Image Analysis - Technical University of Denmark...DTU Compute 16 DTU Compute, Technical University...
Transcript of Image Analysis - Technical University of Denmark...DTU Compute 16 DTU Compute, Technical University...
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DTU Compute
Image Analysis
Plenty of slides adapted from Thomas Moeslunds lectures
Rasmus R. Paulsen
Tim B. Dyrby
DTU Compute
http://courses.compute.dtu.dk/02502
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2021Image Analysis2 DTU Compute, Technical University of Denmark
Week 3Pixelwise operations and colour imagesPCA on images
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2021Image Analysis3 DTU Compute, Technical University of Denmark
What can you do after today?
Compute and apply a linear gray transformation
Describe and compute the image histogram
Implement and apply histogram stretching
Implement and apply gamma transformation
Implement and apply log and exp mappings
Describe and use thresholding
Describe and use automatic thresholding
Perform conversions between bytes and doubles
Use addition and subtraction of images
Explain the benefits of bi-modal histograms
Identify images where global thresholding can be used for object extraction
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2021Image Analysis4 DTU Compute, Technical University of Denmark
…and you can even more
Describe the basic human visual system including rods and cones
Describe subtractive colors
Describe additive colors
Describe the RGB color space
Describe the normalised RGB color representation
Describe the use of the Bayer pattern in digital cameras
Describe the HSI color space
Convert from an RGB to a grey level value
Convert from an RGB value to an HSI value
Describe the use of different color spaces
Implement and use color thresholding in RGB space
Implement and use color thresholding in HSI space
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2021Image Analysis5 DTU Compute, Technical University of Denmark
Gray value mappings
Mapping
– To make correspondence between two sets of values
Look-up-table
– A table of mappings
0 1 2 3 4 5
5 17 53 75 99 180
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2021Image Analysis6 DTU Compute, Technical University of Denmark
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2021Image Analysis7 DTU Compute, Technical University of Denmark
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2021Image Analysis8 DTU Compute, Technical University of Denmark
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2021Image Analysis9 DTU Compute, Technical University of Denmark
Gray value mappings
Mapping
– To make correspondence between two sets of values
Mapping function
– out = f(in)
What happens with the values?
– Values with difference 0.1
– Output values “spread out”
>0.1
0.1
10 0.5
1
0.5
out
in
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2021Image Analysis10 DTU Compute, Technical University of Denmark
Why change gray level values
When could it be good to change the gray level values?
– Lack of contrast
– Make the image lighter
– Make the image darker
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2021Image Analysis11 DTU Compute, Technical University of Denmark
Point processing
0 2
1 2
1 2 1
2 5 3
1 3
2 2
0 1
1 2 0
2 1 4
1 0 1
9
12
Input Output
• The value of the output pixel is only dependent on the value of one input pixel
• A global operation – changes all pixels
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2021Image Analysis12 DTU Compute, Technical University of Denmark
Point processing
Grey level enhancement
– Process one pixel at a time independent of all other pixels
– For example used to correct Brightness and Contrast
Known from the television remote control
Too low
contrastCorrect
Too high
contrast
Too high
brightnessToo low
brightness
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2021Image Analysis13 DTU Compute, Technical University of Denmark
Brightness
The brightness is the intensity
Change brightness:
– To each pixel is added the value b
– f(x, y) is the input image
– g(x, y) is the (enhanced) output image
If b>0 : brighter image
If b<0 : less bright image
𝑔 𝑥, 𝑦 = 𝑓 𝑥, 𝑦 + 𝑏
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2021Image Analysis14 DTU Compute, Technical University of Denmark
Brightness
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2021Image Analysis15 DTU Compute, Technical University of Denmark
Contrast
The contrast describes the level of details we can see
Change contrast
Each pixel is multiplied by a
– f(x, y) is the input image
– g(x, y) is the (enhanced) output image
If a>1 => more contrast
If a<1 => less contrast
𝑔 𝑥, 𝑦 = 𝑎 ∗ 𝑓(𝑥, 𝑦)
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2021Image Analysis16 DTU Compute, Technical University of Denmark
Combining brightness and contrast
A straight line
Called a linear transformation
Here a = 0.7 and b = 20
in
out
𝑔 𝑥, 𝑦 = 𝑎 ∗ 𝑓 𝑥, 𝑦 + 𝑏
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2021Image Analysis17 DTU Compute, Technical University of Denmark
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2021Image Analysis18 DTU Compute, Technical University of Denmark
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2021Image Analysis19 DTU Compute, Technical University of Denmark
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2021Image Analysis20 DTU Compute, Technical University of Denmark
Combining brightness and contrast
A straight line
Called a linear transformation
Here a = 0.7 and b = 20
What will the result be on the output image?
– More bright (b > 0)
– Less contrast (a < 1)
in
out
𝑔 𝑥, 𝑦 = 𝑎 ∗ 𝑓 𝑥, 𝑦 + 𝑏
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2021Image Analysis21 DTU Compute, Technical University of Denmark
Histogram Reminder
A histogram normally contains the same number of “bins” as the possible pixel values
A bin stores the number of pixel with that value
3
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2021Image Analysis24 DTU Compute, Technical University of Denmark
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2021Image Analysis25 DTU Compute, Technical University of Denmark
Back to the histogram
The shape of the histogram tells us a lot!
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2021Image Analysis26 DTU Compute, Technical University of Denmark
Histogram inspection
Dark image
Bright image
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2021Image Analysis27 DTU Compute, Technical University of Denmark
Histogram inspection
Low contrast
High contrast
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2021Image Analysis28 DTU Compute, Technical University of Denmark
Histogram stretching
How do we optimise the image using the histogram?
– Minimum and maximum values?
– Stretch it so new minimum = 0 and new maximum = 255
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2021Image Analysis29 DTU Compute, Technical University of Denmark
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2021Image Analysis32 DTU Compute, Technical University of Denmark
Histogram stretching
We want
– Min = 0
– Max = 255
We have
– Min = 32
– Max = 208
𝑔 𝑥, 𝑦 =𝑣𝑚𝑎𝑥,𝑑 − 𝑣𝑚𝑖𝑛,𝑑
𝑣𝑚𝑎𝑥 − 𝑣𝑚𝑖𝑛𝑓 𝑥, 𝑦 − 𝑣𝑚𝑖𝑛 + 𝑣𝑚𝑖𝑛,𝑑
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2021Image Analysis33 DTU Compute, Technical University of Denmark
Histogram stretching formula
Desired min value
Desired max value
Current min value
Current max value
vmin,d = 0
vmax,d = 255
vmax = 208
vmin = 32
𝑔 𝑥, 𝑦 =𝑣𝑚𝑎𝑥,𝑑 − 𝑣𝑚𝑖𝑛,𝑑
𝑣𝑚𝑎𝑥 − 𝑣𝑚𝑖𝑛𝑓 𝑥, 𝑦 − 𝑣𝑚𝑖𝑛 + 𝑣𝑚𝑖𝑛,𝑑
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2021Image Analysis34 DTU Compute, Technical University of Denmark
Histogram stretching
𝑔 𝑥, 𝑦 =255
176𝑓 𝑥, 𝑦 − 32
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2021Image Analysis35 DTU Compute, Technical University of Denmark
Effect of histogram stretching
32
208
0
255
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2021Image Analysis36 DTU Compute, Technical University of Denmark
Histogram stretching – weaknesses
A single pixel value of 0 or 255 ruins it
Sometimes you want
– To stretch only the high pixel values
– While “compressing” the low pixel values
– Non-linear mapping
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2021Image Analysis40 DTU Compute, Technical University of Denmark
Deep learning and color/gray scale transformations
Deep learning needs training data
– Input image
– Ground truth labels or classes
When you lack data you can augment your data
– Create artificial versions
– Adding variation
– Changing gray / color levels in the image
– Point wise operations
https://www.quora.com/What-does-the-term-semantic-segmentation-mean-in-the-context-of-Deep-Learning
Luc, Pauline, et al. "Predicting deeper into the future of semantic segmentation." IEEE International Conference on Computer Vision (ICCV). Vol. 1. 2017.
http://uc-r.github.io/feedforward_DNN
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2021Image Analysis41 DTU Compute, Technical University of Denmark
Other mappings
Non-linear mappings
Not always nice to work with byte images
– Better to work with image with values in [0,1]
Byte image
Conversion to [0,1]
Non-linear transformation
Back to bytes
Byte image
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2021Image Analysis42 DTU Compute, Technical University of Denmark
Working with bytes and doubles
A byte contains integer values [0,255]
– A byte can not store 127.4232
A value of type double can contain “all numbers”
Why not use doubles always?
– One double = 8 bytes in the memory
– Images become very large!
– Many things can be done with bytes
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2021Image Analysis43 DTU Compute, Technical University of Denmark
Map pixels to [0,1]
In Matlab it is easiest to create a new image of type double
– Itemp = double(I);
– (temp means temporary and is used by many programmers for variables that quickly are thrown away)
Conversion to [0,1]
𝑔 𝑥, 𝑦 =1
255𝑓(𝑥, 𝑦)
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2021Image Analysis44 DTU Compute, Technical University of Denmark
Pixels back to bytes
Input pixels are [0,1]
We want them to be [0,255]
Simple linear transformation equal to
– Contrast?
– Brightness?
Back to bytes
– Ifinal = uint8(Itemp);
𝑔 𝑥, 𝑦 = 255 ∗ 𝑓(𝑥, 𝑦)
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Gamma mapping
Gamma mapping is used in televisions and flat panels
Can increase the contrast (dynamics) in more selected part of the histogram
Many games have a possibility for a gamma correction
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Gamma curves
Named after the Greek letter gamma
What happens to the dark areas
– With 0.45?
– With 2.22?
𝑔 𝑥, 𝑦 = 𝑓(𝑥, 𝑦)𝛾
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Perform the gamma mapping
Byte image
Conversion to [0,1]
Gamma mapping
Back to bytes
Byte image
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2021Image Analysis48 DTU Compute, Technical University of Denmark
Results of gamma mapping
0.45 2.22
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Logarithmic mapping
Why?
Maps from [0,255] to [0,255]
𝑔 𝑥, 𝑦 = 𝑐 log (1 + f x, y )
𝑐 =255
log(1 + 𝑣𝑚𝑎𝑥)
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Logarithmic mapping – when?
For images with very bright spots
Low intensity pixel values are enhanced
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DTU Compute
2021Image Analysis54 DTU Compute, Technical University of Denmark
What do we get out of pixel mappings
Spreading out or compressing pixel values
– Better for humans to see
– New information – no!
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DTU Compute
2021Image Analysis55 DTU Compute, Technical University of Denmark
Now for something different
Until now image processing
– Input image transformed to output image
Now for something more like image analysis
Segmentation
– Segment the image into regions
Background and objects for example
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DTU Compute
2021Image Analysis56 DTU Compute, Technical University of Denmark
Thresholding
A threshold T is a value
– Pixels below that value is set to 0 (background)
– Pixels equal or above is set to 1 (object)
One threshold value for the entire image
– Difficult to choose!
if 𝑓 𝑥, 𝑦 ≤ 𝑇 then 𝑔 𝑥, 𝑦 = 0
if 𝑓 𝑥, 𝑦 > 𝑇 then 𝑔 𝑥, 𝑦 = 255
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DTU Compute
2021Image Analysis57 DTU Compute, Technical University of Denmark
Thresholding
T=110
T=128 T=140
Background and bone have same value!
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DTU Compute
2021Image Analysis58 DTU Compute, Technical University of Denmark
Thresholding based on the histogram
T=110T=128 T=140
The bones are visible in the histogram!
But mixed with soft-tissue
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DTU Compute
2021Image Analysis59 DTU Compute, Technical University of Denmark
Automatic Tresholding
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DTU Compute
2021Image Analysis60 DTU Compute, Technical University of Denmark
Automatic TresholdingOtsu’s method
Two classes: background and object
T divides pixels into object and background
Compute pixel value variance in each class
Find T that minimises combined variance
Otsu, Nobuyuki. "A threshold selection method from gray-level histograms." IEEE transactions on systems, man, and cybernetics 9.1 (1979): 62-66.
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DTU Compute
2021Image Analysis61 DTU Compute, Technical University of Denmark
Segmentation – histogram shaping
With a threshold you want a histogram with two peaks
– Bimodal
An ideal histogram has well separated peaks
Obtaining a bi-modal histogram is very important in the image acquisition
Ideal
BackgroundObject
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DTU Compute
2021Image Analysis62 DTU Compute, Technical University of Denmark
Histogram shaping
It is not possible to “unmix” using gray level transformations
Should be higher
Should be lower
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DTU Compute
2021Image Analysis63 DTU Compute, Technical University of Denmark
How to obtain good histograms
With cameras
– Light
– Setup
– Camera
– Lens
– Backlight?
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DTU Compute
2021Image Analysis64 DTU Compute, Technical University of Denmark
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DTU Compute
2021Image Analysis65 DTU Compute, Technical University of Denmark
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DTU Compute
2021Image Analysis66 DTU Compute, Technical University of Denmark
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DTU Compute
2021Image Analysis67 DTU Compute, Technical University of Denmark
Colour images and colour perceptionThe Human Eye
https://askabiologist.asu.edu/rods-and-cones
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DTU Compute
2021Image Analysis68 DTU Compute, Technical University of Denmark
Color sensitivity
https://askabiologist.asu.edu/rods-and-cones
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DTU Compute
2021Image Analysis69 DTU Compute, Technical University of Denmark
Object colorsSubtractive colors
All other colors than red absorbed
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DTU Compute
2021Image Analysis70 DTU Compute, Technical University of Denmark
Object colorsAdditive colors
Additive colours: Final colour is made by mixing red, green, and blue
RGB = Red, Green, and Blue
Television, computers, digital cameras use the “RGB colorspace”
Typically the values of R, G, and B lie between 0 and 255
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DTU Compute
2021Image Analysis71 DTU Compute, Technical University of Denmark
RGB Colours
When alle three “Lamps” are turned of we get black
When all three “lamps” are on what do we get?
RGB = (0,0,0)
RGB = (255,255,255)
(255,0,0) (0,255,0) (0,0,255)
(255,255,0) (0,255,255)
(255,0,255)
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DTU Compute
2021Image Analysis72 DTU Compute, Technical University of Denmark
Color camera with one sensor
http://www.skyandtelescope.com/astronomy-resources/astrophotography-tips/redeeming-color-planetary-cameras/
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DTU Compute
2021Image Analysis73 DTU Compute, Technical University of Denmark
RGB color space
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DTU Compute
2021Image Analysis74 DTU Compute, Technical University of Denmark
Converting colour to grayscale
v = 0.2989 * R + 0.5870 * G + 0.1140 * B
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DTU Compute
2021Image Analysis75 DTU Compute, Technical University of Denmark
Normalised RGB colors
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DTU Compute
2021Image Analysis76 DTU Compute, Technical University of Denmark
Another RGB representation
(r,g,I)
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DTU Compute
2021Image Analysis77 DTU Compute, Technical University of Denmark
HSI Color Reprentation
Hue – the dominant wave length in the perceived light (the pure color)
Saturation – the purity of the color
Intensity – the brightness of the color (sometimes called the value)
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DTU Compute
2021Image Analysis78 DTU Compute, Technical University of Denmark
Converting between RGB and HSI
You have an RGB value
You want the corresponding HSI value
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DTU Compute
2021Image Analysis79 DTU Compute, Technical University of Denmark
Why other colorspaces
Why should we use for example HSI ?
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DTU Compute
2021Image Analysis80 DTU Compute, Technical University of Denmark
Melanoma segmentation
An algorithm that cando pixelwiseclassification
– Background / skin
– Melanoma
Use the colors
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DTU Compute
2021Image Analysis81 DTU Compute, Technical University of Denmark
Melanoma segmentation – color variation
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DTU Compute
2021Image Analysis82 DTU Compute, Technical University of Denmark
Color thresholding
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DTU Compute
2021Image Analysis83 DTU Compute, Technical University of Denmark
Color thresholding
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DTU Compute
2021Image Analysis84 DTU Compute, Technical University of Denmark
Color variation
The major variation is in the brightness
– This will spread out the values in RGB space
The Hue is rather constant
HSI Space
– HUE and saturation rather stable
– Only variation in intensity / value
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DTU Compute
2021Image Analysis85 DTU Compute, Technical University of Denmark
Contrast in medical images
How do we optimise image acquisition when we want to look at
– Bones
– Brain structures
– Cancer
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DTU Compute
2021Image Analysis86 DTU Compute, Technical University of Denmark
Image acquisition - bone
X-rays
– goes through soft tissue with little loss
– are attenuated in bone
CT scanners use X-rays
– Good for imaging bones
A simple threshold can often extract the bones
Areas with only bone and soft-tissue will have a bimodal histogram
Attenuation - the gradual loss in intensity
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DTU Compute
2021Image Analysis87 DTU Compute, Technical University of Denmark
Image acquisition – brain structures
Magnetic Resonance Imaging (MRI) is often used
Much more difficult to explain!– Based on very powerful
magnetic fields and radio waves
Needs water molecules!
Bone is black!
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DTU Compute
2021Image Analysis88 DTU Compute, Technical University of Denmark
Image acquisition - cancer
CT scan
Liver cancer
– Very difficult to see
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DTU Compute
2021Image Analysis89 DTU Compute, Technical University of Denmark
What makes cancer cells special?
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DTU Compute
2021Image Analysis90 DTU Compute, Technical University of Denmark
Cancer metabolism
Cancer cells typically have a high metabolism
– They eat more!
Some substances are easier to see on different scanners
– Bone on CT
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DTU Compute
2021Image Analysis91 DTU Compute, Technical University of Denmark
Using the cancer metabolism
Something that is to see+
Something that is being eaten by the cancer
A tracer
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DTU Compute
2021Image Analysis92 DTU Compute, Technical University of Denmark
Contrast using tracers
A commonly used tracer is
– 18F-FDG = 18F-fluorodeoxyglucose
Used in oncological PET
– Oncology : Cancer
– PET: positron emission tomography
Positron-emitting radioactive isotope fluorine-18
Glucose is a “sugar”CT image
PET-FDG image
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DTU Compute
2021Image Analysis93 DTU Compute, Technical University of Denmark
PET
Wikipedia
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DTU Compute
2021Image Analysis94 DTU Compute, Technical University of Denmark
PET Image
Areas with high glucose intake will be brighter
– Higher intake of radioactive molecules
Bimodal histograms in areas with cancer cells
Big research topic
Wikipedia
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DTU Compute
2021Image Analysis95 DTU Compute, Technical University of Denmark
High-Resolution PET scanner at Rigshospitalet
PhD project by Oline Vinter Olesen –
now startup
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DTU Compute
2021Image Analysis96 DTU Compute, Technical University of Denmark
Combining Images
CT is good for bone
PET is good for cancer
What if I want to see both?
PET/CT scanner– Patient scanned in both a CT and a PET
scanner
Image registration
– Take two or more separate images
– Combine them using image registration
– More about that later
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DTU Compute
2021Image Analysis97 DTU Compute, Technical University of Denmark
Thresholds visited
The tumour became much more separated from the background
Perhaps a simple threshold is enough now?
The best solution
– Clever imaging techniques
and
– Intelligent image analysis
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DTU Compute
2021Image Analysis98 DTU Compute, Technical University of Denmark
PCA on images
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DTU Compute
2021Image Analysis99 DTU Compute, Technical University of Denmark
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DTU Compute
2021Image Analysis100 DTU Compute, Technical University of Denmark
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DTU Compute
2021Image Analysis101 DTU Compute, Technical University of Denmark
Challenges
DTU Sign Challenge
– ”Self driving cars task”
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DTU Compute
2021Image Analysis102 DTU Compute, Technical University of Denmark
DTU Sign Challenge
Create an automated algorithm that can locate DTU Signs in an image
Boundingbox
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DTU Compute
2021Image Analysis103 DTU Compute, Technical University of Denmark
DTU Sign Challenge Rules
The tools are all from the course
You get a set of 25+ training image with ground truth
You submit your algorithm
We run the algorithm on the secret set (25+ images)
The algorithm that finds the most signs most accurately wins
Challenge starts 6/4-2021
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DTU Compute
2021Image Analysis104 DTU Compute, Technical University of Denmark
Example images
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DTU Compute
2021Image Analysis106 DTU Compute, Technical University of Denmark
Challenge details
Challenge starts April 6.
Challenge ends April 23.
Teams with 1-4 students
Deliver your code on Inside
Not mandatory – but we hope you will find it fun to participate
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DTU Compute
2021Image Analysis107 DTU Compute, Technical University of Denmark
Next week
Neighbourhood processing (Filtering)
Morphology