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This is a master thesis of the Master of Science degree program in Applied Physics and Electrical Engineering (Y) at Linköping University. The goal of the projectis to develop an application for creating a map in real time from a video camera on a miniature unmanned aerial vehicle. This thesis project and report is a first exploratory study for this application. It implements a prototype method and evaluates it on sample sequences from an on-board video camera. The method first looks for good points to follow in the image and then tracks them in a sequence.The image is then pasted, or merged, together with previous images so that points from the different images align. Two methods to find good points to follow are examined with focus on real-time performance. The result is that the much faster FAST detector method yielded satisfactory results good enough to replace the slower standard method of the Harris-Stephens corner detector. It is also examined whether it is possible to assume that the ground is a flat surface in this application or if a computationally more expensive method estimating altitude information has to be used. The result is that at high altitudes or when the ground is close to flat in reality and the camera points straight downwards a two-dimensional method will do. If flying lower or with high objects in the picture, which is often the case in this application, it must to be taken into account that the points really are at different heights, hence the ground can not be assumed to be flat.

Three experiments have been completed to investigate whether and how a software technique called real-time image mosaicing applied to a restricted field of view (FOV) might influence target detection and path integration performance in simulated aerial search scenarios, representing local and global spatial awareness tasks respectively. The mosaiced FOV (mFOV) was compared to single FOV (sFOV) and one with double the single size (dFOV). In addition to advancing our understanding of visual information in mosaicing, the present study examines the advantages and limitations of a number of metrics used to evaluate performance in path integration tasks, with particular attention paid to measuring performance in identifying complex routes. The highlights of the results are summarized as follows, according to Experiments 1 through 3 respectively. 1. A novel response method for evaluating route identification performance was developed. The surmised benefits of the mFOV relative to sFOV and dFOV revealed no significant differences in performance for the relatively simple route shapes tested. Compared to the mFOV and dFOV conditions, target detection performance in the local task was found to be superior in the sFOV condition. 2. In order to appropriately quantify the observed differences in complex route selections made by the participants, a novel analysis method was developed using the Thurstonian Paired Comparisons Method. 3. To investigate the effect of display size and elevation angle (EA) in a complex route environment, a 2x3 experiment was conducted for the two spatial tasks, at a height selected from Experiment 2. Although no significant differences were found in the target detection task, contrasts in the Paired Comparisons Method results revealed that route identification performance were as hypothesised: mFOV > dFOV > sFOV for EA = 90°. Results were similar for EA = 45°, but with mFOV being no different than dFOV. As hypothesised, EA was found to have an effect on route selection performance, with a top down view performing better than an angled view for the mFOV and sFOV conditions.

Three experiments have been completed to investigate whether and how a software technique called real-time image mosaicing applied to a restricted field of view (FOV) might influence target detection and path integration performance in simulated aerial search scenarios, representing local and global spatial awareness tasks respectively. The mosaiced FOV (mFOV) was compared to single FOV (sFOV) and one with double the single size (dFOV). In addition to advancing our understanding of visual information in mosaicing, the present study examines the advantages and limitations of a number of metrics used to evaluate performance in path integration tasks, with particular attention paid to measuring performance in identifying complex routes. The highlights of the results are summarized as follows, according to Experiments 1 through 3 respectively. 1. A novel response method for evaluating route identification performance was developed. The surmised benefits of the mFOV relative to sFOV and dFOV revealed no significant differences in performance for the relatively simple route shapes tested. Compared to the mFOV and dFOV conditions, target detection performance in the local task was found to be superior in the sFOV condition. 2. In order to appropriately quantify the observed differences in complex route selections made by the participants, a novel analysis method was developed using the Thurstonian Paired Comparisons Method. 3. To investigate the effect of display size and elevation angle (EA) in a complex route environment, a 2x3 experiment was conducted for the two spatial tasks, at a height selected from Experiment 2. Although no significant differences were found in the target detection task, contrasts in the Paired Comparisons Method results revealed that route identification performance were as hypothesised: mFOV > dFOV > sFOV for EA = 90°. Results were similar for EA = 45°, but with mFOV being no different than dFOV. As hypothesised, EA was found to have an effect on route selection performance, with a top down view performing better than an angled view for the mFOV and sFOV conditions.

This thesis describes a mosaicking system designed to generate image mosaics that facilitate size estimation of 3-dimensional objects by improving data obtained with a multi-sensor video camera. The multi-sensor camera is equipped with a pulse laser-rangefinder and internally mounted inclinometers that measure instrument orientation about three axes. Using orientation data and video data, mosaics are constructed to reduce orientation data errors by augmenting orientation data with image information. Mosaicking is modeled as a 7-step refinement process: 1) an initial mosaic is constructed using orientation information obtained from the camera's inclinometers; 2) mosaics are refined by using coarse-to-fine processing to minimize an energy metric and, consequently, align overlapping video frames; 3) pair-wise mosaicking errors are detected, and removed, using an energy-based confidence metric; 4) mosaic accuracy is refined via color analysis; 5) mosaic accuracy is refined by estimating an affine transformation to align overlapping frames; 6) affine transformation approximations between overlapping video frames are used to reduce image noise through super-resolution; 7) original orientation data are corrected given the refined orientations of images within the mosaic. The mosaicking system has been tested using objects of known size and orientation accuracy has been improved by 86% for these cases. / Master of Science

" A novel Markov Random Field (MRF) based method for the mosaicing of 3D ultrasound volumes is presented in this dissertation. The motivation for this work is the production of training volumes for an affordable ultrasound simulator, which offers a low-cost/portable training solution for new users of diagnostic ultrasound, by providing the scanning experience essential for developing the necessary psycho-motor skills. It also has the potential for introducing ultrasound instruction into medical education curriculums. The interest in ultrasound training stems in part from the widespread adoption of point-of-care scanners, i.e. low cost portable ultrasound scanning systems in the medical community. This work develops a novel approach for producing 3D composite image volumes and validates the approach using clinically acquired fetal images from the obstetrics department at the University of Massachusetts Medical School (UMMS). Results using the Visible Human Female dataset as well as an abdominal trauma phantom are also presented. The process is broken down into five distinct steps, which include individual 3D volume acquisition, rigid registration, calculation of a mosaicing function, group-wise non-rigid registration, and finally blending. Each of these steps, common in medical image processing, has been investigated in the context of ultrasound mosaicing and has resulted in improved algorithms. Rigid and non-rigid registration methods are analyzed in a probabilistic framework and their sensitivity to ultrasound shadowing artifacts is studied. The group-wise non-rigid registration problem is initially formulated as a maximum likelihood estimation, where the joint probability density function is comprised of the partially overlapping ultrasound image volumes. This expression is simplified using a block-matching methodology and the resulting discrete registration energy is shown to be equivalent to a Markov Random Field. Graph based methods common in computer vision are then used for optimization, resulting in a set of transformations that bring the overlapping volumes into alignment. This optimization is parallelized using a fusion approach, where the registration problem is divided into 8 independent sub-problems whose solutions are fused together at the end of each iteration. This method provided a speedup factor of 3.91 over the single threaded approach with no noticeable reduction in accuracy during our simulations. Furthermore, the registration problem is simplified by introducing a mosaicing function, which partitions the composite volume into regions filled with data from unique partially overlapping source volumes. This mosaicing functions attempts to minimize intensity and gradient differences between adjacent sources in the composite volume. Experimental results to demonstrate the performance of the group-wise registration algorithm are also presented. This algorithm is initially tested on deformed abdominal image volumes generated using a finite element model of the Visible Human Female to show the accuracy of its calculated displacement fields. In addition, the algorithm is evaluated using real ultrasound data from an abdominal phantom. Finally, composite obstetrics image volumes are constructed using clinical scans of pregnant subjects, where fetal movement makes registration/mosaicing especially difficult. Our solution to blending, which is the final step of the mosaicing process, is also discussed. The trainee will have a better experience if the volume boundaries are visually seamless, and this usually requires some blending prior to stitching. Also, regions of the volume where no data was collected during scanning should have an ultrasound-like appearance before being displayed in the simulator. This ensures the trainee's visual experience isn't degraded by unrealistic images. A discrete Poisson approach has been adapted to accomplish these tasks. Following this, we will describe how a 4D fetal heart image volume can be constructed from swept 2D ultrasound. A 4D probe, such as the Philips X6-1 xMATRIX Array, would make this task simpler as it can acquire 3D ultrasound volumes of the fetal heart in real-time; However, probes such as these aren't widespread yet. Once the theory has been introduced, we will describe the clinical component of this dissertation. For the purpose of acquiring actual clinical ultrasound data, from which training datasets were produced, 11 pregnant subjects were scanned by experienced sonographers at the UMMS following an approved IRB protocol. First, we will discuss the software/hardware configuration that was used to conduct these scans, which included some custom mechanical design. With the data collected using this arrangement we generated seamless 3D fetal mosaics, that is, the training datasets, loaded them into our ultrasound training simulator, and then subsequently had them evaluated by the sonographers at the UMMS for accuracy. These mosaics were constructed from the raw scan data using the techniques previously introduced. Specific training objectives were established based on the input from our collaborators in the obstetrics sonography group. Important fetal measurements are reviewed, which form the basis for training in obstetrics ultrasound. Finally clinical images demonstrating the sonographer making fetal measurements in practice, which were acquired directly by the Philips iU22 ultrasound machine from one of our 11 subjects, are compared with screenshots of corresponding images produced by our simulator. "

Techn. Hochsch., Diss., 2001--Aachen.

One issue with a lot of the free aerial satellite maps that exists is the actuality of the acquired images in terms of the acquisition date. A lot of times the images are a few years old and will not represent the current reality. This project will try and mitigate this by using free open data from the Copernicus directive supplied by the European Space Agency ESA and use that to create maps. By doing this the ability to have daily updated aerial satellite maps occurs and that could be really interesting for scientific and commercial purposes. To make this work an automated process was created that downloaded the images from Copernicus and processed them with GDAL to create the maps. The process deals with the issues of mosaicing, reprojection and unattended downloads amongst other things. In the results, there is a comparison between three different maps to give a comparison and an idea of how big of a map the process can handle in a reasonable time.

Video compression aims to reduce video file size without impacting visual quality. Existing algorithms mostly use transform coders to convert information from the spatial to frequency domain, and attenuate or remove high frequency components from the sequence. This enables the omission of a large proportion of high frequency information with no discernible visual impact. Sprite-based compression encodes large portions of a scene as a single object in the video sequence, recreating the object in subsequent frames by warping or morphing the sprite to mimic changes in subsequent frames. This thesis sought to improve several aspects of existing sprite based compression approaches, employing a temporal motion model using a low order polynomial to represent the motion of an object across multiple frames in a single model rather than a series of models. The main outcome is the demonstration that motion models used by sprite based video compression can be extended to a full three dimensional model, reducing the overall size of the model, and improving the quality of the sequence at low bit rates. A second outcome is the demonstration that super-resolution processing is not necessary if lanczos spatial interpolation is used instead of bilinear or bi-cubic interpolation, resulting in a savings in computational time and resources. A third outcome is the introduction of a new blending model used to generate image mosaics that improves the quality of the synthesised sequence when zoom is present in the sequence for a given bit-rate. A final outcome is demonstrating that performing superresolution processing and sub-sampling back to the original resolution prior to compression provides benefits in some circumstances.

Confocal microendoscopy is a promising new diagnostic imaging technique that is minimally invasive and provides in-vivo cellular-level images of tissue. In this study, we developed various image analysis techniques for ovarian cancer detection using the confocal microendoscope system. Firstly, we developed a technique for automatic classification of images based on focus, to prune out the out-of-focus images from the ovarian dataset. Secondly, we modified the texture analysis technique developed earlier to improve the stability of the textural features. The modified technique gives stable features and more consistent performance for ovarian cancer detection. Although confocal microendoscopy provides cellular-level resolution, it is limited by a small field of view. We present a fast technique for stitching the individual frames of the tissue to form a large mosaic. Such a mosaic will aid the physician in diagnosis, and also makes quantitative and statistical analysis possible on a larger field of view.