness measure to matched filters alone and to measures based on the intensity Hessian show substantial improvements both qualitatively and quantitatively. When the Hessian is used in place of the matched filter, similar but less-substantial improvements are obtained. Finally, the new vesselness likelihood ratio is embedded into a vessel tracing framework, resulting in an e#cient and e#ective vessel extraction algorithm.

This paper presents an approach to registration centered on the notion of a view --- a combination of an image resolution, a transformation model, an image region over which the model currently applies, and a set of image primitives from this region. The registration process is divided into three stages: initialization, automatic view generation, and estimation. For a given initial estimate, the latter two alternate until convergence; several initial estimates may be explored. The estimation process uses a novel generalization of the Iterative Closest Point (ICP) technique that simultaneously considers multiple correspondences for each point. View-based registration is applied successfully to alignment of vascular and neuronal images in 2-d and 3-d using similarity, a#ne, and quadratic transformations.

A new hybrid of feature-based and intensity-based registration is presented. The algorithm reflects a new understanding of the role of alignment error in the generation of registration constraints. This leads to an iterative process where distinctive image locations from the moving image are matched against the intensity structure of the fixed image. The search range of this matching process is controlled by both the uncertainty in the current transformation estimate and the properties of the image locations to be matched. The resulting hybrid algorithm is applied to retinal image registration by incorporating it as the main estimation engine within our recently published Dual-Bootstrap ICP algorithm.

journal homepage: www.elsevier.com/locate/media Location registration and recognition (LRR) for serial analysis of nodules