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Sample records for realtime 3d tracking

  1. Real-Time 3D Tracking and Reconstruction on Mobile Phones.

    PubMed

    Prisacariu, Victor Adrian; Kähler, Olaf; Murray, David W; Reid, Ian D

    2015-05-01

    We present a novel framework for jointly tracking a camera in 3D and reconstructing the 3D model of an observed object. Due to the region based approach, our formulation can handle untextured objects, partial occlusions, motion blur, dynamic backgrounds and imperfect lighting. Our formulation also allows for a very efficient implementation which achieves real-time performance on a mobile phone, by running the pose estimation and the shape optimisation in parallel. We use a level set based pose estimation but completely avoid the, typically required, explicit computation of a global distance. This leads to tracking rates of more than 100 Hz on a desktop PC and 30 Hz on a mobile phone. Further, we incorporate additional orientation information from the phone's inertial sensor which helps us resolve the tracking ambiguities inherent to region based formulations. The reconstruction step first probabilistically integrates 2D image statistics from selected keyframes into a 3D volume, and then imposes coherency and compactness using a total variational regularisation term. The global optimum of the overall energy function is found using a continuous max-flow algorithm and we show that, similar to tracking, the integration of per voxel posteriors instead of likelihoods improves the precision and accuracy of the reconstruction.

  2. Automatic alignment of standard views in 3D echocardiograms using real-time tracking

    NASA Astrophysics Data System (ADS)

    Orderud, Fredrik; Torp, Hans; Rabben, Stein Inge

    2009-02-01

    In this paper, we present an automatic approach for alignment of standard apical and short-axis slices, and correcting them for out-of-plane motion in 3D echocardiography. This is enabled by using real-time Kalman tracking to perform automatic left ventricle segmentation using a coupled deformable model, consisting of a left ventricle model, as well as structures for the right ventricle and left ventricle outflow tract. Landmark points from the segmented model are then used to generate standard apical and short-axis slices. The slices are automatically updated after tracking in each frame to correct for out-of-plane motion caused by longitudinal shortening of the left ventricle. Results from a dataset of 35 recordings demonstrate the potential for automating apical slice initialization and dynamic short-axis slices. Apical 4-chamber, 2-chamber and long-axis slices are generated based on an assumption of fixed angle between the slices, and short-axis slices are generated so that they follow the same myocardial tissue over the entire cardiac cycle. The error compared to manual annotation was 8.4 +/- 3.5 mm for apex, 3.6 +/- 1.8 mm for mitral valve and 8.4 +/- 7.4 for apical 4-chamber view. The high computational efficiency and automatic behavior of the method enables it to operate in real-time, potentially during image acquisition.

  3. The systematic and random errors determination using realtime 3D surface tracking system in breast cancer

    NASA Astrophysics Data System (ADS)

    Kanphet, J.; Suriyapee, S.; Dumrongkijudom, N.; Sanghangthum, T.; Kumkhwao, J.; Wisetrintong, M.

    2016-03-01

    The purpose of this study to determine the patient setup uncertainties in deep inspiration breath-hold (DIBH) radiation therapy for left breast cancer patients using real-time 3D surface tracking system. The six breast cancer patients treated by 6 MV photon beams from TrueBeam linear accelerator were selected. The patient setup errors and motion during treatment were observed and calculated for interfraction and intrafraction motions. The systematic and random errors were calculated in vertical, longitudinal and lateral directions. From 180 images tracking before and during treatment, the maximum systematic error of interfraction and intrafraction motions were 0.56 mm and 0.23 mm, the maximum random error of interfraction and intrafraction motions were 1.18 mm and 0.53 mm, respectively. The interfraction was more pronounce than the intrafraction, while the systematic error was less impact than random error. In conclusion the intrafraction motion error from patient setup uncertainty is about half of interfraction motion error, which is less impact due to the stability in organ movement from DIBH. The systematic reproducibility is also half of random error because of the high efficiency of modern linac machine that can reduce the systematic uncertainty effectively, while the random errors is uncontrollable.

  4. GPU based, real-time tracking of perturbed, 3D plasma equilibria

    NASA Astrophysics Data System (ADS)

    Rath, N.; Bialek, J.; Byrne, P. J.; Debono, B.; Levesque, J. P.; Li, B.; Mauel, M. E.; Maurer, D. A.; Navratil, G. A.; Shiraki, D.

    2011-10-01

    The new high-resolution magnetic diagnostics and actuators of the HBT-EP tokamak are used to evaluate a novel approach to long-wavelength MHD mode control: instead of controlling the amplitude of specific preselected perturbations from axisymmetry, the control system will attempt to control the 3D shape of the plasma. This approach frees the experimenter from having to know the approximate shape of the expected instabilities ahead of time, and lifts the restriction of the control reference having to be the perfectly axisymmetric state. Instead, the plasma can be maintained in an arbitrary perturbed equilibrium, which may be selected for beneficial plasma properties. The increased computational demands on the control system are handled by a graphical computing unit (GPU) with 448 computing cores that interfaces directly to digitizers and analog output boards. The control system is designed to handle 96 inputs and 64 outputs with cycle times below 5 and I/O latencies below 10 microseconds. We report on the technical and theoretical design of the control system and give experimental results from testing the system's observer module which tracks the perturbed plasma equilibrium in real-time. This work was supported by US-DOE grant DE-FG02-86ER53222.

  5. Real-time visual sensing system achieving high-speed 3D particle tracking with nanometer resolution.

    PubMed

    Cheng, Peng; Jhiang, Sissy M; Menq, Chia-Hsiang

    2013-11-01

    This paper presents a real-time visual sensing system, which is created to achieve high-speed three-dimensional (3D) motion tracking of microscopic spherical particles in aqueous solutions with nanometer resolution. The system comprises a complementary metal-oxide-semiconductor (CMOS) camera, a field programmable gate array (FPGA), and real-time image processing programs. The CMOS camera has high photosensitivity and superior SNR. It acquires images of 128×120 pixels at a frame rate of up to 10,000 frames per second (fps) under the white light illumination from a standard 100 W halogen lamp. The real-time image stream is downloaded from the camera directly to the FPGA, wherein a 3D particle-tracking algorithm is implemented to calculate the 3D positions of the target particle in real time. Two important objectives, i.e., real-time estimation of the 3D position matches the maximum frame rate of the camera and the timing of the output data stream of the system is precisely controlled, are achieved. Two sets of experiments were conducted to demonstrate the performance of the system. First, the visual sensing system was used to track the motion of a 2 μm polystyrene bead, whose motion was controlled by a three-axis piezo motion stage. The ability to track long-range motion with nanometer resolution in all three axes is demonstrated. Second, it was used to measure the Brownian motion of the 2 μm polystyrene bead, which was stabilized in aqueous solution by a laser trapping system. PMID:24216655

  6. Passive Markers for Tracking Surgical Instruments in Real-Time 3-D Ultrasound Imaging

    PubMed Central

    Stoll, Jeffrey; Ren, Hongliang; Dupont, Pierre E.

    2013-01-01

    A family of passive echogenic markers is presented by which the position and orientation of a surgical instrument can be determined in a 3-D ultrasound volume, using simple image processing. Markers are attached near the distal end of the instrument so that they appear in the ultrasound volume along with the instrument tip. They are detected and measured within the ultrasound image, thus requiring no external tracking device. This approach facilitates imaging instruments and tissue simultaneously in ultrasound-guided interventions. Marker-based estimates of instrument pose can be used in augmented reality displays or for image-based servoing. Design principles for marker shapes are presented that ensure imaging system and measurement uniqueness constraints are met. An error analysis is included that can be used to guide marker design and which also establishes a lower bound on measurement uncertainty. Finally, examples of marker measurement and tracking algorithms are presented along with experimental validation of the concepts. PMID:22042148

  7. Performance and suitability assessment of a real-time 3D electromagnetic needle tracking system for interstitial brachytherapy

    PubMed Central

    Boutaleb, Samir; Fillion, Olivier; Bonillas, Antonio; Hautvast, Gilion; Binnekamp, Dirk; Beaulieu, Luc

    2015-01-01

    Purpose Accurate insertion and overall needle positioning are key requirements for effective brachytherapy treatments. This work aims at demonstrating the accuracy performance and the suitability of the Aurora® V1 Planar Field Generator (PFG) electromagnetic tracking system (EMTS) for real-time treatment assistance in interstitial brachytherapy procedures. Material and methods The system's performance was characterized in two distinct studies. First, in an environment free of EM disturbance, the boundaries of the detection volume of the EMTS were characterized and a tracking error analysis was performed. Secondly, a distortion analysis was conducted as a means of assessing the tracking accuracy performance of the system in the presence of potential EM disturbance generated by the proximity of standard brachytherapy components. Results The tracking accuracy experiments showed that positional errors were typically 2 ± 1 mm in a zone restricted to the first 30 cm of the detection volume. However, at the edges of the detection volume, sensor position errors of up to 16 mm were recorded. On the other hand, orientation errors remained low at ± 2° for most of the measurements. The EM distortion analysis showed that the presence of typical brachytherapy components in vicinity of the EMTS had little influence on tracking accuracy. Position errors of less than 1 mm were recorded with all components except with a metallic arm support, which induced a mean absolute error of approximately 1.4 mm when located 10 cm away from the needle sensor. Conclusions The Aurora® V1 PFG EMTS possesses a great potential for real-time treatment assistance in general interstitial brachytherapy. In view of our experimental results, we however recommend that the needle axis remains as parallel as possible to the generator surface during treatment and that the tracking zone be restricted to the first 30 cm from the generator surface. PMID:26622231

  8. Position tracking of moving liver lesion based on real-time registration between 2D ultrasound and 3D preoperative images

    SciTech Connect

    Weon, Chijun; Hyun Nam, Woo; Lee, Duhgoon; Ra, Jong Beom; Lee, Jae Young

    2015-01-15

    Purpose: Registration between 2D ultrasound (US) and 3D preoperative magnetic resonance (MR) (or computed tomography, CT) images has been studied recently for US-guided intervention. However, the existing techniques have some limits, either in the registration speed or the performance. The purpose of this work is to develop a real-time and fully automatic registration system between two intermodal images of the liver, and subsequently an indirect lesion positioning/tracking algorithm based on the registration result, for image-guided interventions. Methods: The proposed position tracking system consists of three stages. In the preoperative stage, the authors acquire several 3D preoperative MR (or CT) images at different respiratory phases. Based on the transformations obtained from nonrigid registration of the acquired 3D images, they then generate a 4D preoperative image along the respiratory phase. In the intraoperative preparatory stage, they properly attach a 3D US transducer to the patient’s body and fix its pose using a holding mechanism. They then acquire a couple of respiratory-controlled 3D US images. Via the rigid registration of these US images to the 3D preoperative images in the 4D image, the pose information of the fixed-pose 3D US transducer is determined with respect to the preoperative image coordinates. As feature(s) to use for the rigid registration, they may choose either internal liver vessels or the inferior vena cava. Since the latter is especially useful in patients with a diffuse liver disease, the authors newly propose using it. In the intraoperative real-time stage, they acquire 2D US images in real-time from the fixed-pose transducer. For each US image, they select candidates for its corresponding 2D preoperative slice from the 4D preoperative MR (or CT) image, based on the predetermined pose information of the transducer. The correct corresponding image is then found among those candidates via real-time 2D registration based on a

  9. Improved image guidance technique for minimally invasive mitral valve repair using real-time tracked 3D ultrasound

    NASA Astrophysics Data System (ADS)

    Rankin, Adam; Moore, John; Bainbridge, Daniel; Peters, Terry

    2016-03-01

    In the past ten years, numerous new surgical and interventional techniques have been developed for treating heart valve disease without the need for cardiopulmonary bypass. Heart valve repair is now being performed in a blood-filled environment, reinforcing the need for accurate and intuitive imaging techniques. Previous work has demonstrated how augmenting ultrasound with virtual representations of specific anatomical landmarks can greatly simplify interventional navigation challenges and increase patient safety. These techniques often complicate interventions by requiring additional steps taken to manually define and initialize virtual models. Furthermore, overlaying virtual elements into real-time image data can also obstruct the view of salient image information. To address these limitations, a system was developed that uses real-time volumetric ultrasound alongside magnetically tracked tools presented in an augmented virtuality environment to provide a streamlined navigation guidance platform. In phantom studies simulating a beating-heart navigation task, procedure duration and tool path metrics have achieved comparable performance to previous work in augmented virtuality techniques, and considerable improvement over standard of care ultrasound guidance.

  10. Use of MV and kV imager correlation for maintaining continuous real-time 3D internal marker tracking during beam interruptions

    NASA Astrophysics Data System (ADS)

    Wiersma, R. D.; Riaz, N.; Dieterich, Sonja; Suh, Yelin; Xing, L.

    2009-01-01

    The integration of onboard kV imaging together with a MV electronic portal imaging device (EPID) on linear accelerators (LINAC) can provide an easy to implement real-time 3D organ position monitoring solution for treatment delivery. Currently, real-time MV-kV tracking has only been demonstrated by simultaneous imagining by both MV and kV imaging devices. However, modalities such as step-and-shoot IMRT (SS-IMRT), which inherently contain MV beam interruptions, can lead to loss of target information necessary for 3D localization. Additionally, continuous kV imaging throughout the treatment delivery can lead to high levels of imaging dose to the patient. This work demonstrates for the first time how full 3D target tracking can be maintained even in the presence of such beam interruption, or MV/kV beam interleave, by use of a relatively simple correlation model together with MV-kV tracking. A moving correlation model was constructed using both present and prior positions of the marker in the available MV or kV image to compute the position of the marker on the interrupted imager. A commercially available radiotherapy system, equipped with both MV and kV imaging devices, was used to deliver typical SS-IMRT lung treatment plans to a 4D phantom containing internally embedded metallic markers. To simulate actual lung tumor motion, previous recorded 4D lung patient motion data were used. Lung tumor motion data of five separate patients were inputted into the 4D phantom, and typical SS-IMRT lung plans were delivered to simulate actual clinical deliveries. Application of the correlation model to SS-IMRT lung treatment deliveries was found to be an effective solution for maintaining continuous 3D tracking during 'step' beam interruptions. For deliveries involving five or more gantry angles with 50 or more fields per plan, the positional errors were found to have <=1 mm root mean squared error (RMSE) in all three spatial directions. In addition to increasing the robustness of

  11. Use of MV and kV imager correlation for maintaining continuous real-time 3D internal marker tracking during beam interruptions.

    PubMed

    Wiersma, R D; Riaz, N; Dieterich, Sonja; Suh, Yelin; Xing, L

    2009-01-01

    The integration of onboard kV imaging together with a MV electronic portal imaging device (EPID) on linear accelerators (LINAC) can provide an easy to implement real-time 3D organ position monitoring solution for treatment delivery. Currently, real-time MV-kV tracking has only been demonstrated by simultaneous imagining by both MV and kV imaging devices. However, modalities such as step-and-shoot IMRT (SS-IMRT), which inherently contain MV beam interruptions, can lead to loss of target information necessary for 3D localization. Additionally, continuous kV imaging throughout the treatment delivery can lead to high levels of imaging dose to the patient. This work demonstrates for the first time how full 3D target tracking can be maintained even in the presence of such beam interruption, or MV/kV beam interleave, by use of a relatively simple correlation model together with MV-kV tracking. A moving correlation model was constructed using both present and prior positions of the marker in the available MV or kV image to compute the position of the marker on the interrupted imager. A commercially available radiotherapy system, equipped with both MV and kV imaging devices, was used to deliver typical SS-IMRT lung treatment plans to a 4D phantom containing internally embedded metallic markers. To simulate actual lung tumor motion, previous recorded 4D lung patient motion data were used. Lung tumor motion data of five separate patients were inputted into the 4D phantom, and typical SS-IMRT lung plans were delivered to simulate actual clinical deliveries. Application of the correlation model to SS-IMRT lung treatment deliveries was found to be an effective solution for maintaining continuous 3D tracking during 'step' beam interruptions. For deliveries involving five or more gantry angles with 50 or more fields per plan, the positional errors were found to have < or =1 mm root mean squared error (RMSE) in all three spatial directions. In addition to increasing the robustness

  12. Real-time 3D internal marker tracking during arc radiotherapy by the use of combined MV kV imaging

    NASA Astrophysics Data System (ADS)

    Liu, W.; Wiersma, R. D.; Mao, W.; Luxton, G.; Xing, L.

    2008-12-01

    To minimize the adverse dosimetric effect caused by tumor motion, it is desirable to have real-time knowledge of the tumor position throughout the beam delivery process. A promising technique to realize the real-time image guided scheme in external beam radiation therapy is through the combined use of MV and onboard kV beam imaging. The success of this MV-kV triangulation approach for fixed-gantry radiation therapy has been demonstrated. With the increasing acceptance of modern arc radiotherapy in the clinics, a timely and clinically important question is whether the image guidance strategy can be extended to arc therapy to provide the urgently needed real-time tumor motion information. While conceptually feasible, there are a number of theoretical and practical issues specific to the arc delivery that need to be resolved before clinical implementation. The purpose of this work is to establish a robust procedure of system calibration for combined MV and kV imaging for internal marker tracking during arc delivery and to demonstrate the feasibility and accuracy of the technique. A commercially available LINAC equipped with an onboard kV imager and electronic portal imaging device (EPID) was used for the study. A custom built phantom with multiple ball bearings was used to calibrate the stereoscopic MV-kV imaging system to provide the transformation parameters from imaging pixels to 3D world coordinates. The accuracy of the fiducial tracking system was examined using a 4D motion phantom capable of moving in accordance with a pre-programmed trajectory. Overall, spatial accuracy of MV-kV fiducial tracking during the arc delivery process for normal adult breathing amplitude and period was found to be better than 1 mm. For fast motion, the results depended on the imaging frame rates. The RMS error ranged from ~0.5 mm for the normal adult breathing pattern to ~1.5 mm for more extreme cases with a low imaging frame rate of 3.4 Hz. In general, highly accurate real-time

  13. Real-time 3D internal marker tracking during arc radiotherapy by the use of combined MV-kV imaging.

    PubMed

    Liu, W; Wiersma, R D; Mao, W; Luxton, G; Xing, L

    2008-12-21

    To minimize the adverse dosimetric effect caused by tumor motion, it is desirable to have real-time knowledge of the tumor position throughout the beam delivery process. A promising technique to realize the real-time image guided scheme in external beam radiation therapy is through the combined use of MV and onboard kV beam imaging. The success of this MV-kV triangulation approach for fixed-gantry radiation therapy has been demonstrated. With the increasing acceptance of modern arc radiotherapy in the clinics, a timely and clinically important question is whether the image guidance strategy can be extended to arc therapy to provide the urgently needed real-time tumor motion information. While conceptually feasible, there are a number of theoretical and practical issues specific to the arc delivery that need to be resolved before clinical implementation. The purpose of this work is to establish a robust procedure of system calibration for combined MV and kV imaging for internal marker tracking during arc delivery and to demonstrate the feasibility and accuracy of the technique. A commercially available LINAC equipped with an onboard kV imager and electronic portal imaging device (EPID) was used for the study. A custom built phantom with multiple ball bearings was used to calibrate the stereoscopic MV-kV imaging system to provide the transformation parameters from imaging pixels to 3D world coordinates. The accuracy of the fiducial tracking system was examined using a 4D motion phantom capable of moving in accordance with a pre-programmed trajectory. Overall, spatial accuracy of MV-kV fiducial tracking during the arc delivery process for normal adult breathing amplitude and period was found to be better than 1 mm. For fast motion, the results depended on the imaging frame rates. The RMS error ranged from approximately 0.5 mm for the normal adult breathing pattern to approximately 1.5 mm for more extreme cases with a low imaging frame rate of 3.4 Hz. In general

  14. Three-Dimensional Rotation, Twist and Torsion Analyses Using Real-Time 3D Speckle Tracking Imaging: Feasibility, Reproducibility, and Normal Ranges in Pediatric Population

    PubMed Central

    Han, Wei; Gao, Jun; He, Lin; Yang, Yali; Yin, Ping; Xie, Mingxing; Ge, Shuping

    2016-01-01

    Background and Objective The specific aim of this study was to evaluate the feasibility, reproducibility and maturational changes of LV rotation, twist and torsion variables by real-time 3D speckle-tracking echocardiography (RT3DSTE) in children. Methods A prospective study was conducted in 347 consecutive healthy subjects (181 males/156 females, mean age 7.12 ± 5.3 years, and range from birth to 18-years) using RT 3D echocardiography (3DE). The LV rotation, twist and torsion measurements were made off-line using TomTec software. Manual landmark selection and endocardial border editing were performed in 3 planes (apical “2”-, “4”-, and “3”- chamber views) and semi-automated tracking yielded LV rotation, twist and torsion measurements. LV rotation, twist and torsion analysis by RT 3DSTE were feasible in 307 out of 347 subjects (88.5%). Results There was no correlation between rotation or twist and age, height, weight, BSA or heart rate, respectively. However, there was statistically significant, but very modest correlation between LV torsion and age (R2 = 0.036, P< 0.001). The normal ranges were defined for rotation and twist in this cohort, and for torsion for each age group. The intra-observer and inter-observer variabilities for apical and basal rotation, twist and torsion ranged from 7.3% ± 3.8% to 12.3% ± 8.8% and from 8.8% ± 4.6% to 15.7% ± 10.1%, respectively. Conclusions We conclude that analysis of LV rotation, twist and torsion by this new RT3D STE is feasible and reproducible in pediatric population. There is no maturational change in rotation and twist, but torsion decreases with age in this cohort. Further refinement is warranted to validate the utility of this new methodology in more sensitive and quantitative evaluation of congenital and acquired heart diseases in children. PMID:27427968

  15. Automatic respiration tracking for radiotherapy using optical 3D camera

    NASA Astrophysics Data System (ADS)

    Li, Tuotuo; Geng, Jason; Li, Shidong

    2013-03-01

    Rapid optical three-dimensional (O3D) imaging systems provide accurate digitized 3D surface data in real-time, with no patient contact nor radiation. The accurate 3D surface images offer crucial information in image-guided radiation therapy (IGRT) treatments for accurate patient repositioning and respiration management. However, applications of O3D imaging techniques to image-guided radiotherapy have been clinically challenged by body deformation, pathological and anatomical variations among individual patients, extremely high dimensionality of the 3D surface data, and irregular respiration motion. In existing clinical radiation therapy (RT) procedures target displacements are caused by (1) inter-fractional anatomy changes due to weight, swell, food/water intake; (2) intra-fractional variations from anatomy changes within any treatment session due to voluntary/involuntary physiologic processes (e.g. respiration, muscle relaxation); (3) patient setup misalignment in daily reposition due to user errors; and (4) changes of marker or positioning device, etc. Presently, viable solution is lacking for in-vivo tracking of target motion and anatomy changes during the beam-on time without exposing patient with additional ionized radiation or high magnet field. Current O3D-guided radiotherapy systems relay on selected points or areas in the 3D surface to track surface motion. The configuration of the marks or areas may change with time that makes it inconsistent in quantifying and interpreting the respiration patterns. To meet the challenge of performing real-time respiration tracking using O3D imaging technology in IGRT, we propose a new approach to automatic respiration motion analysis based on linear dimensionality reduction technique based on PCA (principle component analysis). Optical 3D image sequence is decomposed with principle component analysis into a limited number of independent (orthogonal) motion patterns (a low dimension eigen-space span by eigen-vectors). New

  16. Ames Lab 101: Real-Time 3D Imaging

    ScienceCinema

    Zhang, Song

    2016-07-12

    Ames Laboratory scientist Song Zhang explains his real-time 3-D imaging technology. The technique can be used to create high-resolution, real-time, precise, 3-D images for use in healthcare, security, and entertainment applications.

  17. Ames Lab 101: Real-Time 3D Imaging

    SciTech Connect

    Zhang, Song

    2010-01-01

    Ames Laboratory scientist Song Zhang explains his real-time 3-D imaging technology. The technique can be used to create high-resolution, real-time, precise, 3-D images for use in healthcare, security, and entertainment applications.

  18. 3-D model-based vehicle tracking.

    PubMed

    Lou, Jianguang; Tan, Tieniu; Hu, Weiming; Yang, Hao; Maybank, Steven J

    2005-10-01

    This paper aims at tracking vehicles from monocular intensity image sequences and presents an efficient and robust approach to three-dimensional (3-D) model-based vehicle tracking. Under the weak perspective assumption and the ground-plane constraint, the movements of model projection in the two-dimensional image plane can be decomposed into two motions: translation and rotation. They are the results of the corresponding movements of 3-D translation on the ground plane (GP) and rotation around the normal of the GP, which can be determined separately. A new metric based on point-to-line segment distance is proposed to evaluate the similarity between an image region and an instantiation of a 3-D vehicle model under a given pose. Based on this, we provide an efficient pose refinement method to refine the vehicle's pose parameters. An improved EKF is also proposed to track and to predict vehicle motion with a precise kinematics model. Experimental results with both indoor and outdoor data show that the algorithm obtains desirable performance even under severe occlusion and clutter.

  19. 3-D model-based vehicle tracking.

    PubMed

    Lou, Jianguang; Tan, Tieniu; Hu, Weiming; Yang, Hao; Maybank, Steven J

    2005-10-01

    This paper aims at tracking vehicles from monocular intensity image sequences and presents an efficient and robust approach to three-dimensional (3-D) model-based vehicle tracking. Under the weak perspective assumption and the ground-plane constraint, the movements of model projection in the two-dimensional image plane can be decomposed into two motions: translation and rotation. They are the results of the corresponding movements of 3-D translation on the ground plane (GP) and rotation around the normal of the GP, which can be determined separately. A new metric based on point-to-line segment distance is proposed to evaluate the similarity between an image region and an instantiation of a 3-D vehicle model under a given pose. Based on this, we provide an efficient pose refinement method to refine the vehicle's pose parameters. An improved EKF is also proposed to track and to predict vehicle motion with a precise kinematics model. Experimental results with both indoor and outdoor data show that the algorithm obtains desirable performance even under severe occlusion and clutter. PMID:16238061

  20. Light driven micro-robotics with holographic 3D tracking

    NASA Astrophysics Data System (ADS)

    Glückstad, Jesper

    2016-04-01

    We recently pioneered the concept of light-driven micro-robotics including the new and disruptive 3D-printed micro-tools coined Wave-guided Optical Waveguides that can be real-time optically trapped and "remote-controlled" in a volume with six-degrees-of-freedom. To be exploring the full potential of this new drone-like 3D light robotics approach in challenging microscopic geometries requires a versatile and real-time reconfigurable light coupling that can dynamically track a plurality of "light robots" in 3D to ensure continuous optimal light coupling on the fly. Our latest developments in this new and exciting area will be reviewed in this invited paper.

  1. Nuclear accessibility of β-actin mRNA is measured by 3D single-molecule real-time tracking.

    PubMed

    Smith, Carlas S; Preibisch, Stephan; Joseph, Aviva; Abrahamsson, Sara; Rieger, Bernd; Myers, Eugene; Singer, Robert H; Grunwald, David

    2015-05-25

    Imaging single proteins or RNAs allows direct visualization of the inner workings of the cell. Typically, three-dimensional (3D) images are acquired by sequentially capturing a series of 2D sections. The time required to step through the sample often impedes imaging of large numbers of rapidly moving molecules. Here we applied multifocus microscopy (MFM) to instantaneously capture 3D single-molecule real-time images in live cells, visualizing cell nuclei at 10 volumes per second. We developed image analysis techniques to analyze messenger RNA (mRNA) diffusion in the entire volume of the nucleus. Combining MFM with precise registration between fluorescently labeled mRNA, nuclear pore complexes, and chromatin, we obtained globally optimal image alignment within 80-nm precision using transformation models. We show that β-actin mRNAs freely access the entire nucleus and fewer than 60% of mRNAs are more than 0.5 µm away from a nuclear pore, and we do so for the first time accounting for spatial inhomogeneity of nuclear organization. PMID:26008747

  2. Nuclear accessibility of β-actin mRNA is measured by 3D single-molecule real-time tracking

    PubMed Central

    Smith, Carlas S.; Preibisch, Stephan; Joseph, Aviva; Abrahamsson, Sara; Rieger, Bernd; Myers, Eugene; Singer, Robert H.

    2015-01-01

    Imaging single proteins or RNAs allows direct visualization of the inner workings of the cell. Typically, three-dimensional (3D) images are acquired by sequentially capturing a series of 2D sections. The time required to step through the sample often impedes imaging of large numbers of rapidly moving molecules. Here we applied multifocus microscopy (MFM) to instantaneously capture 3D single-molecule real-time images in live cells, visualizing cell nuclei at 10 volumes per second. We developed image analysis techniques to analyze messenger RNA (mRNA) diffusion in the entire volume of the nucleus. Combining MFM with precise registration between fluorescently labeled mRNA, nuclear pore complexes, and chromatin, we obtained globally optimal image alignment within 80-nm precision using transformation models. We show that β-actin mRNAs freely access the entire nucleus and fewer than 60% of mRNAs are more than 0.5 µm away from a nuclear pore, and we do so for the first time accounting for spatial inhomogeneity of nuclear organization. PMID:26008747

  3. Linear tracking for 3-D medical ultrasound imaging.

    PubMed

    Huang, Qing-Hua; Yang, Zhao; Hu, Wei; Jin, Lian-Wen; Wei, Gang; Li, Xuelong

    2013-12-01

    As the clinical application grows, there is a rapid technical development of 3-D ultrasound imaging. Compared with 2-D ultrasound imaging, 3-D ultrasound imaging can provide improved qualitative and quantitative information for various clinical applications. In this paper, we proposed a novel tracking method for a freehand 3-D ultrasound imaging system with improved portability, reduced degree of freedom, and cost. We designed a sliding track with a linear position sensor attached, and it transmitted positional data via a wireless communication module based on Bluetooth, resulting in a wireless spatial tracking modality. A traditional 2-D ultrasound probe fixed to the position sensor on the sliding track was used to obtain real-time B-scans, and the positions of the B-scans were simultaneously acquired when moving the probe along the track in a freehand manner. In the experiments, the proposed method was applied to ultrasound phantoms and real human tissues. The results demonstrated that the new system outperformed a previously developed freehand system based on a traditional six-degree-of-freedom spatial sensor in phantom and in vivo studies, indicating its merit in clinical applications for human tissues and organs. PMID:23757592

  4. Real-Time 3D Visualization

    NASA Technical Reports Server (NTRS)

    1997-01-01

    Butler Hine, former director of the Intelligent Mechanism Group (IMG) at Ames Research Center, and five others partnered to start Fourth Planet, Inc., a visualization company that specializes in the intuitive visual representation of dynamic, real-time data over the Internet and Intranet. Over a five-year period, the then NASA researchers performed ten robotic field missions in harsh climes to mimic the end- to-end operations of automated vehicles trekking across another world under control from Earth. The core software technology for these missions was the Virtual Environment Vehicle Interface (VEVI). Fourth Planet has released VEVI4, the fourth generation of the VEVI software, and NetVision. VEVI4 is a cutting-edge computer graphics simulation and remote control applications tool. The NetVision package allows large companies to view and analyze in virtual 3D space such things as the health or performance of their computer network or locate a trouble spot on an electric power grid. Other products are forthcoming. Fourth Planet is currently part of the NASA/Ames Technology Commercialization Center, a business incubator for start-up companies.

  5. Speeding up 3D speckle tracking using PatchMatch

    NASA Astrophysics Data System (ADS)

    Zontak, Maria; O'Donnell, Matthew

    2016-03-01

    Echocardiography provides valuable information to diagnose heart dysfunction. A typical exam records several minutes of real-time cardiac images. To enable complete analysis of 3D cardiac strains, 4-D (3-D+t) echocardiography is used. This results in a huge dataset and requires effective automated analysis. Ultrasound speckle tracking is an effective method for tissue motion analysis. It involves correlation of a 3D kernel (block) around a voxel with kernels in later frames. The search region is usually confined to a local neighborhood, due to biomechanical and computational constraints. For high strains and moderate frame-rates, however, this search region will remain large, leading to a considerable computational burden. Moreover, speckle decorrelation (due to high strains) leads to errors in tracking. To solve this, spatial motion coherency between adjacent voxels should be imposed, e.g., by averaging their correlation functions.1 This requires storing correlation functions for neighboring voxels, thus increasing memory demands. In this work, we propose an efficient search using PatchMatch, 2 a powerful method to find correspondences between images. Here we adopt PatchMatch for 3D volumes and radio-frequency signals. As opposed to an exact search, PatchMatch performs random sampling of the search region and propagates successive matches among neighboring voxels. We show that: 1) Inherently smooth offset propagation in PatchMatch contributes to spatial motion coherence without any additional processing or memory demand. 2) For typical scenarios, PatchMatch is at least 20 times faster than the exact search, while maintaining comparable tracking accuracy.

  6. Real-time monitoring of 3D cell culture using a 3D capacitance biosensor.

    PubMed

    Lee, Sun-Mi; Han, Nalae; Lee, Rimi; Choi, In-Hong; Park, Yong-Beom; Shin, Jeon-Soo; Yoo, Kyung-Hwa

    2016-03-15

    Three-dimensional (3D) cell cultures have recently received attention because they represent a more physiologically relevant environment compared to conventional two-dimensional (2D) cell cultures. However, 2D-based imaging techniques or cell sensors are insufficient for real-time monitoring of cellular behavior in 3D cell culture. Here, we report investigations conducted with a 3D capacitance cell sensor consisting of vertically aligned pairs of electrodes. When GFP-expressing human breast cancer cells (GFP-MCF-7) encapsulated in alginate hydrogel were cultured in a 3D cell culture system, cellular activities, such as cell proliferation and apoptosis at different heights, could be monitored non-invasively and in real-time by measuring the change in capacitance with the 3D capacitance sensor. Moreover, we were able to monitor cell migration of human mesenchymal stem cells (hMSCs) with our 3D capacitance sensor.

  7. Real-time monitoring of 3D cell culture using a 3D capacitance biosensor.

    PubMed

    Lee, Sun-Mi; Han, Nalae; Lee, Rimi; Choi, In-Hong; Park, Yong-Beom; Shin, Jeon-Soo; Yoo, Kyung-Hwa

    2016-03-15

    Three-dimensional (3D) cell cultures have recently received attention because they represent a more physiologically relevant environment compared to conventional two-dimensional (2D) cell cultures. However, 2D-based imaging techniques or cell sensors are insufficient for real-time monitoring of cellular behavior in 3D cell culture. Here, we report investigations conducted with a 3D capacitance cell sensor consisting of vertically aligned pairs of electrodes. When GFP-expressing human breast cancer cells (GFP-MCF-7) encapsulated in alginate hydrogel were cultured in a 3D cell culture system, cellular activities, such as cell proliferation and apoptosis at different heights, could be monitored non-invasively and in real-time by measuring the change in capacitance with the 3D capacitance sensor. Moreover, we were able to monitor cell migration of human mesenchymal stem cells (hMSCs) with our 3D capacitance sensor. PMID:26386332

  8. Two-photon single particle tracking in 3D

    NASA Astrophysics Data System (ADS)

    So, Peter T. C.; Ragan, Timothy; Gratton, Enrico; Carerro, Jenny; Voss, Edward

    1997-05-01

    Transport processes are important in biology and medicine. Examples include virus docking and infection, endocytosis of extracellular protein and phagocytosis of antigenic material. Trafficking driven by molecular motors inside a complex 3D environment is a shared common theme. The complex sequence of these events are difficult to resolve with conventional techniques where the action of many cells are asynchronously averaged. Single particle tracking (SPT) was developed by Ghosh and Webb to address this problem and has proven to be a powerful technique in understanding membrane- protein interaction. Since the traditional SPT method uses wide field illumination and area detectors, it is limited to the study of 2D systems. In this presentation, we report the development of a 3D single particle tracking technique using two-photon excitation. Using a real-time feedback system, we can dynamically position the sub-femtoliter two-photon excitation volume to follow the fluorescent particle under transport by maximizing the detected fluorescent intensity. Further, fluorescence spectroscopy can be performed in real time along the particle trajectory to monitor the underlying biochemical signals driving this transport process. The first application of this instrument will focus on the study of antigen endocytosis process of macrophages.

  9. Real-time catheter tracking for high-dose-rate prostate brachytherapy using an electromagnetic 3D-guidance device: A preliminary performance study

    SciTech Connect

    Zhou Jun; Sebastian, Evelyn; Mangona, Victor; Yan Di

    2013-02-15

    Purpose: In order to increase the accuracy and speed of catheter reconstruction in a high-dose-rate (HDR) prostate implant procedure, an automatic tracking system has been developed using an electromagnetic (EM) device (trakSTAR, Ascension Technology, VT). The performance of the system, including the accuracy and noise level with various tracking parameters and conditions, were investigated. Methods: A direct current (dc) EM transmitter (midrange model) and a sensor with diameter of 1.3 mm (Model 130) were used in the trakSTAR system for tracking catheter position during HDR prostate brachytherapy. Localization accuracy was assessed under both static and dynamic analyses conditions. For the static analysis, a calibration phantom was used to investigate error dependency on operating room (OR) table height (bottom vs midposition vs top), sensor position (distal tip of catheter vs connector end of catheter), direction [left-right (LR) vs anterior-posterior (AP) vs superior-inferior (SI)], sampling frequency (40 vs 80 vs 120 Hz), and interference from OR equipment (present vs absent). The mean and standard deviation of the localization offset in each direction and the corresponding error vectors were calculated. For dynamic analysis, the paths of five straight catheters were tracked to study the effects of directions, sampling frequency, and interference of EM field. Statistical analysis was conducted to compare the results in different configurations. Results: When interference was present in the static analysis, the error vectors were significantly higher at the top table position (3.3 {+-} 1.3 vs 1.8 {+-} 0.9 mm at bottom and 1.7 {+-} 1.0 mm at middle, p < 0.001), at catheter end position (3.1 {+-} 1.1 vs 1.4 {+-} 0.7 mm at the tip position, p < 0.001), and at 40 Hz sampling frequency (2.6 {+-} 1.1 vs 2.4 {+-} 1.5 mm at 80 Hz and 1.8 {+-} 1.1 at 160 Hz, p < 0.001). So did the mean offset errors in the LR direction (-1.7 {+-} 1.4 vs 0.4 {+-} 0.5 mm in AP and 0

  10. Electrically tunable lens speeds up 3D orbital tracking

    PubMed Central

    Annibale, Paolo; Dvornikov, Alexander; Gratton, Enrico

    2015-01-01

    3D orbital particle tracking is a versatile and effective microscopy technique that allows following fast moving fluorescent objects within living cells and reconstructing complex 3D shapes using laser scanning microscopes. We demonstrated notable improvements in the range, speed and accuracy of 3D orbital particle tracking by replacing commonly used piezoelectric stages with Electrically Tunable Lens (ETL) that eliminates mechanical movement of objective lenses. This allowed tracking and reconstructing shape of structures extending 500 microns in the axial direction. Using the ETL, we tracked at high speed fluorescently labeled genomic loci within the nucleus of living cells with unprecedented temporal resolution of 8ms using a 1.42NA oil-immersion objective. The presented technology is cost effective and allows easy upgrade of scanning microscopes for fast 3D orbital tracking. PMID:26114037

  11. Real-time depth map manipulation for 3D visualization

    NASA Astrophysics Data System (ADS)

    Ideses, Ianir; Fishbain, Barak; Yaroslavsky, Leonid

    2009-02-01

    One of the key aspects of 3D visualization is computation of depth maps. Depth maps enables synthesis of 3D video from 2D video and use of multi-view displays. Depth maps can be acquired in several ways. One method is to measure the real 3D properties of the scene objects. Other methods rely on using two cameras and computing the correspondence for each pixel. Once a depth map is acquired for every frame, it can be used to construct its artificial stereo pair. There are many known methods for computing the optical flow between adjacent video frames. The drawback of these methods is that they require extensive computation power and are not very well suited to high quality real-time 3D rendering. One efficient method for computing depth maps is extraction of motion vector information from standard video encoders. In this paper we present methods to improve the 3D visualization quality acquired from compression CODECS by spatial/temporal and logical operations and manipulations. We show how an efficient real time implementation of spatial-temporal local order statistics such as median and local adaptive filtering in 3D-DCT domain can substantially improve the quality of depth maps and consequently 3D video while retaining real-time rendering. Real-time performance is achived by utilizing multi-core technology using standard parallelization algorithms and libraries (OpenMP, IPP).

  12. Real-time 3D video conference on generic hardware

    NASA Astrophysics Data System (ADS)

    Desurmont, X.; Bruyelle, J. L.; Ruiz, D.; Meessen, J.; Macq, B.

    2007-02-01

    Nowadays, video-conference tends to be more and more advantageous because of the economical and ecological cost of transport. Several platforms exist. The goal of the TIFANIS immersive platform is to let users interact as if they were physically together. Unlike previous teleimmersion systems, TIFANIS uses generic hardware to achieve an economically realistic implementation. The basic functions of the system are to capture the scene, transmit it through digital networks to other partners, and then render it according to each partner's viewing characteristics. The image processing part should run in real-time. We propose to analyze the whole system. it can be split into different services like central processing unit (CPU), graphical rendering, direct memory access (DMA), and communications trough the network. Most of the processing is done by CPU resource. It is composed of the 3D reconstruction and the detection and tracking of faces from the video stream. However, the processing needs to be parallelized in several threads that have as little dependencies as possible. In this paper, we present these issues, and the way we deal with them.

  13. Track and trap in 3D

    NASA Astrophysics Data System (ADS)

    Glückstad, Jesper; Rodrigo, Peter J.; Nielsen, Ivan P.; Alonzo, Carlo A.

    2007-04-01

    Three-dimensional light structures can be created by modulating the spatial phase and polarization properties of an an expanded laser beam. A particularly promising technique is the Generalized Phase Contrast (GPC) method invented and patented at Risø National Laboratory. Based on the combination of programmable spatial light modulator devices and an advanced graphical user-interface the GPC method enables real-time, interactive and arbitrary control over the dynamics and geometry of synthesized light patterns. Recent experiments have shown that GPC-driven micro-manipulation provides a unique technology platform for fully user-guided assembly of a plurality of particles in a plane, control of particle stacking along the beam axis, manipulation of multiple hollow beads, and the organization of living cells into three-dimensional colloidal structures. Here we present GPC-based optical micromanipulation in a microfluidic system where trapping experiments are computer-automated and thereby capable of running with only limited supervision. The system is able to dynamically detect living yeast cells using a computer-interfaced CCD camera, and respond to this by instantly creating traps at positions of the spotted cells streaming at flow velocities that would be difficult for a human operator to handle.

  14. Temporal tracking of 3D coronary arteries in projection angiograms

    NASA Astrophysics Data System (ADS)

    Shechter, Guy; Devernay, Frederic; Coste-Maniere, Eve; McVeigh, Elliot R.

    2002-05-01

    A method for 3D temporal tracking of a 3D coronary tree model through a sequence of biplane cineangiography images has been developed. A registration framework is formulated in which the coronary tree centerline model deforms in an external potential field defined by a multiscale analysis response map computed from the angiogram images. To constrain the procedure and to improve convergence, a set of three motion models is hierarchically used: a 3D rigid-body transformation, a 3D affine transformation, and a 3D B-spline deformation field. This 3D motion tracking approach has significant advantages over 2D methods: (1) coherent deformation of a single 3D coronary reconstruction preserves the topology of the arterial tree; (2) constraints on arterial length and regularity, which lack meaning in 2D projection space, are directly applicable in 3D; and (3) tracking arterial segments through occlusions and crossings in the projection images is simplified with knowledge of the 3D relationship of the arteries. The method has been applied to patient data and results are presented.

  15. 3-D rigid body tracking using vision and depth sensors.

    PubMed

    Gedik, O Serdar; Alatan, A Aydn

    2013-10-01

    In robotics and augmented reality applications, model-based 3-D tracking of rigid objects is generally required. With the help of accurate pose estimates, it is required to increase reliability and decrease jitter in total. Among many solutions of pose estimation in the literature, pure vision-based 3-D trackers require either manual initializations or offline training stages. On the other hand, trackers relying on pure depth sensors are not suitable for AR applications. An automated 3-D tracking algorithm, which is based on fusion of vision and depth sensors via extended Kalman filter, is proposed in this paper. A novel measurement-tracking scheme, which is based on estimation of optical flow using intensity and shape index map data of 3-D point cloud, increases 2-D, as well as 3-D, tracking performance significantly. The proposed method requires neither manual initialization of pose nor offline training, while enabling highly accurate 3-D tracking. The accuracy of the proposed method is tested against a number of conventional techniques, and a superior performance is clearly observed in terms of both objectively via error metrics and subjectively for the rendered scenes. PMID:23955795

  16. 3-D rigid body tracking using vision and depth sensors.

    PubMed

    Gedik, O Serdar; Alatan, A Aydn

    2013-10-01

    In robotics and augmented reality applications, model-based 3-D tracking of rigid objects is generally required. With the help of accurate pose estimates, it is required to increase reliability and decrease jitter in total. Among many solutions of pose estimation in the literature, pure vision-based 3-D trackers require either manual initializations or offline training stages. On the other hand, trackers relying on pure depth sensors are not suitable for AR applications. An automated 3-D tracking algorithm, which is based on fusion of vision and depth sensors via extended Kalman filter, is proposed in this paper. A novel measurement-tracking scheme, which is based on estimation of optical flow using intensity and shape index map data of 3-D point cloud, increases 2-D, as well as 3-D, tracking performance significantly. The proposed method requires neither manual initialization of pose nor offline training, while enabling highly accurate 3-D tracking. The accuracy of the proposed method is tested against a number of conventional techniques, and a superior performance is clearly observed in terms of both objectively via error metrics and subjectively for the rendered scenes.

  17. 3D guide wire tracking for navigation in endovascular interventions

    NASA Astrophysics Data System (ADS)

    Baert, Shirley A.; van Walsum, Theo; Niessen, Wiro J.

    2004-05-01

    A method is presented to track the guide wire during endovascular interventions and to visualize it in 3D, together with the vasculature of the patient. The guide wire is represented by a 3D spline whose position is optimized using internal and external forces. For the external forces, the 3D spline is projected onto the biplane projection images that are routinely acquired. Feature images are constructed based on the enhancement of line-like structures in the projection images. A threshold is applied to this image such that if the probability of a pixel to be part of the guide wire is sufficiently high this feature image is used, whereas outside this region a distance transform is computed to improve the capture range of the method. In preliminary experiments, it is shown that some of the problems of the 2D tracking which where presented in previous work can successfully be circumvented using the 3D tracking method.

  18. Real-time structured light intraoral 3D measurement pipeline

    NASA Astrophysics Data System (ADS)

    Gheorghe, Radu; Tchouprakov, Andrei; Sokolov, Roman

    2013-02-01

    Computer aided design and manufacturing (CAD/CAM) is increasingly becoming a standard feature and service provided to patients in dentist offices and denture manufacturing laboratories. Although the quality of the tools and data has slowly improved in the last years, due to various surface measurement challenges, practical, accurate, invivo, real-time 3D high quality data acquisition and processing still needs improving. Advances in GPU computational power have allowed for achieving near real-time 3D intraoral in-vivo scanning of patient's teeth. We explore in this paper, from a real-time perspective, a hardware-software-GPU solution that addresses all the requirements mentioned before. Moreover we exemplify and quantify the hard and soft deadlines required by such a system and illustrate how they are supported in our implementation.

  19. PRIMAS: a real-time 3D motion-analysis system

    NASA Astrophysics Data System (ADS)

    Sabel, Jan C.; van Veenendaal, Hans L. J.; Furnee, E. Hans

    1994-03-01

    The paper describes a CCD TV-camera-based system for real-time multicamera 2D detection of retro-reflective targets and software for accurate and fast 3D reconstruction. Applications of this system can be found in the fields of sports, biomechanics, rehabilitation research, and various other areas of science and industry. The new feature of real-time 3D opens an even broader perspective of application areas; animations in virtual reality are an interesting example. After presenting an overview of the hardware and the camera calibration method, the paper focuses on the real-time algorithms used for matching of the images and subsequent 3D reconstruction of marker positions. When using a calibrated setup of two cameras, it is now possible to track at least ten markers at 100 Hz. Limitations in the performance are determined by the visibility of the markers, which could be improved by adding a third camera.

  20. Autonomous Real-Time Interventional Scan Plane Control With a 3-D Shape-Sensing Needle

    PubMed Central

    Plata, Juan Camilo; Holbrook, Andrew B.; Park, Yong-Lae; Pauly, Kim Butts; Daniel, Bruce L.; Cutkosky, Mark R.

    2016-01-01

    This study demonstrates real-time scan plane control dependent on three-dimensional needle bending, as measured from magnetic resonance imaging (MRI)-compatible optical strain sensors. A biopsy needle with embedded fiber Bragg grating (FBG) sensors to measure surface strains is used to estimate its full 3-D shape and control the imaging plane of an MR scanner in real-time, based on the needle’s estimated profile. The needle and scanner coordinate frames are registered to each other via miniature radio-frequency (RF) tracking coils, and the scan planes autonomously track the needle as it is deflected, keeping its tip in view. A 3-D needle annotation is superimposed over MR-images presented in a 3-D environment with the scanner’s frame of reference. Scan planes calculated based on the FBG sensors successfully follow the tip of the needle. Experiments using the FBG sensors and RF coils to track the needle shape and location in real-time had an average root mean square error of 4.2 mm when comparing the estimated shape to the needle profile as seen in high resolution MR images. This positional variance is less than the image artifact caused by the needle in high resolution SPGR (spoiled gradient recalled) images. Optical fiber strain sensors can estimate a needle’s profile in real-time and be used for MRI scan plane control to potentially enable faster and more accurate physician response. PMID:24968093

  1. VPython: Writing Real-time 3D Physics Programs

    NASA Astrophysics Data System (ADS)

    Chabay, Ruth

    2001-06-01

    VPython (http://cil.andrew.cmu.edu/projects/visual) combines the Python programming language with an innovative 3D graphics module called Visual, developed by David Scherer. Designed to make 3D physics simulations accessible to novice programmers, VPython allows the programmer to write a purely computational program without any graphics code, and produces an interactive realtime 3D graphical display. In a program 3D objects are created and their positions modified by computational algorithms. Running in a separate thread, the Visual module monitors the positions of these objects and renders them many times per second. Using the mouse, one can zoom and rotate to navigate through the scene. After one hour of instruction, students in an introductory physics course at Carnegie Mellon University, including those who have never programmed before, write programs in VPython to model the behavior of physical systems and to visualize fields in 3D. The Numeric array processing module allows the construction of more sophisticated simulations and models as well. VPython is free and open source. The Visual module is based on OpenGL, and runs on Windows, Linux, and Macintosh.

  2. Monocular 3-D gait tracking in surveillance scenes.

    PubMed

    Rogez, Grégory; Rihan, Jonathan; Guerrero, Jose J; Orrite, Carlos

    2014-06-01

    Gait recognition can potentially provide a noninvasive and effective biometric authentication from a distance. However, the performance of gait recognition systems will suffer in real surveillance scenarios with multiple interacting individuals and where the camera is usually placed at a significant angle and distance from the floor. We present a methodology for view-invariant monocular 3-D human pose tracking in man-made environments in which we assume that observed people move on a known ground plane. First, we model 3-D body poses and camera viewpoints with a low dimensional manifold and learn a generative model of the silhouette from this manifold to a reduced set of training views. During the online stage, 3-D body poses are tracked using recursive Bayesian sampling conducted jointly over the scene's ground plane and the pose-viewpoint manifold. For each sample, the homography that relates the corresponding training plane to the image points is calculated using the dominant 3-D directions of the scene, the sampled location on the ground plane and the sampled camera view. Each regressed silhouette shape is projected using this homographic transformation and is matched in the image to estimate its likelihood. Our framework is able to track 3-D human walking poses in a 3-D environment exploring only a 4-D state space with success. In our experimental evaluation, we demonstrate the significant improvements of the homographic alignment over a commonly used similarity transformation and provide quantitative pose tracking results for the monocular sequences with a high perspective effect from the CAVIAR dataset. PMID:23955796

  3. 3D imaging of neutron tracks using confocal microscopy

    NASA Astrophysics Data System (ADS)

    Gillmore, Gavin; Wertheim, David; Flowers, Alan

    2016-04-01

    Neutron detection and neutron flux assessment are important aspects in monitoring nuclear energy production. Neutron flux measurements can also provide information on potential biological damage from exposure. In addition to the applications for neutron measurement in nuclear energy, neutron detection has been proposed as a method of enhancing neutrino detectors and cosmic ray flux has also been assessed using ground-level neutron detectors. Solid State Nuclear Track Detectors (or SSNTDs) have been used extensively to examine cosmic rays, long-lived radioactive elements, radon concentrations in buildings and the age of geological samples. Passive SSNTDs consisting of a CR-39 plastic are commonly used to measure radon because they respond to incident charged particles such as alpha particles from radon gas in air. They have a large dynamic range and a linear flux response. We have previously applied confocal microscopy to obtain 3D images of alpha particle tracks in SSNTDs from radon track monitoring (1). As a charged particle traverses through the polymer it creates an ionisation trail along its path. The trail or track is normally enhanced by chemical etching to better expose radiation damage, as the damaged area is more sensitive to the etchant than the bulk material. Particle tracks in CR-39 are usually assessed using 2D optical microscopy. In this study 6 detectors were examined using an Olympus OLS4100 LEXT 3D laser scanning confocal microscope (Olympus Corporation, Japan). The detectors had been etched for 2 hours 50 minutes at 85 °C in 6.25M NaOH. Post etch the plastics had been treated with a 10 minute immersion in a 2% acetic acid stop bath, followed by rinsing in deionised water. The detectors examined had been irradiated with a 2mSv neutron dose from an Am(Be) neutron source (producing roughly 20 tracks per mm2). We were able to successfully acquire 3D images of neutron tracks in the detectors studied. The range of track diameter observed was between 4

  4. 3D deformable organ model based liver motion tracking in ultrasound videos

    NASA Astrophysics Data System (ADS)

    Kim, Jung-Bae; Hwang, Youngkyoo; Oh, Young-Taek; Bang, Won-Chul; Lee, Heesae; Kim, James D. K.; Kim, Chang Yeong

    2013-03-01

    This paper presents a novel method of using 2D ultrasound (US) cine images during image-guided therapy to accurately track the 3D position of a tumor even when the organ of interest is in motion due to patient respiration. Tracking is possible thanks to a 3D deformable organ model we have developed. The method consists of three processes in succession. The first process is organ modeling where we generate a personalized 3D organ model from high quality 3D CT or MR data sets captured during three different respiratory phases. The model includes the organ surface, vessel and tumor, which can all deform and move in accord with patient respiration. The second process is registration of the organ model to 3D US images. From 133 respiratory phase candidates generated from the deformable organ model, we resolve the candidate that best matches the 3D US images according to vessel centerline and surface. As a result, we can determine the position of the US probe. The final process is real-time tracking using 2D US cine images captured by the US probe. We determine the respiratory phase by tracking the diaphragm on the image. The 3D model is then deformed according to respiration phase and is fitted to the image by considering the positions of the vessels. The tumor's 3D positions are then inferred based on respiration phase. Testing our method on real patient data, we have found the accuracy of 3D position is within 3.79mm and processing time is 5.4ms during tracking.

  5. Real-time 3D vision solution for on-orbit autonomous rendezvous and docking

    NASA Astrophysics Data System (ADS)

    Ruel, S.; English, C.; Anctil, M.; Daly, J.; Smith, C.; Zhu, S.

    2006-05-01

    Neptec has developed a vision system for the capture of non-cooperative objects on orbit. This system uses an active TriDAR sensor and a model based tracking algorithm to provide 6 degree of freedom pose information in real-time from mid range to docking. This system was selected for the Hubble Robotic Vehicle De-orbit Module (HRVDM) mission and for a Detailed Test Objective (DTO) mission to fly on the Space Shuttle. TriDAR (triangulation + LIDAR) technology makes use of a novel approach to 3D sensing by combining triangulation and Time-of-Flight (ToF) active ranging techniques in the same optical path. This approach exploits the complementary nature of these sensing technologies. Real-time tracking of target objects is accomplished using 3D model based tracking algorithms developed at Neptec in partnership with the Canadian Space Agency (CSA). The system provides 6 degrees of freedom pose estimation and incorporates search capabilities to initiate and recover tracking. Pose estimation is performed using an innovative approach that is faster than traditional techniques. This performance allows the algorithms to operate in real-time on the TriDAR's flight certified embedded processor. This paper presents results from simulation and lab testing demonstrating that the system's performance meets the requirements of a complete tracking system for on-orbit autonomous rendezvous and docking.

  6. A 3D diamond detector for particle tracking

    NASA Astrophysics Data System (ADS)

    Bachmair, F.; Bäni, L.; Bergonzo, P.; Caylar, B.; Forcolin, G.; Haughton, I.; Hits, D.; Kagan, H.; Kass, R.; Li, L.; Oh, A.; Phan, S.; Pomorski, M.; Smith, D. S.; Tyzhnevyi, V.; Wallny, R.; Whitehead, D.

    2015-06-01

    A novel device using single-crystal chemical vapour deposited diamond and resistive electrodes in the bulk forming a 3D diamond detector is presented. The electrodes of the device were fabricated with laser assisted phase change of diamond into a combination of diamond-like carbon, amorphous carbon and graphite. The connections to the electrodes of the device were made using a photo-lithographic process. The electrical and particle detection properties of the device were investigated. A prototype detector system consisting of the 3D device connected to a multi-channel readout was successfully tested with 120 GeV protons proving the feasibility of the 3D diamond detector concept for particle tracking applications for the first time.

  7. Tracking people and cars using 3D modeling and CCTV.

    PubMed

    Edelman, Gerda; Bijhold, Jurrien

    2010-10-10

    The aim of this study was to find a method for the reconstruction of movements of people and cars using CCTV footage and a 3D model of the environment. A procedure is proposed, in which video streams are synchronized and displayed in a 3D model, by using virtual cameras. People and cars are represented by cylinders and boxes, which are moved in the 3D model, according to their movements as shown in the video streams. The procedure was developed and tested in an experimental setup with test persons who logged their GPS coordinates as a recording of the ground truth. Results showed that it is possible to implement this procedure and to reconstruct movements of people and cars from video recordings. The procedure was also applied to a forensic case. In this work we experienced that more situational awareness was created by the 3D model, which made it easier to track people on multiple video streams. Based on all experiences from the experimental set up and the case, recommendations are formulated for use in practice.

  8. Inertial Motion-Tracking Technology for Virtual 3-D

    NASA Technical Reports Server (NTRS)

    2005-01-01

    In the 1990s, NASA pioneered virtual reality research. The concept was present long before, but, prior to this, the technology did not exist to make a viable virtual reality system. Scientists had theories and ideas they knew that the concept had potential, but the computers of the 1970s and 1980s were not fast enough, sensors were heavy and cumbersome, and people had difficulty blending fluidly with the machines. Scientists at Ames Research Center built upon the research of previous decades and put the necessary technology behind them, making the theories of virtual reality a reality. Virtual reality systems depend on complex motion-tracking sensors to convey information between the user and the computer to give the user the feeling that he is operating in the real world. These motion-tracking sensors measure and report an object s position and orientation as it changes. A simple example of motion tracking would be the cursor on a computer screen moving in correspondence to the shifting of the mouse. Tracking in 3-D, necessary to create virtual reality, however, is much more complex. To be successful, the perspective of the virtual image seen on the computer must be an accurate representation of what is seen in the real world. As the user s head or camera moves, turns, or tilts, the computer-generated environment must change accordingly with no noticeable lag, jitter, or distortion. Historically, the lack of smooth and rapid tracking of the user s motion has thwarted the widespread use of immersive 3-D computer graphics. NASA uses virtual reality technology for a variety of purposes, mostly training of astronauts. The actual missions are costly and dangerous, so any opportunity the crews have to practice their maneuvering in accurate situations before the mission is valuable and instructive. For that purpose, NASA has funded a great deal of virtual reality research, and benefited from the results.

  9. Coverage Assessment and Target Tracking in 3D Domains

    PubMed Central

    Boudriga, Noureddine; Hamdi, Mohamed; Iyengar, Sitharama

    2011-01-01

    Recent advances in integrated electronic devices motivated the use of Wireless Sensor Networks (WSNs) in many applications including domain surveillance and mobile target tracking, where a number of sensors are scattered within a sensitive region to detect the presence of intruders and forward related events to some analysis center(s). Obviously, sensor deployment should guarantee an optimal event detection rate and should reduce coverage holes. Most of the coverage control approaches proposed in the literature deal with two-dimensional zones and do not develop strategies to handle coverage in three-dimensional domains, which is becoming a requirement for many applications including water monitoring, indoor surveillance, and projectile tracking. This paper proposes efficient techniques to detect coverage holes in a 3D domain using a finite set of sensors, repair the holes, and track hostile targets. To this end, we use the concepts of Voronoi tessellation, Vietoris complex, and retract by deformation. We show in particular that, through a set of iterative transformations of the Vietoris complex corresponding to the deployed sensors, the number of coverage holes can be computed with a low complexity. Mobility strategies are also proposed to repair holes by moving appropriately sensors towards the uncovered zones. The tracking objective is to set a non-uniform WSN coverage within the monitored domain to allow detecting the target(s) by the set of sensors. We show, in particular, how the proposed algorithms adapt to cope with obstacles. Simulation experiments are carried out to analyze the efficiency of the proposed models. To our knowledge, repairing and tracking is addressed for the first time in 3D spaces with different sensor coverage schemes. PMID:22163733

  10. 3-D model-based tracking for UAV indoor localization.

    PubMed

    Teulière, Céline; Marchand, Eric; Eck, Laurent

    2015-05-01

    This paper proposes a novel model-based tracking approach for 3-D localization. One main difficulty of standard model-based approach lies in the presence of low-level ambiguities between different edges. In this paper, given a 3-D model of the edges of the environment, we derive a multiple hypotheses tracker which retrieves the potential poses of the camera from the observations in the image. We also show how these candidate poses can be integrated into a particle filtering framework to guide the particle set toward the peaks of the distribution. Motivated by the UAV indoor localization problem where GPS signal is not available, we validate the algorithm on real image sequences from UAV flights.

  11. 3-D model-based tracking for UAV indoor localization.

    PubMed

    Teulière, Céline; Marchand, Eric; Eck, Laurent

    2015-05-01

    This paper proposes a novel model-based tracking approach for 3-D localization. One main difficulty of standard model-based approach lies in the presence of low-level ambiguities between different edges. In this paper, given a 3-D model of the edges of the environment, we derive a multiple hypotheses tracker which retrieves the potential poses of the camera from the observations in the image. We also show how these candidate poses can be integrated into a particle filtering framework to guide the particle set toward the peaks of the distribution. Motivated by the UAV indoor localization problem where GPS signal is not available, we validate the algorithm on real image sequences from UAV flights. PMID:25099967

  12. Real-time cylindrical curvilinear 3-D ultrasound imaging.

    PubMed

    Pua, E C; Yen, J T; Smith, S W

    2003-07-01

    In patients who are obese or exhibit signs of pulmonary disease, standard transthoracic scanning may yield poor quality cardiac images. For these conditions, two-dimensional transesophageal echocardiography (TEE) is established as an essential diagnostic tool. Current techniques in transesophageal scanning, though, are limited by incomplete visualization of cardiac structures in close proximity to the transducer. Thus, we propose a 2D curvilinear array for 3D transesophageal echocardiography in order to widen the field of view and increase visualization close to the transducer face. In this project, a 440 channel 5 MHz two-dimensional array with a 12.6 mm aperture diameter on a flexible interconnect circuit has been molded to a 4 mm radius of curvature. A 75% element yield was achieved during fabrication and an average -6dB bandwidth of 30% was observed in pulse-echo tests. Using this transducer in conjunction with modifications to the beam former delay software and scan converter display software of the our 3D scanner, we obtained cylindrical real-time curvilinear volumetric scans of tissue phantoms, including a field of view of greater than 120 degrees in the curved, azimuth direction and 65 degrees phased array sector scans in the elevation direction. These images were achieved using a stepped subaperture across the cylindrical curvilinear direction of the transducer face and phased array sector scanning in the noncurved plane. In addition, real-time volume rendered images of a tissue mimicking phantom with holes ranging from 1 cm to less than 4 mm have been obtained. 3D color flow Doppler results have also been acquired. This configuration can theoretically achieve volumes displaying 180 degrees by 120 degrees. The transducer is also capable of obtaining images through a curvilinear stepped subaperture in azimuth in conjunction with a rectilinear stepped subaperture in elevation, further increasing the field of view close to the transducer face. Future work

  13. Design and Performance Evaluation on Ultra-Wideband Time-Of-Arrival 3D Tracking System

    NASA Technical Reports Server (NTRS)

    Ni, Jianjun; Arndt, Dickey; Ngo, Phong; Dusl, John

    2012-01-01

    A three-dimensional (3D) Ultra-Wideband (UWB) Time--of-Arrival (TOA) tracking system has been studied at NASA Johnson Space Center (JSC) to provide the tracking capability inside the International Space Station (ISS) modules for various applications. One of applications is to locate and report the location where crew experienced possible high level of carbon-dioxide and felt upset. In order to accurately locate those places in a multipath intensive environment like ISS modules, it requires a robust real-time location system (RTLS) which can provide the required accuracy and update rate. A 3D UWB TOA tracking system with two-way ranging has been proposed and studied. The designed system will be tested in the Wireless Habitat Testbed which simulates the ISS module environment. In this presentation, we discuss the 3D TOA tracking algorithm and the performance evaluation based on different tracking baseline configurations. The simulation results show that two configurations of the tracking baseline are feasible. With 100 picoseconds standard deviation (STD) of TOA estimates, the average tracking error 0.2392 feet (about 7 centimeters) can be achieved for configuration Twisted Rectangle while the average tracking error 0.9183 feet (about 28 centimeters) can be achieved for configuration Slightly-Twisted Top Rectangle . The tracking accuracy can be further improved with the improvement of the STD of TOA estimates. With 10 picoseconds STD of TOA estimates, the average tracking error 0.0239 feet (less than 1 centimeter) can be achieved for configuration "Twisted Rectangle".

  14. 3D harmonic phase tracking with anatomical regularization.

    PubMed

    Zhou, Yitian; Bernard, Olivier; Saloux, Eric; Manrique, Alain; Allain, Pascal; Makram-Ebeid, Sherif; De Craene, Mathieu

    2015-12-01

    This paper presents a novel algorithm that extends HARP to handle 3D tagged MRI images. HARP results were regularized by an original regularization framework defined in an anatomical space of coordinates. In the meantime, myocardium incompressibility was integrated in order to correct the radial strain which is reported to be more challenging to recover. Both the tracking and regularization of LV displacements were done on a volumetric mesh to be computationally efficient. Also, a window-weighted regression method was extended to cardiac motion tracking which helps maintain a low complexity even at finer scales. On healthy volunteers, the tracking accuracy was found to be as accurate as the best candidates of a recent benchmark. Strain accuracy was evaluated on synthetic data, showing low bias and strain errors under 5% (excluding outliers) for longitudinal and circumferential strains, while the second and third quartiles of the radial strain errors are in the (-5%,5%) range. In clinical data, strain dispersion was shown to correlate with the extent of transmural fibrosis. Also, reduced deformation values were found inside infarcted segments.

  15. 3D harmonic phase tracking with anatomical regularization.

    PubMed

    Zhou, Yitian; Bernard, Olivier; Saloux, Eric; Manrique, Alain; Allain, Pascal; Makram-Ebeid, Sherif; De Craene, Mathieu

    2015-12-01

    This paper presents a novel algorithm that extends HARP to handle 3D tagged MRI images. HARP results were regularized by an original regularization framework defined in an anatomical space of coordinates. In the meantime, myocardium incompressibility was integrated in order to correct the radial strain which is reported to be more challenging to recover. Both the tracking and regularization of LV displacements were done on a volumetric mesh to be computationally efficient. Also, a window-weighted regression method was extended to cardiac motion tracking which helps maintain a low complexity even at finer scales. On healthy volunteers, the tracking accuracy was found to be as accurate as the best candidates of a recent benchmark. Strain accuracy was evaluated on synthetic data, showing low bias and strain errors under 5% (excluding outliers) for longitudinal and circumferential strains, while the second and third quartiles of the radial strain errors are in the (-5%,5%) range. In clinical data, strain dispersion was shown to correlate with the extent of transmural fibrosis. Also, reduced deformation values were found inside infarcted segments. PMID:26363844

  16. 3D visualisation and analysis of single and coalescing tracks in Solid state Nuclear Track Detectors

    NASA Astrophysics Data System (ADS)

    Wertheim, David; Gillmore, Gavin; Brown, Louise; Petford, Nick

    2010-05-01

    Exposure to radon gas (222Rn) and associated ionising decay products can cause lung cancer in humans (1). Solid state Nuclear Track Detectors (SSNTDs) can be used to monitor radon concentrations (2). Radon particles form tracks in the detectors and these tracks can be etched in order to enable 2D surface image analysis. We have previously shown that confocal microscopy can be used for 3D visualisation of etched SSNTDs (3). The aim of the study was to further investigate track angles and patterns in SSNTDs. A 'LEXT' confocal laser scanning microscope (Olympus Corporation, Japan) was used to acquire 3D image datasets of five CR-39 plastic SSNTD's. The resultant 3D visualisations were analysed by eye and inclination angles assessed on selected tracks. From visual assessment, single isolated tracks as well as coalescing tracks were observed on the etched detectors. In addition varying track inclination angles were observed. Several different patterns of track formation were seen such as single isolated and double coalescing tracks. The observed track angles of inclination may help to assess the angle at which alpha particles hit the detector. Darby, S et al. Radon in homes and risk of lung cancer : collaborative analysis of individual data from 13 European case-control studies. British Medical Journal 2005; 330, 223-226. Phillips, P.S., Denman, A.R., Crockett, R.G.M., Gillmore, G., Groves-Kirkby, C.J., Woolridge, A., Comparative Analysis of Weekly vs. Three monthly radon measurements in dwellings. DEFRA Report No., DEFRA/RAS/03.006. (2004). Wertheim D, Gillmore G, Brown L, and Petford N. A new method of imaging particle tracks in Solid State Nuclear Track Detectors. Journal of Microscopy 2010; 237: 1-6.

  17. Holographic microscopy for 3D tracking of bacteria

    NASA Astrophysics Data System (ADS)

    Nadeau, Jay; Cho, Yong Bin; El-Kholy, Marwan; Bedrossian, Manuel; Rider, Stephanie; Lindensmith, Christian; Wallace, J. Kent

    2016-03-01

    Understanding when, how, and if bacteria swim is key to understanding critical ecological and biological processes, from carbon cycling to infection. Imaging motility by traditional light microscopy is limited by focus depth, requiring cells to be constrained in z. Holographic microscopy offers an instantaneous 3D snapshot of a large sample volume, and is therefore ideal in principle for quantifying unconstrained bacterial motility. However, resolving and tracking individual cells is difficult due to the low amplitude and phase contrast of the cells; the index of refraction of typical bacteria differs from that of water only at the second decimal place. In this work we present a combination of optical and sample-handling approaches to facilitating bacterial tracking by holographic phase imaging. The first is the design of the microscope, which is an off-axis design with the optics along a common path, which minimizes alignment issues while providing all of the advantages of off-axis holography. Second, we use anti-reflective coated etalon glass in the design of sample chambers, which reduce internal reflections. Improvement seen with the antireflective coating is seen primarily in phase imaging, and its quantification is presented here. Finally, dyes may be used to increase phase contrast according to the Kramers-Kronig relations. Results using three test strains are presented, illustrating the different types of bacterial motility characterized by an enteric organism (Escherichia coli), an environmental organism (Bacillus subtilis), and a marine organism (Vibrio alginolyticus). Data processing steps to increase the quality of the phase images and facilitate tracking are also discussed.

  18. 3-D imaging of particle tracks in solid state nuclear track detectors

    NASA Astrophysics Data System (ADS)

    Wertheim, D.; Gillmore, G.; Brown, L.; Petford, N.

    2010-05-01

    It has been suggested that 3 to 5% of total lung cancer deaths in the UK may be associated with elevated radon concentration. Radon gas levels can be assessed using CR-39 plastic detectors which are often assessed by 2-D image analysis of surface images. 3-D analysis has the potential to provide information relating to the angle at which alpha particles impinge on the detector. In this study we used a "LEXT" OLS3100 confocal laser scanning microscope (Olympus Corporation, Tokyo, Japan) to image tracks on five CR-39 detectors. We were able to identify several patterns of single and coalescing tracks from 3-D visualisation. Thus this method may provide a means of detailed 3-D analysis of Solid State Nuclear Track Detectors.

  19. 3D whiteboard: collaborative sketching with 3D-tracked smart phones

    NASA Astrophysics Data System (ADS)

    Lue, James; Schulze, Jürgen P.

    2014-02-01

    We present the results of our investigation of the feasibility of a new approach for collaborative drawing in 3D, based on Android smart phones. Our approach utilizes a number of fiduciary markers, placed in the working area where they can be seen by the smart phones' cameras, in order to estimate the pose of each phone in the room. Our prototype allows two users to draw 3D objects with their smart phones by moving their phones around in 3D space. For example, 3D lines are drawn by recording the path of the phone as it is moved around in 3D space, drawing line segments on the screen along the way. Each user can see the virtual drawing space on their smart phones' displays, as if the display was a window into this space. Besides lines, our prototype application also supports 3D geometry creation, geometry transformation operations, and it shows the location of the other user's phone.

  20. Real-time face tracking

    NASA Astrophysics Data System (ADS)

    Liang, Yufeng; Wilder, Joseph

    1998-10-01

    A real-time face tracker is presented in this paper. The system has achieved 15 frames/second tracking using a Pentium 200 PC with a Datacube MaxPCI image processing board and a Panasonic RGB color camera. It tracks human faces in the camera's field of view while people move freely. A stochastic model to characterize the skin color distribution of human skin is used to segment the face and other skin areas from the background. Median filtering is then used to clean up the background noise. Geometric constraints are applied to the segmented image to extract the face from the background. To reduce computation and achieve real-time tracking, 1D projections (horizontal and vertical) of the image are analyzed instead of the 2D image. Run-length- encoding and frequency domain analysis algorithms are used to separate faces from other skin-like blobs. The system is robust to illumination intensity variations and different skin colors. It can be applied to many human-computer interaction applications such as sound locating, lip- reading, gaze tracking and face recognition.

  1. 3D imaging of particle tracks in Solid State Nuclear Track Detectors

    NASA Astrophysics Data System (ADS)

    Wertheim, D.; Gillmore, G.; Brown, L.; Petford, N.

    2009-04-01

    Inhalation of radon gas (222Rn) and associated ionizing decay products is known to cause lung cancer in human. In the U.K., it has been suggested that 3 to 5 % of total lung cancer deaths can be linked to elevated radon concentrations in the home and/or workplace. Radon monitoring in buildings is therefore routinely undertaken in areas of known risk. Indeed, some organisations such as the Radon Council in the UK and the Environmental Protection Agency in the USA, advocate a ‘to test is best' policy. Radon gas occurs naturally, emanating from the decay of 238U in rock and soils. Its concentration can be measured using CR?39 plastic detectors which conventionally are assessed by 2D image analysis of the surface; however there can be some variation in outcomes / readings even in closely spaced detectors. A number of radon measurement methods are currently in use (for examples, activated carbon and electrets) but the most widely used are CR?39 solid state nuclear track?etch detectors (SSNTDs). In this technique, heavily ionizing alpha particles leave tracks in the form of radiation damage (via interaction between alpha particles and the atoms making up the CR?39 polymer). 3D imaging of the tracks has the potential to provide information relating to angle and energy of alpha particles but this could be time consuming. Here we describe a new method for rapid high resolution 3D imaging of SSNTDs. A ‘LEXT' OLS3100 confocal laser scanning microscope was used in confocal mode to successfully obtain 3D image data on four CR?39 plastic detectors. 3D visualisation and image analysis enabled characterisation of track features. This method may provide a means of rapid and detailed 3D analysis of SSNTDs. Keywords: Radon; SSNTDs; confocal laser scanning microscope; 3D imaging; LEXT

  2. Ion track reconstruction in 3D using alumina-based fluorescent nuclear track detectors.

    PubMed

    Niklas, M; Bartz, J A; Akselrod, M S; Abollahi, A; Jäkel, O; Greilich, S

    2013-09-21

    Fluorescent nuclear track detectors (FNTDs) based on Al2O3: C, Mg single crystal combined with confocal microscopy provide 3D information on ion tracks with a resolution only limited by light diffraction. FNTDs are also ideal substrates to be coated with cells to engineer cell-fluorescent ion track hybrid detectors (Cell-Fit-HD). This radiobiological tool enables a novel platform linking cell responses to physical dose deposition on a sub-cellular level in proton and heavy ion therapies. To achieve spatial correlation between single ion hits in the cell coating and its biological response the ion traversals have to be reconstructed in 3D using the depth information gained by the FNTD read-out. FNTDs were coated with a confluent human lung adenocarcinoma epithelial (A549) cell layer. Carbon ion irradiation of the hybrid detector was performed perpendicular and angular to the detector surface. In situ imaging of the fluorescently labeled cell layer and the FNTD was performed in a sequential read-out. Making use of the trajectory information provided by the FNTD the accuracy of 3D track reconstruction of single particles traversing the hybrid detector was studied. The accuracy is strongly influenced by the irradiation angle and therefore by complexity of the FNTD signal. Perpendicular irradiation results in highest accuracy with error of smaller than 0.10°. The ability of FNTD technology to provide accurate 3D ion track reconstruction makes it a powerful tool for radiobiological investigations in clinical ion beams, either being used as a substrate to be coated with living tissue or being implanted in vivo. PMID:23965401

  3. Ion track reconstruction in 3D using alumina-based fluorescent nuclear track detectors

    NASA Astrophysics Data System (ADS)

    Niklas, M.; Bartz, J. A.; Akselrod, M. S.; Abollahi, A.; Jäkel, O.; Greilich, S.

    2013-09-01

    Fluorescent nuclear track detectors (FNTDs) based on Al2O3: C, Mg single crystal combined with confocal microscopy provide 3D information on ion tracks with a resolution only limited by light diffraction. FNTDs are also ideal substrates to be coated with cells to engineer cell-fluorescent ion track hybrid detectors (Cell-Fit-HD). This radiobiological tool enables a novel platform linking cell responses to physical dose deposition on a sub-cellular level in proton and heavy ion therapies. To achieve spatial correlation between single ion hits in the cell coating and its biological response the ion traversals have to be reconstructed in 3D using the depth information gained by the FNTD read-out. FNTDs were coated with a confluent human lung adenocarcinoma epithelial (A549) cell layer. Carbon ion irradiation of the hybrid detector was performed perpendicular and angular to the detector surface. In situ imaging of the fluorescently labeled cell layer and the FNTD was performed in a sequential read-out. Making use of the trajectory information provided by the FNTD the accuracy of 3D track reconstruction of single particles traversing the hybrid detector was studied. The accuracy is strongly influenced by the irradiation angle and therefore by complexity of the FNTD signal. Perpendicular irradiation results in highest accuracy with error of smaller than 0.10°. The ability of FNTD technology to provide accurate 3D ion track reconstruction makes it a powerful tool for radiobiological investigations in clinical ion beams, either being used as a substrate to be coated with living tissue or being implanted in vivo.

  4. Integration of real-time 3D capture, reconstruction, and light-field display

    NASA Astrophysics Data System (ADS)

    Zhang, Zhaoxing; Geng, Zheng; Li, Tuotuo; Pei, Renjing; Liu, Yongchun; Zhang, Xiao

    2015-03-01

    Effective integration of 3D acquisition, reconstruction (modeling) and display technologies into a seamless systems provides augmented experience of visualizing and analyzing real objects and scenes with realistic 3D sensation. Applications can be found in medical imaging, gaming, virtual or augmented reality and hybrid simulations. Although 3D acquisition, reconstruction, and display technologies have gained significant momentum in recent years, there seems a lack of attention on synergistically combining these components into a "end-to-end" 3D visualization system. We designed, built and tested an integrated 3D visualization system that is able to capture in real-time 3D light-field images, perform 3D reconstruction to build 3D model of the objects, and display the 3D model on a large autostereoscopic screen. In this article, we will present our system architecture and component designs, hardware/software implementations, and experimental results. We will elaborate on our recent progress on sparse camera array light-field 3D acquisition, real-time dense 3D reconstruction, and autostereoscopic multi-view 3D display. A prototype is finally presented with test results to illustrate the effectiveness of our proposed integrated 3D visualization system.

  5. LayTracks3D: A new approach for meshing general solids using medial axis transform

    SciTech Connect

    Quadros, William Roshan

    2015-08-22

    This study presents an extension of the all-quad meshing algorithm called LayTracks to generate high quality hex-dominant meshes of general solids. LayTracks3D uses the mapping between the Medial Axis (MA) and the boundary of the 3D domain to decompose complex 3D domains into simpler domains called Tracks. Tracks in 3D have no branches and are symmetric, non-intersecting, orthogonal to the boundary, and the shortest path from the MA to the boundary. These properties of tracks result in desired meshes with near cube shape elements at the boundary, structured mesh along the boundary normal with any irregular nodes restricted to the MA, and sharp boundary feature preservation. The algorithm has been tested on a few industrial CAD models and hex-dominant meshes are shown in the Results section. Work is underway to extend LayTracks3D to generate all-hex meshes.

  6. Oblique needle segmentation and tracking for 3D TRUS guided prostate brachytherapy

    SciTech Connect

    Wei Zhouping; Gardi, Lori; Downey, Donal B.; Fenster, Aaron

    2005-09-15

    An algorithm was developed in order to segment and track brachytherapy needles inserted along oblique trajectories. Three-dimensional (3D) transrectal ultrasound (TRUS) images of the rigid rod simulating the needle inserted into the tissue-mimicking agar and chicken breast phantoms were obtained to test the accuracy of the algorithm under ideal conditions. Because the robot possesses high positioning and angulation accuracies, we used the robot as a ''gold standard,'' and compared the results of algorithm segmentation to the values measured by the robot. Our testing results showed that the accuracy of the needle segmentation algorithm depends on the needle insertion distance into the 3D TRUS image and the angulations with respect to the TRUS transducer, e.g., at a 10 deg. insertion anglulation in agar phantoms, the error of the algorithm in determining the needle tip position was less than 1 mm when the insertion distance was greater than 15 mm. Near real-time needle tracking was achieved by scanning a small volume containing the needle. Our tests also showed that, the segmentation time was less than 60 ms, and the scanning time was less than 1.2 s, when the insertion distance into the 3D TRUS image was less than 55 mm. In our needle tracking tests in chicken breast phantoms, the errors in determining the needle orientation were less than 2 deg. in robot yaw and 0.7 deg. in robot pitch orientations, for up to 20 deg. needle insertion angles with the TRUS transducer in the horizontal plane when the needle insertion distance was greater than 15 mm.

  7. A 3D feature point tracking method for ion radiation

    NASA Astrophysics Data System (ADS)

    Kouwenberg, Jasper J. M.; Ulrich, Leonie; Jäkel, Oliver; Greilich, Steffen

    2016-06-01

    A robust and computationally efficient algorithm for automated tracking of high densities of particles travelling in (semi-) straight lines is presented. It extends the implementation of (Sbalzarini and Koumoutsakos 2005) and is intended for use in the analysis of single ion track detectors. By including information of existing tracks in the exclusion criteria and a recursive cost minimization function, the algorithm is robust to variations on the measured particle tracks. A trajectory relinking algorithm was included to resolve the crossing of tracks in high particle density images. Validation of the algorithm was performed using fluorescent nuclear track detectors (FNTD) irradiated with high- and low (heavy) ion fluences and showed less than 1% faulty trajectories in the latter.

  8. Study of a viewer tracking system with multiview 3D display

    NASA Astrophysics Data System (ADS)

    Yang, Jinn-Cherng; Wu, Chang-Shuo; Hsiao, Chuan-Heng; Yang, Ming-Chieh; Liu, Wen-Chieh; Hung, Yi-Ping

    2008-02-01

    An autostereoscopic display provides users great enjoyment of stereo visualization without uncomfortable and inconvenient drawbacks of wearing stereo glasses. However, bandwidth constraints of current multi-view 3D display severely restrict the number of views that can be simultaneously displayed without degrading resolution or increasing display cost unacceptably. An alternative to multiple view presentation is that the position of observer can be measured by using viewer-tracking sensor. It is a very important module of the viewer-tracking component for fluently rendering and accurately projecting the stereo video. In order to render stereo content with respect to user's view points and to optically project the content onto the left and right eyes of the user accurately, the real-time viewer tracking technique that allows the user to move around freely when watching the autostereoscopic display is developed in this study. It comprises the face detection by using multiple eigenspaces of various lighting conditions, fast block matching for tracking four motion parameters of the user's face region. The Edge Orientation Histogram (EOH) on Real AdaBoost to improve the performance of original AdaBoost algorithm is also applied in this study. The AdaBoost algorithm using Haar feature in OpenCV library developed by Intel to detect human face and enhance the accuracy performance with rotating image. The frame rate of viewer tracking process can achieve up to 15 Hz. Since performance of the viewer tracking autostereoscopic display is still influenced under variant environmental conditions, the accuracy, robustness and efficiency of the viewer-tracking system are evaluated in this study.

  9. Real-Time Camera Guidance for 3d Scene Reconstruction

    NASA Astrophysics Data System (ADS)

    Schindler, F.; Förstner, W.

    2012-07-01

    We propose a framework for operator guidance during the image acquisition process for reliable multi-view stereo reconstruction. Goal is to achieve full coverage of the object and sufficient overlap. Multi-view stereo is a commonly used method to reconstruct both camera trajectory and 3D object shape. After determining an initial solution, a globally optimal reconstruction is usually obtained by executing a bundle adjustment involving all images. Acquiring suitable images, however, still requires an experienced operator to ensure accuracy and completeness of the final solution. We propose an interactive framework for guiding unexperienced users or possibly an autonomous robot. Using approximate camera orientations and object points we estimate point uncertainties within a sliding bundle adjustment and suggest appropriate camera movements. A visual feedback system communicates the decisions to the user in an intuitive way. We demonstrate the suitability of our system with a virtual image acquisition simulation as well as in real-world scenarios. We show that when following the camera movements suggested by our system, the proposed framework is able to generate good approximate values for the bundle adjustment, leading to accurate results compared to ground truth after few iterations. Possible applications are non-professional 3D acquisition systems on low-cost platforms like mobile phones, autonomously navigating robots as well as online flight planning of unmanned aerial vehicles.

  10. A 3D diamond detector for particle tracking

    NASA Astrophysics Data System (ADS)

    Artuso, M.; Bachmair, F.; Bäni, L.; Bartosik, M.; Beacham, J.; Bellini, V.; Belyaev, V.; Bentele, B.; Berdermann, E.; Bergonzo, P.; Bes, A.; Brom, J.-M.; Bruzzi, M.; Cerv, M.; Chau, C.; Chiodini, G.; Chren, D.; Cindro, V.; Claus, G.; Collot, J.; Costa, S.; Cumalat, J.; Dabrowski, A.; D`Alessandro, R.; de Boer, W.; Dehning, B.; Dobos, D.; Dünser, M.; Eremin, V.; Eusebi, R.; Forcolin, G.; Forneris, J.; Frais-Kölbl, H.; Gan, K. K.; Gastal, M.; Goffe, M.; Goldstein, J.; Golubev, A.; Gonella, L.; Gorišek, A.; Graber, L.; Grigoriev, E.; Grosse-Knetter, J.; Gui, B.; Guthoff, M.; Haughton, I.; Hidas, D.; Hits, D.; Hoeferkamp, M.; Hofmann, T.; Hosslet, J.; Hostachy, J.-Y.; Hügging, F.; Jansen, H.; Janssen, J.; Kagan, H.; Kanxheri, K.; Kasieczka, G.; Kass, R.; Kassel, F.; Kis, M.; Kramberger, G.; Kuleshov, S.; Lacoste, A.; Lagomarsino, S.; Lo Giudice, A.; Maazouzi, C.; Mandic, I.; Mathieu, C.; McFadden, N.; McGoldrick, G.; Menichelli, M.; Mikuž, M.; Morozzi, A.; Moss, J.; Mountain, R.; Murphy, S.; Oh, A.; Olivero, P.; Parrini, G.; Passeri, D.; Pauluzzi, M.; Pernegger, H.; Perrino, R.; Picollo, F.; Pomorski, M.; Potenza, R.; Quadt, A.; Re, A.; Riley, G.; Roe, S.; Sapinski, M.; Scaringella, M.; Schnetzer, S.; Schreiner, T.; Sciortino, S.; Scorzoni, A.; Seidel, S.; Servoli, L.; Sfyrla, A.; Shimchuk, G.; Smith, D. S.; Sopko, B.; Sopko, V.; Spagnolo, S.; Spanier, S.; Stenson, K.; Stone, R.; Sutera, C.; Taylor, A.; Traeger, M.; Tromson, D.; Trischuk, W.; Tuve, C.; Uplegger, L.; Velthuis, J.; Venturi, N.; Vittone, E.; Wagner, S.; Wallny, R.; Wang, J. C.; Weilhammer, P.; Weingarten, J.; Weiss, C.; Wengler, T.; Wermes, N.; Yamouni, M.; Zavrtanik, M.

    2016-07-01

    In the present study, results towards the development of a 3D diamond sensor are presented. Conductive channels are produced inside the sensor bulk using a femtosecond laser. This electrode geometry allows full charge collection even for low quality diamond sensors. Results from testbeam show that charge is collected by these electrodes. In order to understand the channel growth parameters, with the goal of producing low resistivity channels, the conductive channels produced with a different laser setup are evaluated by Raman spectroscopy.

  11. Real Time 3D Facial Movement Tracking Using a Monocular Camera.

    PubMed

    Dong, Yanchao; Wang, Yanming; Yue, Jiguang; Hu, Zhencheng

    2016-01-01

    The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference. PMID:27463714

  12. Real Time 3D Facial Movement Tracking Using a Monocular Camera.

    PubMed

    Dong, Yanchao; Wang, Yanming; Yue, Jiguang; Hu, Zhencheng

    2016-07-25

    The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference.

  13. Real Time 3D Facial Movement Tracking Using a Monocular Camera

    PubMed Central

    Dong, Yanchao; Wang, Yanming; Yue, Jiguang; Hu, Zhencheng

    2016-01-01

    The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference. PMID:27463714

  14. An optical real-time 3D measurement for analysis of facial shape and movement

    NASA Astrophysics Data System (ADS)

    Zhang, Qican; Su, Xianyu; Chen, Wenjing; Cao, Yiping; Xiang, Liqun

    2003-12-01

    Optical non-contact 3-D shape measurement provides a novel and useful tool for analysis of facial shape and movement in presurgical and postsurgical regular check. In this article we present a system, which allows a precise 3-D visualization of the patient's facial before and after craniofacial surgery. We discussed, in this paper, the real time 3-D image capture, processing and the 3-D phase unwrapping method to recover complex shape deformation when the movement of the mouth. The result of real-time measurement for facial shape and movement will be helpful for the more ideal effect in plastic surgery.

  15. 3-D tracking in a miniature time projection chamber

    NASA Astrophysics Data System (ADS)

    Vahsen, S. E.; Hedges, M. T.; Jaegle, I.; Ross, S. J.; Seong, I. S.; Thorpe, T. N.; Yamaoka, J.; Kadyk, J. A.; Garcia-Sciveres, M.

    2015-07-01

    The three-dimensional (3-D) detection of millimeter-scale ionization trails is of interest for detecting nuclear recoils in directional fast neutron detectors and in direction-sensitive searches for weakly interacting massive particles (WIMPs), which may constitute the Dark Matter of the universe. We report on performance characterization of a miniature gas target Time Projection Chamber (TPC) where the drift charge is avalanche-multiplied with Gas Electron Multipliers (GEMs) and detected with the ATLAS FE-I3 Pixel Application Specific Integrated Circuit (ASIC). We report on measurements of gain, gain resolution, point resolution, diffusion, angular resolution, and energy resolution with low-energy X-rays, cosmic rays, and alpha particles, using the gases Ar:CO2 (70:30) and He:CO2 (70:30) at atmospheric pressure. We discuss the implications for future, larger directional neutron and Dark Matter detectors. With an eye to designing and selecting components for these, we generalize our results into analytical expressions for detector performance whenever possible. We conclude by demonstrating the 3-D directional detection of a fast neutron source.

  16. THE THOMSON SURFACE. III. TRACKING FEATURES IN 3D

    SciTech Connect

    Howard, T. A.; DeForest, C. E.; Tappin, S. J.; Odstrcil, D.

    2013-03-01

    In this, the final installment in a three-part series on the Thomson surface, we present simulated observations of coronal mass ejections (CMEs) observed by a hypothetical polarizing white light heliospheric imager. Thomson scattering yields a polarization signal that can be exploited to locate observed features in three dimensions relative to the Thomson surface. We consider how the appearance of the CME changes with the direction of trajectory, using simulations of a simple geometrical shape and also of a more realistic CME generated using the ENLIL model. We compare the appearance in both unpolarized B and polarized pB light, and show that there is a quantifiable difference in the measured brightness of a CME between unpolarized and polarized observations. We demonstrate a technique for using this difference to extract the three-dimensional (3D) trajectory of large objects such as CMEs. We conclude with a discussion on how a polarizing heliospheric imager could be used to extract 3D trajectory information about CMEs or other observed features.

  17. Preparation and 3D Tracking of Catalytic Swimming Devices

    PubMed Central

    Campbell, Andrew; Archer, Richard; Ebbens, Stephen

    2016-01-01

    We report a method to prepare catalytically active Janus colloids that "swim" in fluids and describe how to determine their 3D motion using fluorescence microscopy. One commonly deployed method for catalytically active colloids to produce enhanced motion is via an asymmetrical distribution of catalyst. Here this is achieved by spin coating a dispersed layer of fluorescent polymeric colloids onto a flat planar substrate, and then using directional platinum vapor deposition to half coat the exposed colloid surface, making a two faced "Janus" structure. The Janus colloids are then re-suspended from the planar substrate into an aqueous solution containing hydrogen peroxide. Hydrogen peroxide serves as a fuel for the platinum catalyst, which is decomposed into water and oxygen, but only on one side of the colloid. The asymmetry results in gradients that produce enhanced motion, or "swimming". A fluorescence microscope, together with a video camera is used to record the motion of individual colloids. The center of the fluorescent emission is found using image analysis to provide an x and y coordinate for each frame of the video. While keeping the microscope focal position fixed, the fluorescence emission from the colloid produces a characteristic concentric ring pattern which is subject to image analysis to determine the particles relative z position. In this way 3D trajectories for the swimming colloid are obtained, allowing swimming velocity to be accurately measured, and physical phenomena such as gravitaxis, which may bias the colloids motion to be detected. PMID:27404327

  18. High resolution 3D insider detection and tracking.

    SciTech Connect

    Nelson, Cynthia Lee

    2003-09-01

    Vulnerability analysis studies show that one of the worst threats against a facility is that of an active insider during an emergency evacuation. When a criticality or other emergency alarm occurs, employees immediately proceed along evacuation routes to designated areas. Procedures are then implemented to account for all material, classified parts, etc. The 3-Dimensional Video Motion Detection (3DVMD) technology could be used to detect and track possible insider activities during alarm situations, as just described, as well as during normal operating conditions. The 3DVMD technology uses multiple cameras to create 3-dimensional detection volumes or zones. Movement throughout detection zones is tracked and high-level information, such as the number of people and their direction of motion, is extracted. In the described alarm scenario, deviances of evacuation procedures taken by an individual could be immediately detected and relayed to a central alarm station. The insider could be tracked and any protected items removed from the area could be flagged. The 3DVMD technology could also be used to monitor such items as machines that are used to build classified parts. During an alarm, detections could be made if items were removed from the machine. Overall, the use of 3DVMD technology during emergency evacuations would help to prevent the loss of classified items and would speed recovery from emergency situations. Further security could also be added by analyzing tracked behavior (motion) as it corresponds to predicted behavior, e.g., behavior corresponding with the execution of required procedures. This information would be valuable for detecting a possible insider not only during emergency situations, but also during times of normal operation.

  19. Track of Right-Wheel Drag (3-D)

    NASA Technical Reports Server (NTRS)

    2004-01-01

    [figure removed for brevity, see original site] Figure 1

    [figure removed for brevity, see original site] Figure 2

    This 360-degree stereo panorama combines several frames taken by the navigation camera on NASA's Mars Exploration Rover Spirit during the rover's 313th martian day (Nov. 19, 2004). The site, labeled Spirit site 93, is in the 'Columbia Hills' inside Gusev Crater. The rover tracks point westward. Spirit had driven eastward, in reverse and dragging its right front wheel, for about 30 meters (100 feet) on the day the picture was taken. Driving backwards while dragging that wheel is a precautionary strategy to extend the usefulness of the wheel for when it is most needed, because it has developed more friction than the other wheels. The right-hand track in this look backwards shows how the dragging disturbed the soil. This view is presented in a cylindrical-perspective projection with geometric seam correction.

    Figure 1 is the left-eye view of a stereo pair and Figure 2 is the right-eye view of a stereo pair.

  20. Tracking 3-D body motion for docking and robot control

    NASA Technical Reports Server (NTRS)

    Donath, M.; Sorensen, B.; Yang, G. B.; Starr, R.

    1987-01-01

    An advanced method of tracking three-dimensional motion of bodies has been developed. This system has the potential to dynamically characterize machine and other structural motion, even in the presence of structural flexibility, thus facilitating closed loop structural motion control. The system's operation is based on the concept that the intersection of three planes defines a point. Three rotating planes of laser light, fixed and moving photovoltaic diode targets, and a pipe-lined architecture of analog and digital electronics are used to locate multiple targets whose number is only limited by available computer memory. Data collection rates are a function of the laser scan rotation speed and are currently selectable up to 480 Hz. The tested performance on a preliminary prototype designed for 0.1 in accuracy (for tracking human motion) at a 480 Hz data rate includes a worst case resolution of 0.8 mm (0.03 inches), a repeatability of plus or minus 0.635 mm (plus or minus 0.025 inches), and an absolute accuracy of plus or minus 2.0 mm (plus or minus 0.08 inches) within an eight cubic meter volume with all results applicable at the 95 percent level of confidence along each coordinate region. The full six degrees of freedom of a body can be computed by attaching three or more target detectors to the body of interest.

  1. Tensor3D: A computer graphics program to simulate 3D real-time deformation and visualization of geometric bodies

    NASA Astrophysics Data System (ADS)

    Pallozzi Lavorante, Luca; Dirk Ebert, Hans

    2008-07-01

    Tensor3D is a geometric modeling program with the capacity to simulate and visualize in real-time the deformation, specified through a tensor matrix and applied to triangulated models representing geological bodies. 3D visualization allows the study of deformational processes that are traditionally conducted in 2D, such as simple and pure shears. Besides geometric objects that are immediately available in the program window, the program can read other models from disk, thus being able to import objects created with different open-source or proprietary programs. A strain ellipsoid and a bounding box are simultaneously shown and instantly deformed with the main object. The principal axes of strain are visualized as well to provide graphical information about the orientation of the tensor's normal components. The deformed models can also be saved, retrieved later and deformed again, in order to study different steps of progressive strain, or to make this data available to other programs. The shape of stress ellipsoids and the corresponding Mohr circles defined by any stress tensor can also be represented. The application was written using the Visualization ToolKit, a powerful scientific visualization library in the public domain. This development choice, allied to the use of the Tcl/Tk programming language, which is independent on the host computational platform, makes the program a useful tool for the study of geometric deformations directly in three dimensions in teaching as well as research activities.

  2. Analysis of a vibrating interventional device to improve 3-D colormark tracking.

    PubMed

    Fronheiser, Matthew P; Smith, Stephen W

    2007-08-01

    Ultrasound guidance of interventional devices during minimally invasive surgical procedures has been investigated by many researchers. Previously, we extended the methods used by the Colormark tracking system to several interventional devices using a real-time, three-dimensional (3-D) ultrasound system. These results showed that we needed to improve the efficiency and reliability of the tracking. In this paper, we describe an analytical model to predict the transverse vibrations along the length of an atrial septal puncture needle to enable design improvements of the tracking system. We assume the needle can be modeled as a hollow bar with a circular cross section with a fixed proximal end and a free distal end that is suspended vertically to ignore gravity effects. The initial results show an ability to predict the natural nodes and antinodes along the needle using the characteristic equation for free vibrations. Simulations show that applying a forcing function to the device at a natural antinode yields an order of magnitude larger vibration than when driving the device at a node. Pulsed wave spectral Doppler data was acquired along the distal portion of the needle in a water tank using a 2-D matrix array transesophageal echocardiography probe. This data was compared to simulations of forced vibrations from the model. These initial results suggest that the model is a good first order approximation of the vibrating device in a water tank. It is our belief that knowing the location of the natural nodes and antinodes will improve our ability to drive the device to ensure the vibrations at the proximal end will reach the tip of the device, which in turn should improve our ability to track the device in vivo. PMID:17703675

  3. Ultra-Wideband Time-Difference-of-Arrival High Resolution 3D Proximity Tracking System

    NASA Technical Reports Server (NTRS)

    Ni, Jianjun; Arndt, Dickey; Ngo, Phong; Phan, Chau; Dekome, Kent; Dusl, John

    2010-01-01

    This paper describes a research and development effort for a prototype ultra-wideband (UWB) tracking system that is currently under development at NASA Johnson Space Center (JSC). The system is being studied for use in tracking of lunar./Mars rovers and astronauts during early exploration missions when satellite navigation systems are not available. U IATB impulse radio (UWB-IR) technology is exploited in the design and implementation of the prototype location and tracking system. A three-dimensional (3D) proximity tracking prototype design using commercially available UWB products is proposed to implement the Time-Difference- Of-Arrival (TDOA) tracking methodology in this research effort. The TDOA tracking algorithm is utilized for location estimation in the prototype system, not only to exploit the precise time resolution possible with UWB signals, but also to eliminate the need for synchronization between the transmitter and the receiver. Simulations show that the TDOA algorithm can achieve the fine tracking resolution with low noise TDOA estimates for close-in tracking. Field tests demonstrated that this prototype UWB TDOA High Resolution 3D Proximity Tracking System is feasible for providing positioning-awareness information in a 3D space to a robotic control system. This 3D tracking system is developed for a robotic control system in a facility called "Moonyard" at Honeywell Defense & System in Arizona under a Space Act Agreement.

  4. Study on basic problems in real-time 3D holographic display

    NASA Astrophysics Data System (ADS)

    Jia, Jia; Liu, Juan; Wang, Yongtian; Pan, Yijie; Li, Xin

    2013-05-01

    In recent years, real-time three-dimensional (3D) holographic display has attracted more and more attentions. Since a holographic display can entirely reconstruct the wavefront of an actual 3D scene, it can provide all the depth cues for human eye's observation and perception, and it is believed to be the most promising technology for future 3D display. However, there are several unsolved basic problems for realizing large-size real-time 3D holographic display with a wide field of view. For examples, commercial pixelated spatial light modulators (SLM) always lead to zero-order intensity distortion; 3D holographic display needs a huge number of sampling points for the actual objects or scenes, resulting in enormous computational time; The size and the viewing zone of the reconstructed 3D optical image are limited by the space bandwidth product of the SLM; Noise from the coherent light source as well as from the system severely degrades the quality of the 3D image; and so on. Our work is focused on these basic problems, and some initial results are presented, including a technique derived theoretically and verified experimentally to eliminate the zero-order beam caused by a pixelated phase-only SLM; a method to enlarge the reconstructed 3D image and shorten the reconstruction distance using a concave reflecting mirror; and several algorithms to speed up the calculation of computer generated holograms (CGH) for the display.

  5. CISUS: an integrated 3D ultrasound system for IGT using a modular tracking API

    NASA Astrophysics Data System (ADS)

    Boctor, Emad M.; Viswanathan, Anand; Pieper, Steve; Choti, Michael A.; Taylor, Russell H.; Kikinis, Ron; Fichtinger, Gabor

    2004-05-01

    Ultrasound has become popular in clinical/surgical applications, both as the primary image guidance modality and also in conjunction with other modalities like CT or MRI. Three dimensional ultrasound (3DUS) systems have also demonstrated usefulness in image-guided therapy (IGT). At the same time, however, current lack of open-source and open-architecture multi-modal medical visualization systems prevents 3DUS from fulfilling its potential. Several stand-alone 3DUS systems, like Stradx or In-Vivo exist today. Although these systems have been found to be useful in real clinical setting, it is difficult to augment their functionality and integrate them in versatile IGT systems. To address these limitations, a robotic/freehand 3DUS open environment (CISUS) is being integrated into the 3D Slicer, an open-source research tool developed for medical image analysis and surgical planning. In addition, the system capitalizes on generic application programming interfaces (APIs) for tracking devices and robotic control. The resulting platform-independent open-source system may serve as a valuable tool to the image guided surgery community. Other researchers could straightforwardly integrate the generic CISUS system along with other functionalities (i.e. dual view visualization, registration, real-time tracking, segmentation, etc) to rapidly create their medical/surgical applications. Our current driving clinical application is robotically assisted and freehand 3DUS-guided liver ablation, which is fully being integrated under the CISUS-3D Slicer. Initial functionality and pre-clinical feasibility are demonstrated on phantom and ex-vivo animal models.

  6. Real-time auto-stereoscopic visualization of 3D medical images

    NASA Astrophysics Data System (ADS)

    Portoni, Luisa; Patak, Alexandre; Noirard, Pierre; Grossetie, Jean-Claude; van Berkel, Cees

    2000-04-01

    The work here described regards multi-viewer auto- stereoscopic visualization of 3D models of anatomical structures and organs of the human body. High-quality 3D models of more than 1600 anatomical structures have been reconstructed using the Visualization Toolkit, a freely available C++ class library for 3D graphics and visualization. 2D images used for 3D reconstruction comes from the Visible Human Data Set. Auto-stereoscopic 3D image visualization is obtained using a prototype monitor developed at Philips Research Labs, UK. This special multiview 3D-LCD screen has been connected directly to a SGI workstation, where 3D reconstruction and medical imaging applications are executed. Dedicated software has been developed to implement multiview capability. A number of static or animated contemporary views of the same object can simultaneously be seen on the 3D-LCD screen by several observers, having a real 3D perception of the visualized scene without the use of extra media as dedicated glasses or head-mounted displays. Developed software applications allow real-time interaction with visualized 3D models, didactical animations and movies have been realized as well.

  7. FPGA-based real-time anisotropic diffusion filtering of 3D ultrasound images

    NASA Astrophysics Data System (ADS)

    Castro-Pareja, Carlos R.; Dandekar, Omkar S.; Shekhar, Raj

    2005-02-01

    Three-dimensional ultrasonic imaging, especially the emerging real-time version of it, is particularly valuable in medical applications such as echocardiography, obstetrics and surgical navigation. A known problem with ultrasound images is their high level of speckle noise. Anisotropic diffusion filtering has been shown to be effective in enhancing the visual quality of 3D ultrasound images and as preprocessing prior to advanced image processing. However, due to its arithmetic complexity and the sheer size of 3D ultrasound images, it is not possible to perform online, real-time anisotropic diffusion filtering using standard software implementations. We present an FPGA-based architecture that allows performing anisotropic diffusion filtering of 3D images at acquisition rates, thus enabling the use of this filtering technique in real-time applications, such as visualization, registration and volume rendering.

  8. A new 3D tracking method exploiting the capabilities of digital holography in microscopy

    NASA Astrophysics Data System (ADS)

    Miccio, L.; Memmolo, P.; Merola, F.; Fusco, S.; Embrione, V.; Netti, P. A.; Ferraro, P.

    2013-04-01

    A method for 3D tracking has been developed exploiting Digital Holographic Microscopy (DHM) features. In the framework of self-consistent platform for manipulation and measurement of biological specimen we use DHM for quantitative and completely label free analysis of specimen with low amplitude contrast. Tracking capability extend the potentiality of DHM allowing to monitor the motion of appropriate probes and correlate it with sample properties. Complete 3D tracking has been obtained for the probes avoiding the issue of amplitude refocusing in traditional tracking processing. Our technique belongs to the video tracking methods that, conversely from Quadrant Photo-Diode method, opens the possibility to track multiples probes. All the common used video tracking algorithms are based on the numerical analysis of amplitude images in the focus plane and the shift of the maxima in the image plane are measured after the application of an appropriate threshold. Our approach for video tracking uses different theoretical basis. A set of interferograms is recorded and the complex wavefields are managed numerically to obtain three dimensional displacements of the probes. The procedure works properly on an higher number of probes and independently from their size. This method overcomes the traditional video tracking issues as the inability to measure the axial movement and the choice of suitable threshold mask. The novel configuration allows 3D tracking of micro-particles and simultaneously can furnish Quantitative Phase-contrast maps of tracked micro-objects by interference microscopy, without changing the configuration. In this paper, we show a new concept for a compact interferometric microscope that can ensure the multifunctionality, accomplishing accurate 3D tracking and quantitative phase-contrast analysis. Experimental results are presented and discussed for in vitro cells. Through a very simple and compact optical arrangement we show how two different functionalities

  9. Real-time 3D measurement based on structured light illumination considering camera lens distortion

    NASA Astrophysics Data System (ADS)

    Feng, Shijie; Chen, Qian; Zuo, Chao; Sun, Jiasong; Yu, ShiLing

    2014-12-01

    Optical three-dimensional (3-D) profilometry is gaining increasing attention for its simplicity, flexibility, high accuracy, and non-contact nature. Recent advances in imaging sensors and digital projection technology further its progress in high-speed, real-time applications, enabling 3-D shapes reconstruction of moving objects and dynamic scenes. In traditional 3-D measurement system where the processing time is not a key factor, camera lens distortion correction is performed directly. However, for the time-critical high-speed applications, the time-consuming correction algorithm is inappropriate to be performed directly during the real-time process. To cope with this issue, here we present a novel high-speed real-time 3-D coordinates measuring technique based on fringe projection with the consideration of the camera lens distortion. A pixel mapping relation between a distorted image and a corrected one is pre-determined and stored in computer memory for real-time fringe correction. And a method of lookup table (LUT) is introduced as well for fast data processing. Our experimental results reveal that the measurement error of the in-plane coordinates has been reduced by one order of magnitude and the accuracy of the out-plane coordinate been tripled after the distortions being eliminated. Moreover, owing to the merit of the LUT, the 3-D reconstruction can be achieved at 92.34 frames per second.

  10. Real-time visualization of 3-D dynamic microscopic objects using optical diffraction tomography.

    PubMed

    Kim, Kyoohyun; Kim, Kyung Sang; Park, Hyunjoo; Ye, Jong Chul; Park, Yongkeun

    2013-12-30

    3-D refractive index (RI) distribution is an intrinsic bio-marker for the chemical and structural information about biological cells. Here we develop an optical diffraction tomography technique for the real-time reconstruction of 3-D RI distribution, employing sparse angle illumination and a graphic processing unit (GPU) implementation. The execution time for the tomographic reconstruction is 0.21 s for 96(3) voxels, which is 17 times faster than that of a conventional approach. We demonstrated the real-time visualization capability with imaging the dynamics of Brownian motion of an anisotropic colloidal dimer and the dynamic shape change in a red blood cell upon shear flow.

  11. Real-time 3D-surface-guided head refixation useful for fractionated stereotactic radiotherapy

    SciTech Connect

    Li Shidong; Liu Dezhi; Yin Gongjie; Zhuang Ping; Geng, Jason

    2006-02-15

    Accurate and precise head refixation in fractionated stereotactic radiotherapy has been achieved through alignment of real-time 3D-surface images with a reference surface image. The reference surface image is either a 3D optical surface image taken at simulation with the desired treatment position, or a CT/MRI-surface rendering in the treatment plan with corrections for patient motion during CT/MRI scans and partial volume effects. The real-time 3D surface images are rapidly captured by using a 3D video camera mounted on the ceiling of the treatment vault. Any facial expression such as mouth opening that affects surface shape and location can be avoided using a new facial monitoring technique. The image artifacts on the real-time surface can generally be removed by setting a threshold of jumps at the neighboring points while preserving detailed features of the surface of interest. Such a real-time surface image, registered in the treatment machine coordinate system, provides a reliable representation of the patient head position during the treatment. A fast automatic alignment between the real-time surface and the reference surface using a modified iterative-closest-point method leads to an efficient and robust surface-guided target refixation. Experimental and clinical results demonstrate the excellent efficacy of <2 min set-up time, the desired accuracy and precision of <1 mm in isocenter shifts, and <1 deg. in rotation.

  12. The agreement between 3D, standard 2D and triplane 2D speckle tracking: effects of image quality and 3D volume rate

    PubMed Central

    Stöbe, Stephan; Tarr, Adrienn; Pfeiffer, Dietrich; Hagendorff, Andreas

    2014-01-01

    Comparison of 3D and 2D speckle tracking performed on standard 2D and triplane 2D datasets of normal and pathological left ventricular (LV) wall-motion patterns with a focus on the effect that 3D volume rate (3DVR), image quality and tracking artifacts have on the agreement between 2D and 3D speckle tracking. 37 patients with normal LV function and 18 patients with ischaemic wall-motion abnormalities underwent 2D and 3D echocardiography, followed by offline speckle tracking measurements. The values of 3D global, regional and segmental strain were compared with the standard 2D and triplane 2D strain values. Correlation analysis with the LV ejection fraction (LVEF) was also performed. The 3D and 2D global strain values correlated good in both normally and abnormally contracting hearts, though systematic differences between the two methods were observed. Of the 3D strain parameters, the area strain showed the best correlation with the LVEF. The numerical agreement of 3D and 2D analyses varied significantly with the volume rate and image quality of the 3D datasets. The highest correlation between 2D and 3D peak systolic strain values was found between 3D area and standard 2D longitudinal strain. Regional wall-motion abnormalities were similarly detected by 2D and 3D speckle tracking. 2DST of triplane datasets showed similar results to those of conventional 2D datasets. 2D and 3D speckle tracking similarly detect normal and pathological wall-motion patterns. Limited image quality has a significant impact on the agreement between 3D and 2D numerical strain values. PMID:26693303

  13. Integrated bronchoscopic video tracking and 3D CT registration for virtual bronchoscopy

    NASA Astrophysics Data System (ADS)

    Higgins, William E.; Helferty, James P.; Padfield, Dirk R.

    2003-05-01

    Lung cancer assessment involves an initial evaluation of 3D CT image data followed by interventional bronchoscopy. The physician, with only a mental image inferred from the 3D CT data, must guide the bronchoscope through the bronchial tree to sites of interest. Unfortunately, this procedure depends heavily on the physician's ability to mentally reconstruct the 3D position of the bronchoscope within the airways. In order to assist physicians in performing biopsies of interest, we have developed a method that integrates live bronchoscopic video tracking and 3D CT registration. The proposed method is integrated into a system we have been devising for virtual-bronchoscopic analysis and guidance for lung-cancer assessment. Previously, the system relied on a method that only used registration of the live bronchoscopic video to corresponding virtual endoluminal views derived from the 3D CT data. This procedure only performs the registration at manually selected sites; it does not draw upon the motion information inherent in the bronchoscopic video. Further, the registration procedure is slow. The proposed method has the following advantages: (1) it tracks the 3D motion of the bronchoscope using the bronchoscopic video; (2) it uses the tracked 3D trajectory of the bronchoscope to assist in locating sites in the 3D CT "virtual world" to perform the registration. In addition, the method incorporates techniques to: (1) detect and exclude corrupted video frames (to help make the video tracking more robust); (2) accelerate the computation of the many 3D virtual endoluminal renderings (thus, speeding up the registration process). We have tested the integrated tracking-registration method on a human airway-tree phantom and on real human data.

  14. 3D model-based catheter tracking for motion compensation in EP procedures

    NASA Astrophysics Data System (ADS)

    Brost, Alexander; Liao, Rui; Hornegger, Joachim; Strobel, Norbert

    2010-02-01

    Atrial fibrillation is the most common sustained heart arrhythmia and a leading cause of stroke. Its treatment by radio-frequency catheter ablation, performed using fluoroscopic image guidance, is gaining increasingly more importance. Two-dimensional fluoroscopic navigation can take advantage of overlay images derived from pre-operative 3-D data to add anatomical details otherwise not visible under X-ray. Unfortunately, respiratory motion may impair the utility of these static overlay images for catheter navigation. We developed an approach for image-based 3-D motion compensation as a solution to this problem. A bi-plane C-arm system is used to take X-ray images of a special circumferential mapping catheter from two directions. In the first step of the method, a 3-D model of the device is reconstructed. Three-dimensional respiratory motion at the site of ablation is then estimated by tracking the reconstructed catheter model in 3-D. This step involves bi-plane fluoroscopy and 2-D/3-D registration. Phantom data and clinical data were used to assess our model-based catheter tracking method. Experiments involving a moving heart phantom yielded an average 2-D tracking error of 1.4 mm and an average 3-D tracking error of 1.1 mm. Our evaluation of clinical data sets comprised 469 bi-plane fluoroscopy frames (938 monoplane fluoroscopy frames). We observed an average 2-D tracking error of 1.0 mm +/- 0.4 mm and an average 3-D tracking error of 0.8 mm +/- 0.5 mm. These results demonstrate that model-based motion-compensation based on 2-D/3-D registration is both feasible and accurate.

  15. LayTracks3D: A new approach for meshing general solids using medial axis transform

    DOE PAGES

    Quadros, William Roshan

    2015-08-22

    This study presents an extension of the all-quad meshing algorithm called LayTracks to generate high quality hex-dominant meshes of general solids. LayTracks3D uses the mapping between the Medial Axis (MA) and the boundary of the 3D domain to decompose complex 3D domains into simpler domains called Tracks. Tracks in 3D have no branches and are symmetric, non-intersecting, orthogonal to the boundary, and the shortest path from the MA to the boundary. These properties of tracks result in desired meshes with near cube shape elements at the boundary, structured mesh along the boundary normal with any irregular nodes restricted to themore » MA, and sharp boundary feature preservation. The algorithm has been tested on a few industrial CAD models and hex-dominant meshes are shown in the Results section. Work is underway to extend LayTracks3D to generate all-hex meshes.« less

  16. Automatic shape-based level set segmentation for needle tracking in 3-D TRUS-guided prostate brachytherapy.

    PubMed

    Yan, Ping; Cheeseborough, John C; Chao, K S Clifford

    2012-09-01

    Prostate brachytherapy is an effective treatment for early prostate cancer. The success depends critically on the correct needle implant positions. We have devised an automatic shape-based level set segmentation tool for needle tracking in 3-D transrectal ultrasound (TRUS) images, which uses the shape information and level set technique to localize the needle position and estimate the endpoint of needle in real-time. The 3-D TRUS images used in the evaluation of our tools were obtained using a 2-D TRUS transducer from Ultrasonix (Richmond, BC, Canada) and a computer-controlled stepper motor system from Thorlabs (Newton, NJ, USA). The accuracy and feedback mechanism had been validated using prostate phantoms and compared with 3-D positions of these needles derived from experts' readings. The experts' segmentation of needles from 3-D computed tomography images was the ground truth in this study. The difference between automatic and expert segmentations are within 0.1 mm for 17 of 19 implanted needles. The mean errors of automatic segmentations by comparing with the ground truth are within 0.25 mm. Our automated method allows real-time TRUS-based needle placement difference within one pixel compared with manual expert segmentation.

  17. Confocal fluorometer for diffusion tracking in 3D engineered tissue constructs

    NASA Astrophysics Data System (ADS)

    Daly, D.; Zilioli, A.; Tan, N.; Buttenschoen, K.; Chikkanna, B.; Reynolds, J.; Marsden, B.; Hughes, C.

    2016-03-01

    We present results of the development of a non-contacting instrument, called fScan, based on scanning confocal fluorometry for assessing the diffusion of materials through a tissue matrix. There are many areas in healthcare diagnostics and screening where it is now widely accepted that the need for new quantitative monitoring technologies is a major pinch point in patient diagnostics and in vitro testing. With the increasing need to interpret 3D responses this commonly involves the need to track the diffusion of compounds, pharma-active species and cells through a 3D matrix of tissue. Methods are available but to support the advances that are currently only promised, this monitoring needs to be real-time, non-invasive, and economical. At the moment commercial meters tend to be invasive and usually require a sample of the medium to be removed and processed prior to testing. This methodology clearly has a number of significant disadvantages. fScan combines a fiber based optical arrangement with a compact, free space optical front end that has been integrated so that the sample's diffusion can be measured without interference. This architecture is particularly important due to the "wet" nature of the samples. fScan is designed to measure constructs located within standard well plates and a 2-D motion stage locates the required sample with respect to the measurement system. Results are presented that show how the meter has been used to evaluate movements of samples through collagen constructs in situ without disturbing their kinetic characteristics. These kinetics were little understood prior to these measurements.

  18. Sketch on dynamic gesture tracking and analysis exploiting vision-based 3D interface

    NASA Astrophysics Data System (ADS)

    Woo, Woontack; Kim, Namgyu; Wong, Karen; Tadenuma, Makoto

    2000-12-01

    In this paper, we propose a vision-based 3D interface exploiting invisible 3D boxes, arranged in the personal space (i.e. reachable space by the body without traveling), which allows robust yet simple dynamic gesture tracking and analysis, without exploiting complicated sensor-based motion tracking systems. Vision-based gesture tracking and analysis is still a challenging problem, even though we have witnessed rapid advances in computer vision over the last few decades. The proposed framework consists of three main parts, i.e. (1) object segmentation without bluescreen and 3D box initialization with depth information, (2) movement tracking by observing how the body passes through the 3D boxes in the personal space and (3) movement feature extraction based on Laban's Effort theory and movement analysis by mapping features to meaningful symbols using time-delay neural networks. Obviously, exploiting depth information using multiview images improves the performance of gesture analysis by reducing the errors introduced by simple 2D interfaces In addition, the proposed box-based 3D interface lessens the difficulties in both tracking movement in 3D space and in extracting low-level features of the movement. Furthermore, the time-delay neural networks lessens the difficulties in movement analysis by training. Due to its simplicity and robustness, the framework will provide interactive systems, such as ATR I-cubed Tangible Music System or ATR Interactive Dance system, with improved quality of the 3D interface. The proposed simple framework also can be extended to other applications requiring dynamic gesture tracking and analysis on the fly.

  19. Double Ring Array Catheter for In Vivo Real-Time 3D Ultrasound.

    PubMed

    Smith, Stephen W; Gardea, Paul; Patel, Vivek; Douglas, Stephen J; Wolf, Patrick D

    2014-03-12

    We developed new forward-viewing matrix transducers consisting of double ring arrays of 118 total PZT elements integrated into catheters used to deploy medical interventional devices. Our goal is 3D ultrasound guidance of medical device implantation to reduce x-ray fluoroscopy exposure. The double ring arrays were fabricated on inner and outer custom polyimide flexible circuits with inter-element spacing of 0.20 mm and then wrapped around an 11 French (Fr) catheter to produce a 15 Fr catheter (outer diameter [O.D.]). We used a braided cabling technology to connect the elements to the Volumetrics Medical Imaging (VMI) real-time 3D ultrasound scanner. Transducer performance yielded an average -6 dB fractional bandwidth of 49% ± 11% centered at 4.4 MHz for 118 elements. Real-time 3D cardiac scans of the in vivo pig model yielded good image quality including en face views of the tricuspid valve and real-time 3D guidance of an endo-myocardial biopsy catheter introduced into the left ventricle. PMID:24626564

  20. Extraction and tracking of MRI tagging sheets using a 3D Gabor filter bank.

    PubMed

    Qian, Zhen; Metaxas, Dimitris N; Axel, Leon

    2006-01-01

    In this paper, we present a novel method for automatically extracting the tagging sheets in tagged cardiac MR images, and tracking their displacement during the heart cycle, using a tunable 3D Gabor filter bank. Tagged MRI is a non-invasive technique for the study of myocardial deformation. We design the 3D Gabor filter bank based on the geometric characteristics of the tagging sheets. The tunable parameters of the Gabor filter bank are used to adapt to the myocardium deformation. The whole 3D image dataset is convolved with each Gabor filter in the filter bank, in the Fourier domain. Then we impose a set of deformable meshes onto the extracted tagging sheets and track them over time. Dynamic estimation of the filter parameters and the mesh internal smoothness are used to help the tracking. Some very encouraging results are shown.

  1. High-throughput 3D tracking of bacteria on a standard phase contrast microscope

    PubMed Central

    Taute, K.M.; Gude, S.; Tans, S.J.; Shimizu, T.S.

    2015-01-01

    Bacteria employ diverse motility patterns in traversing complex three-dimensional (3D) natural habitats. 2D microscopy misses crucial features of 3D behaviour, but the applicability of existing 3D tracking techniques is constrained by their performance or ease of use. Here we present a simple, broadly applicable, high-throughput 3D bacterial tracking method for use in standard phase contrast microscopy. Bacteria are localized at micron-scale resolution over a range of 350 × 300 × 200 μm by maximizing image cross-correlations between their observed diffraction patterns and a reference library. We demonstrate the applicability of our technique to a range of bacterial species and exploit its high throughput to expose hidden contributions of bacterial individuality to population-level variability in motile behaviour. The simplicity of this powerful new tool for bacterial motility research renders 3D tracking accessible to a wider community and paves the way for investigations of bacterial motility in complex 3D environments. PMID:26522289

  2. Improving segmentation of 3D touching cell nuclei using flow tracking on surface meshes.

    PubMed

    Li, Gang; Guo, Lei

    2012-01-01

    Automatic segmentation of touching cell nuclei in 3D microscopy images is of great importance in bioimage informatics and computational biology. This paper presents a novel method for improving 3D touching cell nuclei segmentation. Given binary touching nuclei by the method in Li et al. (2007), our method herein consists of several steps: surface mesh reconstruction and curvature information estimation; direction field diffusion on surface meshes; flow tracking on surface meshes; and projection of surface mesh segmentation to volumetric images. The method is validated on both synthesised and real 3D touching cell nuclei images, demonstrating its validity and effectiveness.

  3. Vision-Based Long-Range 3D Tracking, applied to Underground Surveying Tasks

    NASA Astrophysics Data System (ADS)

    Mossel, Annette; Gerstweiler, Georg; Vonach, Emanuel; Kaufmann, Hannes; Chmelina, Klaus

    2014-04-01

    To address the need of highly automated positioning systems in underground construction, we present a long-range 3D tracking system based on infrared optical markers. It provides continuous 3D position estimation of static or kinematic targets with low latency over a tracking volume of 12 m x 8 m x 70 m (width x height x depth). Over the entire volume, relative 3D point accuracy with a maximal deviation ≤ 22 mm is ensured with possible target rotations of yaw, pitch = 0 - 45° and roll = 0 - 360°. No preliminary sighting of target(s) is necessary since the system automatically locks onto a target without user intervention and autonomously starts tracking as soon as a target is within the view of the system. The proposed system needs a minimal hardware setup, consisting of two machine vision cameras and a standard workstation for data processing. This allows for quick installation with minimal disturbance of construction work. The data processing pipeline ensures camera calibration and tracking during on-going underground activities. Tests in real underground scenarios prove the system's capabilities to act as 3D position measurement platform for multiple underground tasks that require long range, low latency and high accuracy. Those tasks include simultaneously tracking of personnel, machines or robots.

  4. 3D target tracking in infrared imagery by SIFT-based distance histograms

    NASA Astrophysics Data System (ADS)

    Yan, Ruicheng; Cao, Zhiguo

    2011-11-01

    SIFT tracking algorithm is an excellent point-based tracking algorithm, which has high tracking performance and accuracy due to its robust capability against rotation, scale change and occlusion. However, when tracking a huge 3D target in complicated real scenarios in a forward-looking infrared (FLIR) image sequence taken from an airborne moving platform, the tracked point locating in the vertical surface usually shifts away from the correct position. In this paper, we propose a novel algorithm for 3D target tracking in FLIR image sequences. Our approach uses SIFT keypoints detected in consecutive frames for point correspondence. The candidate position of the tracked point is firstly estimated by computing the affine transformation using local corresponding SIFT keypoints. Then the correct position is located via an optimal method. Euclidean distances between a candidate point and SIFT keypoints nearby are calculated and formed into a SIFT-based distance histogram. The distance histogram is defined a cost of associating each candidate point to a correct tracked point using the constraint based on the topology of each candidate point with its surrounding SIFT keypoints. Minimization of the cost is formulated as a combinatorial optimization problem. Experiments demonstrate that the proposed algorithm efficiently improves the tracking performance and accuracy.

  5. Toward real-time endoscopically-guided robotic navigation based on a 3D virtual surgical field model

    NASA Astrophysics Data System (ADS)

    Gong, Yuanzheng; Hu, Danying; Hannaford, Blake; Seibel, Eric J.

    2015-03-01

    The challenge is to accurately guide the surgical tool within the three-dimensional (3D) surgical field for roboticallyassisted operations such as tumor margin removal from a debulked brain tumor cavity. The proposed technique is 3D image-guided surgical navigation based on matching intraoperative video frames to a 3D virtual model of the surgical field. A small laser-scanning endoscopic camera was attached to a mock minimally-invasive surgical tool that was manipulated toward a region of interest (residual tumor) within a phantom of a debulked brain tumor. Video frames from the endoscope provided features that were matched to the 3D virtual model, which were reconstructed earlier by raster scanning over the surgical field. Camera pose (position and orientation) is recovered by implementing a constrained bundle adjustment algorithm. Navigational error during the approach to fluorescence target (residual tumor) is determined by comparing the calculated camera pose to the measured camera pose using a micro-positioning stage. From these preliminary results, computation efficiency of the algorithm in MATLAB code is near real-time (2.5 sec for each estimation of pose), which can be improved by implementation in C++. Error analysis produced 3-mm distance error and 2.5 degree of orientation error on average. The sources of these errors come from 1) inaccuracy of the 3D virtual model, generated on a calibrated RAVEN robotic platform with stereo tracking; 2) inaccuracy of endoscope intrinsic parameters, such as focal length; and 3) any endoscopic image distortion from scanning irregularities. This work demonstrates feasibility of micro-camera 3D guidance of a robotic surgical tool.

  6. Medical applications of fast 3D cameras in real-time image-guided radiotherapy (IGRT) of cancer

    NASA Astrophysics Data System (ADS)

    Li, Shidong; Li, Tuotuo; Geng, Jason

    2013-03-01

    Dynamic volumetric medical imaging (4DMI) has reduced motion artifacts, increased early diagnosis of small mobile tumors, and improved target definition for treatment planning. High speed cameras for video, X-ray, or other forms of sequential imaging allow a live tracking of external or internal movement useful for real-time image-guided radiation therapy (IGRT). However, none of 4DMI can track real-time organ motion and no camera has correlated with 4DMI to show volumetric changes. With a brief review of various IGRT techniques, we propose a fast 3D camera for live-video stereovision, an automatic surface-motion identifier to classify body or respiratory motion, a mechanical model for synchronizing the external surface movement with the internal target displacement by combination use of the real-time stereovision and pre-treatment 4DMI, and dynamic multi-leaf collimation for adaptive aiming the moving target. Our preliminary results demonstrate that the technique is feasible and efficient in IGRT of mobile targets. A clinical trial has been initiated for validation of its spatial and temporal accuracies and dosimetric impact for intensity-modulated RT (IMRT), volumetric-modulated arc therapy (VMAT), and stereotactic body radiotherapy (SBRT) of any mobile tumors. The technique can be extended for surface-guided stereotactic needle insertion in biopsy of small lung nodules.

  7. Note: Time-gated 3D single quantum dot tracking with simultaneous spinning disk imaging

    SciTech Connect

    DeVore, M. S.; Stich, D. G.; Keller, A. M.; Phipps, M. E.; Hollingsworth, J. A.; Goodwin, P. M.; Werner, J. H.; Cleyrat, C.; Lidke, D. S.; Wilson, B. S.

    2015-12-15

    We describe recent upgrades to a 3D tracking microscope to include simultaneous Nipkow spinning disk imaging and time-gated single-particle tracking (SPT). Simultaneous 3D molecular tracking and spinning disk imaging enable the visualization of cellular structures and proteins around a given fluorescently labeled target molecule. The addition of photon time-gating to the SPT hardware improves signal to noise by discriminating against Raman scattering and short-lived fluorescence. In contrast to camera-based SPT, single-photon arrival times are recorded, enabling time-resolved spectroscopy (e.g., measurement of fluorescence lifetimes and photon correlations) to be performed during single molecule/particle tracking experiments.

  8. Note: Time-gated 3D single quantum dot tracking with simultaneous spinning disk imaging.

    PubMed

    DeVore, M S; Stich, D G; Keller, A M; Cleyrat, C; Phipps, M E; Hollingsworth, J A; Lidke, D S; Wilson, B S; Goodwin, P M; Werner, J H

    2015-12-01

    We describe recent upgrades to a 3D tracking microscope to include simultaneous Nipkow spinning disk imaging and time-gated single-particle tracking (SPT). Simultaneous 3D molecular tracking and spinning disk imaging enable the visualization of cellular structures and proteins around a given fluorescently labeled target molecule. The addition of photon time-gating to the SPT hardware improves signal to noise by discriminating against Raman scattering and short-lived fluorescence. In contrast to camera-based SPT, single-photon arrival times are recorded, enabling time-resolved spectroscopy (e.g., measurement of fluorescence lifetimes and photon correlations) to be performed during single molecule/particle tracking experiments.

  9. Real-time 3D surface-image-guided beam setup in radiotherapy of breast cancer

    SciTech Connect

    Djajaputra, David; Li Shidong

    2005-01-01

    We describe an approach for external beam radiotherapy of breast cancer that utilizes the three-dimensional (3D) surface information of the breast. The surface data of the breast are obtained from a 3D optical camera that is rigidly mounted on the ceiling of the treatment vault. This 3D camera utilizes light in the visible range therefore it introduces no ionization radiation to the patient. In addition to the surface topographical information of the treated area, the camera also captures gray-scale information that is overlaid on the 3D surface image. This allows us to visualize the skin markers and automatically determine the isocenter position and the beam angles in the breast tangential fields. The field sizes and shapes of the tangential, supraclavicular, and internal mammary gland fields can all be determined according to the 3D surface image of the target. A least-squares method is first introduced for the tangential-field setup that is useful for compensation of the target shape changes. The entire process of capturing the 3D surface data and subsequent calculation of beam parameters typically requires less than 1 min. Our tests on phantom experiments and patient images have achieved the accuracy of 1 mm in shift and 0.5 deg. in rotation. Importantly, the target shape and position changes in each treatment session can both be corrected through this real-time image-guided system.

  10. Integration of GPR and Laser Position Sensors for Real-Time 3D Data Fusion

    NASA Astrophysics Data System (ADS)

    Grasmueck, M.; Viggiano, D.

    2005-05-01

    Non-invasive 3D imaging visualizes anatomy and contents inside objects. Such tools are a commodity for medical doctors diagnosing a patient's health without scalpel and airport security staff inspecting the contents of baggage without opening. For geologists, hydrologists, archeologists and engineers wanting to see inside the shallow subsurface, such 3D tools are still a rarity. Theory and practice show that full-resolution 3D Ground Penetrating Radar (GPR) imaging requires unaliased recording of dipping reflections and diffractions. For a heterogeneous subsurface, minimum grid spacing of GPR measurements should be at least quarter wavelength or less in all directions. Consequently, positioning precision needs to be better than eighth wavelength for correct grid point assignment. Until now 3D GPR imaging has not been practical: data acquisition and processing took weeks to months, data analysis required geophysical training with no versatile 3D systems commercially available. We have integrated novel rotary laser positioning technology with GPR into a highly efficient and simple to use 3D imaging system. The laser positioning enables acquisition of centimeter accurate x, y, and z coordinates from multiple small detectors attached to moving GPR antennae. Positions streaming with 20 updates/second from each detector are fused in real-time with the GPR data. We developed software for automated data acquisition and real-time 3D GPR data quality control on slices at selected depths. Standard formatted (SEGY) data cubes and animations are generated within an hour after the last trace has been acquired. Examples can be seen at www.3dgpr.info. Such instant 3D GPR can be used as an on-site imaging tool supporting field work, hypothesis testing, and optimal sample collection. Rotary laser positioning has the flexibility to be integrated with multiple moving GPR antennae and other geophysical sensors enabling simple and efficient high resolution 3D data acquisition at

  11. 3D real-time measurement system of seam with laser

    NASA Astrophysics Data System (ADS)

    Huang, Min-shuang; Huang, Jun-fen

    2014-02-01

    3-D Real-time Measurement System of seam outline based on Moiré Projection is proposed and designed. The system is composed of LD, grating, CCD, video A/D, FPGA, DSP and an output interface. The principle and hardware makeup of high-speed and real-time image processing circuit based on a Digital Signal Processor (DSP) and a Field Programmable Gate Array (FPGA) are introduced. Noise generation mechanism in poor welding field conditions is analyzed when Moiré stripes are projected on a welding workpiece surface. Median filter is adopted to smooth the acquired original laser image of seam, and then measurement results of a 3-D outline image of weld groove are provided.

  12. Real-Time Modeling and 3D Visualization of Source Dynamics and Connectivity Using Wearable EEG

    PubMed Central

    Mullen, Tim; Kothe, Christian; Chi, Yu Mike; Ojeda, Alejandro; Kerth, Trevor; Makeig, Scott; Cauwenberghs, Gert; Jung, Tzyy-Ping

    2014-01-01

    This report summarizes our recent efforts to deliver real-time data extraction, preprocessing, artifact rejection, source reconstruction, multivariate dynamical system analysis (including spectral Granger causality) and 3D visualization as well as classification within the open-source SIFT and BCILAB toolboxes. We report the application of such a pipeline to simulated data and real EEG data obtained from a novel wearable high-density (64-channel) dry EEG system. PMID:24110155

  13. Feasibility of real-time 3D echocardiography in weightlessness during parabolic flight.

    PubMed

    Caiani, E G; Sugeng, L; Weinert, L; Husson, S; Bailliart, O; Capderou, A; Lang, R M; Vaida, P

    2004-07-01

    Aim of the study was to test the feasibility of transthoracic real-time 3D (Philips) echocardiography (RT3D) during parabolic flight, to allow direct measurement of heart chambers volumes modifications during the parabola. One RT3D dataset corresponding to one cardiac cycle was acquired at each gravity phase (1 Gz, 1.8 Gz, 0 Gz, 1.8 Gz) during breath-hold in 8 unmedicated normal subjects (41 +/- 8 years old) in standing upright position. Preliminary results, obtained by semi-automatically tracing left ventricular (LV) and left atrial (LA) endocardial contours in multiple views (Tomtec), showed a significant (p<0.05) reduction, compared to 1 Gz, of LV and LA volumes with 1.8 Gz, and a significant increase with 0 Gz. Further analysis will focus on the right heart.

  14. Dynamic tracking of a deformable tissue based on 3D-2D MR-US image registration

    NASA Astrophysics Data System (ADS)

    Marami, Bahram; Sirouspour, Shahin; Fenster, Aaron; Capson, David W.

    2014-03-01

    Real-time registration of pre-operative magnetic resonance (MR) or computed tomography (CT) images with intra-operative Ultrasound (US) images can be a valuable tool in image-guided therapies and interventions. This paper presents an automatic method for dynamically tracking the deformation of a soft tissue based on registering pre-operative three-dimensional (3D) MR images to intra-operative two-dimensional (2D) US images. The registration algorithm is based on concepts in state estimation where a dynamic finite element (FE)- based linear elastic deformation model correlates the imaging data in the spatial and temporal domains. A Kalman-like filtering process estimates the unknown deformation states of the soft tissue using the deformation model and a measure of error between the predicted and the observed intra-operative imaging data. The error is computed based on an intensity-based distance metric, namely, modality independent neighborhood descriptor (MIND), and no segmentation or feature extraction from images is required. The performance of the proposed method is evaluated by dynamically deforming 3D pre-operative MR images of a breast phantom tissue based on real-time 2D images obtained from an US probe. Experimental results on different registration scenarios showed that deformation tracking converges in a few iterations. The average target registration error on the plane of 2D US images for manually selected fiducial points was between 0.3 and 1.5 mm depending on the size of deformation.

  15. 3D-Pathology: a real-time system for quantitative diagnostic pathology and visualisation in 3D

    NASA Astrophysics Data System (ADS)

    Gottrup, Christian; Beckett, Mark G.; Hager, Henrik; Locht, Peter

    2005-02-01

    This paper presents the results of the 3D-Pathology project conducted under the European EC Framework 5. The aim of the project was, through the application of 3D image reconstruction and visualization techniques, to improve the diagnostic and prognostic capabilities of medical personnel when analyzing pathological specimens using transmitted light microscopy. A fully automated, computer-controlled microscope system has been developed to capture 3D images of specimen content. 3D image reconstruction algorithms have been implemented and applied to the acquired volume data in order to facilitate the subsequent 3D visualization of the specimen. Three potential application fields, immunohistology, cromogenic in situ hybridization (CISH) and cytology, have been tested using the prototype system. For both immunohistology and CISH, use of the system furnished significant additional information to the pathologist.

  16. Real-Time 3d Reconstruction from Images Taken from AN Uav

    NASA Astrophysics Data System (ADS)

    Zingoni, A.; Diani, M.; Corsini, G.; Masini, A.

    2015-08-01

    We designed a method for creating 3D models of objects and areas from two aerial images acquired from an UAV. The models are generated automatically and in real-time, and consist in dense and true-colour reconstructions of the considered areas, which give the impression to the operator to be physically present within the scene. The proposed method only needs a cheap compact camera, mounted on a small UAV. No additional instrumentation is necessary, so that the costs are very limited. The method consists of two main parts: the design of the acquisition system and the 3D reconstruction algorithm. In the first part, the choices for the acquisition geometry and for the camera parameters are optimized, in order to yield the best performance. In the second part, a reconstruction algorithm extracts the 3D model from the two acquired images, maximizing the accuracy under the real-time constraint. A test was performed in monitoring a construction yard, obtaining very promising results. Highly realistic and easy-to-interpret 3D models of objects and areas of interest were produced in less than one second, with an accuracy of about 0.5m. For its characteristics, the designed method is suitable for video-surveillance, remote sensing and monitoring, especially in those applications that require intuitive and reliable information quickly, as disasters monitoring, search and rescue and area surveillance.

  17. Moving Human Path Tracking Based on Video Surveillance in 3d Indoor Scenarios

    NASA Astrophysics Data System (ADS)

    Zhou, Yan; Zlatanova, Sisi; Wang, Zhe; Zhang, Yeting; Liu, Liu

    2016-06-01

    Video surveillance systems are increasingly used for a variety of 3D indoor applications. We can analyse human behaviour, discover and avoid crowded areas, monitor human traffic and so forth. In this paper we concentrate on use of surveillance cameras to track and reconstruct the path a person has followed. For the purpose we integrated video surveillance data with a 3D indoor model of the building and develop a single human moving path tracking method. We process the surveillance videos to detected single human moving traces; then we match the depth information of 3D scenes to the constructed 3D indoor network model and define the human traces in the 3D indoor space. Finally, the single human traces extracted from multiple cameras are connected with the help of the connectivity provided by the 3D network model. Using this approach, we can reconstruct the entire walking path. The provided experiments with a single person have verified the effectiveness and robustness of the method.

  18. 3D single molecule tracking in thick cellular specimens using multifocal plane microscopy

    NASA Astrophysics Data System (ADS)

    Ram, Sripad; Ward, E. Sally; Ober, Raimund J.

    2011-03-01

    One of the major challenges in single molecule microscopy concerns 3D tracking of single molecules in cellular specimens. This has been a major impediment to study many fundamental cellular processes, such as protein transport across thick cellular specimens (e.g. a cell-monolayer). Here we show that multifocal plane microscopy (MUM), an imaging modality developed by our group, provides the much needed solution to this longstanding problem. While MUM was previously used for 3D single molecule tracking at shallow depths (~ 1 micron) in live-cells, the question arises if MUM can also live up to the significant challenge of tracking single molecules in thick samples. Here by substantially expanding the capabilities of MUM, we demonstrate 3D tracking of quantum-dot labeled molecules in a ~ 10 micron thick cell monolayer. In this way we have reconstructed the complete 3D intracellular trafficking itinerary of single molecules at high spatial and temporal precision in a thick cell-sample. Funding support: NIH and the National MS Society.

  19. Mesoscopic in vivo 3-D tracking of sparse cell populations using angular multiplexed optical projection tomography

    PubMed Central

    Chen, Lingling; Alexandrov, Yuriy; Kumar, Sunil; Andrews, Natalie; Dallman, Margaret J.; French, Paul M. W.; McGinty, James

    2015-01-01

    We describe an angular multiplexed imaging technique for 3-D in vivo cell tracking of sparse cell distributions and optical projection tomography (OPT) with superior time-lapse resolution and a significantly reduced light dose compared to volumetric time-lapse techniques. We demonstrate that using dual axis OPT, where two images are acquired simultaneously at different projection angles, can enable localization and tracking of features in 3-D with a time resolution equal to the camera frame rate. This is achieved with a 200x reduction in light dose compared to an equivalent volumetric time-lapse single camera OPT acquisition with 200 projection angles. We demonstrate the application of this technique to mapping the 3-D neutrophil migration pattern observed over ~25.5 minutes in a live 2 day post-fertilisation transgenic LysC:GFP zebrafish embryo following a tail wound. PMID:25909009

  20. Surveillance, detection, and 3D infrared tracking of bullets, rockets, mortars, and artillery

    NASA Astrophysics Data System (ADS)

    Leslie, Daniel H.; Hyman, Howard; Moore, Fritz; Squire, Mark D.

    2001-09-01

    We describe test results using the FIRST (Fast InfraRed Sniper Tracker) to detect, track, and range to bullets in flight for determining the location of the bullet launch point. The technology developed for the FIRST system can be used to provide detection and accurate 3D track data for other small threat objects including rockets, mortars, and artillery in addition to bullets. We discuss the radiometry and detection range for these objects, and discuss the trade-offs involved in design of the very fast optical system for acquisition, tracking, and ranging of these targets.

  1. Real-time volume rendering of 4D image using 3D texture mapping

    NASA Astrophysics Data System (ADS)

    Hwang, Jinwoo; Kim, June-Sic; Kim, Jae Seok; Kim, In Young; Kim, Sun Il

    2001-05-01

    Four dimensional image is 3D volume data that varies with time. It is used to express deforming or moving object in virtual surgery of 4D ultrasound. It is difficult to render 4D image by conventional ray-casting or shear-warp factorization methods because of their time-consuming rendering time or pre-processing stage whenever the volume data are changed. Even 3D texture mapping is used, repeated volume loading is also time-consuming in 4D image rendering. In this study, we propose a method to reduce data loading time using coherence between currently loaded volume and previously loaded volume in order to achieve real time rendering based on 3D texture mapping. Volume data are divided into small bricks and each brick being loaded is tested for similarity to one which was already loaded in memory. If the brick passed the test, it is defined as 3D texture by OpenGL functions. Later, the texture slices of the brick are mapped into polygons and blended by OpenGL blending functions. All bricks undergo this test. Continuously deforming fifty volumes are rendered in interactive time with SGI ONYX. Real-time volume rendering based on 3D texture mapping is currently available on PC.

  2. Incremental learning of 3D-DCT compact representations for robust visual tracking.

    PubMed

    Li, Xi; Dick, Anthony; Shen, Chunhua; van den Hengel, Anton; Wang, Hanzi

    2013-04-01

    Visual tracking usually requires an object appearance model that is robust to changing illumination, pose, and other factors encountered in video. Many recent trackers utilize appearance samples in previous frames to form the bases upon which the object appearance model is built. This approach has the following limitations: 1) The bases are data driven, so they can be easily corrupted, and 2) it is difficult to robustly update the bases in challenging situations. In this paper, we construct an appearance model using the 3D discrete cosine transform (3D-DCT). The 3D-DCT is based on a set of cosine basis functions which are determined by the dimensions of the 3D signal and thus independent of the input video data. In addition, the 3D-DCT can generate a compact energy spectrum whose high-frequency coefficients are sparse if the appearance samples are similar. By discarding these high-frequency coefficients, we simultaneously obtain a compact 3D-DCT-based object representation and a signal reconstruction-based similarity measure (reflecting the information loss from signal reconstruction). To efficiently update the object representation, we propose an incremental 3D-DCT algorithm which decomposes the 3D-DCT into successive operations of the 2D discrete cosine transform (2D-DCT) and 1D discrete cosine transform (1D-DCT) on the input video data. As a result, the incremental 3D-DCT algorithm only needs to compute the 2D-DCT for newly added frames as well as the 1D-DCT along the third dimension, which significantly reduces the computational complexity. Based on this incremental 3D-DCT algorithm, we design a discriminative criterion to evaluate the likelihood of a test sample belonging to the foreground object. We then embed the discriminative criterion into a particle filtering framework for object state inference over time. Experimental results demonstrate the effectiveness and robustness of the proposed tracker.

  3. Real-Time Large Scale 3d Reconstruction by Fusing Kinect and Imu Data

    NASA Astrophysics Data System (ADS)

    Huai, J.; Zhang, Y.; Yilmaz, A.

    2015-08-01

    Kinect-style RGB-D cameras have been used to build large scale dense 3D maps for indoor environments. These maps can serve many purposes such as robot navigation, and augmented reality. However, to generate dense 3D maps of large scale environments is still very challenging. In this paper, we present a mapping system for 3D reconstruction that fuses measurements from a Kinect and an inertial measurement unit (IMU) to estimate motion. Our major achievements include: (i) Large scale consistent 3D reconstruction is realized by volume shifting and loop closure; (ii) The coarse-to-fine iterative closest point (ICP) algorithm, the SIFT odometry, and IMU odometry are combined to robustly and precisely estimate pose. In particular, ICP runs routinely to track the Kinect motion. If ICP fails in planar areas, the SIFT odometry provides incremental motion estimate. If both ICP and the SIFT odometry fail, e.g., upon abrupt motion or inadequate features, the incremental motion is estimated by the IMU. Additionally, the IMU also observes the roll and pitch angles which can reduce long-term drift of the sensor assembly. In experiments on a consumer laptop, our system estimates motion at 8Hz on average while integrating color images to the local map and saving volumes of meshes concurrently. Moreover, it is immune to tracking failures, and has smaller drift than the state-of-the-art systems in large scale reconstruction.

  4. 3D model-based detection and tracking for space autonomous and uncooperative rendezvous

    NASA Astrophysics Data System (ADS)

    Shang, Yang; Zhang, Yueqiang; Liu, Haibo

    2015-10-01

    In order to fully navigate using a vision sensor, a 3D edge model based detection and tracking technique was developed. Firstly, we proposed a target detection strategy over a sequence of several images from the 3D model to initialize the tracking. The overall purpose of such approach is to robustly match each image with the model views of the target. Thus we designed a line segment detection and matching method based on the multi-scale space technology. Experiments on real images showed that our method is highly robust under various image changes. Secondly, we proposed a method based on 3D particle filter (PF) coupled with M-estimation to track and estimate the pose of the target efficiently. In the proposed approach, a similarity observation model was designed according to a new distance function of line segments. Then, based on the tracking results of PF, the pose was optimized using M-estimation. Experiments indicated that the proposed method can effectively track and accurately estimate the pose of freely moving target in unconstrained environment.

  5. A volumetric sensor for real-time 3D mapping and robot navigation

    NASA Astrophysics Data System (ADS)

    Fournier, Jonathan; Ricard, Benoit; Laurendeau, Denis

    2006-05-01

    The use of robots for (semi-) autonomous operations in complex terrains such as urban environments poses difficult mobility, mapping, and perception challenges. To be able to work efficiently, a robot should be provided with sensors and software such that it can perceive and analyze the world in 3D. Real-time 3D sensing and perception in this operational context are paramount. To address these challenges, DRDC Valcartier has developed over the past years a compact sensor that combines a wide baseline stereo camera and a laser scanner with a full 360 degree azimuth and 55 degree elevation field of view allowing the robot to view and manage overhang obstacles as well as obstacles at ground level. Sensing in 3D is common but to efficiently navigate and work in complex terrain, the robot should also perceive, decide and act in three dimensions. Therefore, 3D information should be preserved and exploited in all steps of the process. To achieve this, we use a multiresolution octree to store the acquired data, allowing mapping of large environments while keeping the representation compact and memory efficient. Ray tracing is used to build and update the 3D occupancy model. This model is used, via a temporary 2.5D map, for navigation, obstacle avoidance and efficient frontier-based exploration. This paper describes the volumetric sensor concept, describes its design features and presents an overview of the 3D software framework that allows 3D information persistency through all computation steps. Simulation and real-world experiments are presented at the end of the paper to demonstrate the key elements of our approach.

  6. Extracting, Tracking, and Visualizing Magnetic Flux Vortices in 3D Complex-Valued Superconductor Simulation Data.

    PubMed

    Guo, Hanqi; Phillips, Carolyn L; Peterka, Tom; Karpeyev, Dmitry; Glatz, Andreas

    2016-01-01

    We propose a method for the vortex extraction and tracking of superconducting magnetic flux vortices for both structured and unstructured mesh data. In the Ginzburg-Landau theory, magnetic flux vortices are well-defined features in a complex-valued order parameter field, and their dynamics determine electromagnetic properties in type-II superconductors. Our method represents each vortex line (a 1D curve embedded in 3D space) as a connected graph extracted from the discretized field in both space and time. For a time-varying discrete dataset, our vortex extraction and tracking method is as accurate as the data discretization. We then apply 3D visualization and 2D event diagrams to the extraction and tracking results to help scientists understand vortex dynamics and macroscale superconductor behavior in greater detail than previously possible.

  7. Eye Tracking to Explore the Impacts of Photorealistic 3d Representations in Pedstrian Navigation Performance

    NASA Astrophysics Data System (ADS)

    Dong, Weihua; Liao, Hua

    2016-06-01

    Despite the now-ubiquitous two-dimensional (2D) maps, photorealistic three-dimensional (3D) representations of cities (e.g., Google Earth) have gained much attention by scientists and public users as another option. However, there is no consistent evidence on the influences of 3D photorealism on pedestrian navigation. Whether 3D photorealism can communicate cartographic information for navigation with higher effectiveness and efficiency and lower cognitive workload compared to the traditional symbolic 2D maps remains unknown. This study aims to explore whether the photorealistic 3D representation can facilitate processes of map reading and navigation in digital environments using a lab-based eye tracking approach. Here we show the differences of symbolic 2D maps versus photorealistic 3D representations depending on users' eye-movement and navigation behaviour data. We found that the participants using the 3D representation were less effective, less efficient and were required higher cognitive workload than using the 2D map for map reading. However, participants using the 3D representation performed more efficiently in self-localization and orientation at the complex decision points. The empirical results can be helpful to improve the usability of pedestrian navigation maps in future designs.

  8. Label free cell tracking in 3D tissue engineering constructs with high resolution imaging

    NASA Astrophysics Data System (ADS)

    Smith, W. A.; Lam, K.-P.; Dempsey, K. P.; Mazzocchi-Jones, D.; Richardson, J. B.; Yang, Y.

    2014-02-01

    Within the field of tissue engineering there is an emphasis on studying 3-D live tissue structures. Consequently, to investigate and identify cellular activities and phenotypes in a 3-D environment for all in vitro experiments, including shape, migration/proliferation and axon projection, it is necessary to adopt an optical imaging system that enables monitoring 3-D cellular activities and morphology through the thickness of the construct for an extended culture period without cell labeling. This paper describes a new 3-D tracking algorithm developed for Cell-IQ®, an automated cell imaging platform, which has been equipped with an environmental chamber optimized to enable capturing time-lapse sequences of live cell images over a long-term period without cell labeling. As an integral part of the algorithm, a novel auto-focusing procedure was developed for phase contrast microscopy equipped with 20x and 40x objectives, to provide a more accurate estimation of cell growth/trajectories by allowing 3-D voxels to be computed at high spatiotemporal resolution and cell density. A pilot study was carried out in a phantom system consisting of horizontally aligned nanofiber layers (with precise spacing between them), to mimic features well exemplified in cellular activities of neuronal growth in a 3-D environment. This was followed by detailed investigations concerning axonal projections and dendritic circuitry formation in a 3-D tissue engineering construct. Preliminary work on primary animal neuronal cells in response to chemoattractant and topographic cue within the scaffolds has produced encouraging results.

  9. Fast, automatic, and accurate catheter reconstruction in HDR brachytherapy using an electromagnetic 3D tracking system

    SciTech Connect

    Poulin, Eric; Racine, Emmanuel; Beaulieu, Luc; Binnekamp, Dirk

    2015-03-15

    Purpose: In high dose rate brachytherapy (HDR-B), current catheter reconstruction protocols are relatively slow and error prone. The purpose of this technical note is to evaluate the accuracy and the robustness of an electromagnetic (EM) tracking system for automated and real-time catheter reconstruction. Methods: For this preclinical study, a total of ten catheters were inserted in gelatin phantoms with different trajectories. Catheters were reconstructed using a 18G biopsy needle, used as an EM stylet and equipped with a miniaturized sensor, and the second generation Aurora{sup ®} Planar Field Generator from Northern Digital Inc. The Aurora EM system provides position and orientation value with precisions of 0.7 mm and 0.2°, respectively. Phantoms were also scanned using a μCT (GE Healthcare) and Philips Big Bore clinical computed tomography (CT) system with a spatial resolution of 89 μm and 2 mm, respectively. Reconstructions using the EM stylet were compared to μCT and CT. To assess the robustness of the EM reconstruction, five catheters were reconstructed twice and compared. Results: Reconstruction time for one catheter was 10 s, leading to a total reconstruction time inferior to 3 min for a typical 17-catheter implant. When compared to the μCT, the mean EM tip identification error was 0.69 ± 0.29 mm while the CT error was 1.08 ± 0.67 mm. The mean 3D distance error was found to be 0.66 ± 0.33 mm and 1.08 ± 0.72 mm for the EM and CT, respectively. EM 3D catheter trajectories were found to be more accurate. A maximum difference of less than 0.6 mm was found between successive EM reconstructions. Conclusions: The EM reconstruction was found to be more accurate and precise than the conventional methods used for catheter reconstruction in HDR-B. This approach can be applied to any type of catheters and applicators.

  10. Towards robust 3D visual tracking for motion compensation in beating heart surgery.

    PubMed

    Richa, Rogério; Bó, Antônio P L; Poignet, Philippe

    2011-06-01

    In the context of minimally invasive cardiac surgery, active vision-based motion compensation schemes have been proposed for mitigating problems related to physiological motion. However, robust and accurate visual tracking remains a difficult task. The purpose of this paper is to present a robust visual tracking method that estimates the 3D temporal and spatial deformation of the heart surface using stereo endoscopic images. The novelty is the combination of a visual tracking method based on a Thin-Plate Spline (TPS) model for representing the heart surface deformations with a temporal heart motion model based on a time-varying dual Fourier series for overcoming tracking disturbances or failures. The considerable improvements in tracking robustness facing specular reflections and occlusions are demonstrated through experiments using images of in vivo porcine and human beating hearts.

  11. PEPT: An invaluable tool for 3-D particle tracking and CFD simulation verification in hydrocyclone studies

    NASA Astrophysics Data System (ADS)

    Chang, Yu-Fen; Adamsen, Tom C. H.; Pisarev, Gleb I.; Hoffmann, Alex C.

    2013-05-01

    Particle tracks in a hydrocyclone generated both experimentally by positron emission particle tracking (PEPT) and numerically with Eulerian-Lagranian CFD have been studied and compared. A hydrocyclone with a cylinder-on-cone design was used in this study, the geometries used in the CFD simulations and in the experiments being identical. It is shown that it is possible to track a fast-moving particle in a hydrocyclone using PEPT with high temporal and spatial resolutions. The numerical 3-D particle trajectories were generated using the Large Eddy Simulation (LES) turbulence model for the fluid and Lagrangian particle tracking for the particles. The behaviors of the particles were analyzed in detail and were found to be consistent between experiments and CFD simulations. The tracks of the particles are discussed and related to the fluid flow field visualized in the CFD simulations using the cross-sectional static pressure distribution.

  12. Towards robust 3D visual tracking for motion compensation in beating heart surgery.

    PubMed

    Richa, Rogério; Bó, Antônio P L; Poignet, Philippe

    2011-06-01

    In the context of minimally invasive cardiac surgery, active vision-based motion compensation schemes have been proposed for mitigating problems related to physiological motion. However, robust and accurate visual tracking remains a difficult task. The purpose of this paper is to present a robust visual tracking method that estimates the 3D temporal and spatial deformation of the heart surface using stereo endoscopic images. The novelty is the combination of a visual tracking method based on a Thin-Plate Spline (TPS) model for representing the heart surface deformations with a temporal heart motion model based on a time-varying dual Fourier series for overcoming tracking disturbances or failures. The considerable improvements in tracking robustness facing specular reflections and occlusions are demonstrated through experiments using images of in vivo porcine and human beating hearts. PMID:21277821

  13. Real-Time Analysis of Endogenous Wnt Signalling in 3D Mesenchymal Stromal Cells.

    PubMed

    Saleh, Fatima; Carstairs, Alice; Etheridge, S Leah; Genever, Paul

    2016-01-01

    Wnt signalling has been implicated in the regulation of stem cell self-renewal and differentiation; however, the majority of in vitro studies are carried out using monolayer 2D culture techniques. Here, we used mesenchymal stromal cell (MSC) EGFP reporter lines responsive to Wnt pathway activation in a 3D spheroid culture system to mimic better the in vivo environment. Endogenous Wnt signalling was then investigated under basal conditions and when MSCs were induced to undergo osteogenic and adipogenic differentiation. Interestingly, endogenous Wnt signalling was only active during 3D differentiation whereas 2D cultures showed no EGFP expression throughout an extended differentiation time-course. Furthermore, exogenous Wnt signalling in 3D adipogenic conditions inhibited differentiation compared to unstimulated controls. In addition, suppressing Wnt signalling by Dkk-1 restored and facilitated adipogenic differentiation in MSC spheroids. Our findings indicate that endogenous Wnt signalling is active and can be tracked in 3D MSC cultures where it may act as a molecular switch in adipogenesis. The identification of the signalling pathways that regulate MSCs in a 3D in vivo-like environment will advance our understanding of the molecular mechanisms that control MSC fate. PMID:27668000

  14. Real-Time Analysis of Endogenous Wnt Signalling in 3D Mesenchymal Stromal Cells

    PubMed Central

    Saleh, Fatima; Etheridge, S. Leah

    2016-01-01

    Wnt signalling has been implicated in the regulation of stem cell self-renewal and differentiation; however, the majority of in vitro studies are carried out using monolayer 2D culture techniques. Here, we used mesenchymal stromal cell (MSC) EGFP reporter lines responsive to Wnt pathway activation in a 3D spheroid culture system to mimic better the in vivo environment. Endogenous Wnt signalling was then investigated under basal conditions and when MSCs were induced to undergo osteogenic and adipogenic differentiation. Interestingly, endogenous Wnt signalling was only active during 3D differentiation whereas 2D cultures showed no EGFP expression throughout an extended differentiation time-course. Furthermore, exogenous Wnt signalling in 3D adipogenic conditions inhibited differentiation compared to unstimulated controls. In addition, suppressing Wnt signalling by Dkk-1 restored and facilitated adipogenic differentiation in MSC spheroids. Our findings indicate that endogenous Wnt signalling is active and can be tracked in 3D MSC cultures where it may act as a molecular switch in adipogenesis. The identification of the signalling pathways that regulate MSCs in a 3D in vivo-like environment will advance our understanding of the molecular mechanisms that control MSC fate. PMID:27668000

  15. Real-Time Analysis of Endogenous Wnt Signalling in 3D Mesenchymal Stromal Cells

    PubMed Central

    Saleh, Fatima; Etheridge, S. Leah

    2016-01-01

    Wnt signalling has been implicated in the regulation of stem cell self-renewal and differentiation; however, the majority of in vitro studies are carried out using monolayer 2D culture techniques. Here, we used mesenchymal stromal cell (MSC) EGFP reporter lines responsive to Wnt pathway activation in a 3D spheroid culture system to mimic better the in vivo environment. Endogenous Wnt signalling was then investigated under basal conditions and when MSCs were induced to undergo osteogenic and adipogenic differentiation. Interestingly, endogenous Wnt signalling was only active during 3D differentiation whereas 2D cultures showed no EGFP expression throughout an extended differentiation time-course. Furthermore, exogenous Wnt signalling in 3D adipogenic conditions inhibited differentiation compared to unstimulated controls. In addition, suppressing Wnt signalling by Dkk-1 restored and facilitated adipogenic differentiation in MSC spheroids. Our findings indicate that endogenous Wnt signalling is active and can be tracked in 3D MSC cultures where it may act as a molecular switch in adipogenesis. The identification of the signalling pathways that regulate MSCs in a 3D in vivo-like environment will advance our understanding of the molecular mechanisms that control MSC fate.

  16. Fusing inertial sensor data in an extended Kalman filter for 3D camera tracking.

    PubMed

    Erdem, Arif Tanju; Ercan, Ali Özer

    2015-02-01

    In a setup where camera measurements are used to estimate 3D egomotion in an extended Kalman filter (EKF) framework, it is well-known that inertial sensors (i.e., accelerometers and gyroscopes) are especially useful when the camera undergoes fast motion. Inertial sensor data can be fused at the EKF with the camera measurements in either the correction stage (as measurement inputs) or the prediction stage (as control inputs). In general, only one type of inertial sensor is employed in the EKF in the literature, or when both are employed they are both fused in the same stage. In this paper, we provide an extensive performance comparison of every possible combination of fusing accelerometer and gyroscope data as control or measurement inputs using the same data set collected at different motion speeds. In particular, we compare the performances of different approaches based on 3D pose errors, in addition to camera reprojection errors commonly found in the literature, which provides further insight into the strengths and weaknesses of different approaches. We show using both simulated and real data that it is always better to fuse both sensors in the measurement stage and that in particular, accelerometer helps more with the 3D position tracking accuracy, whereas gyroscope helps more with the 3D orientation tracking accuracy. We also propose a simulated data generation method, which is beneficial for the design and validation of tracking algorithms involving both camera and inertial measurement unit measurements in general.

  17. Alignment of 3D Building Models and TIR Video Sequences with Line Tracking

    NASA Astrophysics Data System (ADS)

    Iwaszczuk, D.; Stilla, U.

    2014-11-01

    Thermal infrared imagery of urban areas became interesting for urban climate investigations and thermal building inspections. Using a flying platform such as UAV or a helicopter for the acquisition and combining the thermal data with the 3D building models via texturing delivers a valuable groundwork for large-area building inspections. However, such thermal textures are useful for further analysis if they are geometrically correctly extracted. This can be achieved with a good coregistrations between the 3D building models and thermal images, which cannot be achieved by direct georeferencing. Hence, this paper presents methodology for alignment of 3D building models and oblique TIR image sequences taken from a flying platform. In a single image line correspondences between model edges and image line segments are found using accumulator approach and based on these correspondences an optimal camera pose is calculated to ensure the best match between the projected model and the image structures. Among the sequence the linear features are tracked based on visibility prediction. The results of the proposed methodology are presented using a TIR image sequence taken from helicopter in a densely built-up urban area. The novelty of this work is given by employing the uncertainty of the 3D building models and by innovative tracking strategy based on a priori knowledge from the 3D building model and the visibility checking.

  18. Development of a Wireless and Near Real-Time 3D Ultrasound Strain Imaging System.

    PubMed

    Chen, Zhaohong; Chen, Yongdong; Huang, Qinghua

    2016-04-01

    Ultrasound elastography is an important medical imaging tool for characterization of lesions. In this paper, we present a wireless and near real-time 3D ultrasound strain imaging system. It uses a 3D translating device to control a commercial linear ultrasound transducer to collect pre-compression and post-compression radio-frequency (RF) echo signal frames. The RF frames are wirelessly transferred to a high-performance server via a local area network (LAN). A dynamic programming strain estimation algorithm is implemented with the compute unified device architecture (CUDA) on the graphic processing unit (GPU) in the server to calculate the strain image after receiving a pre-compression RF frame and a post-compression RF frame at the same position. Each strain image is inserted into a strain volume which can be rendered in near real-time. We take full advantage of the translating device to precisely control the probe movement and compression. The GPU-based parallel computing techniques are designed to reduce the computation time. Phantom and in vivo experimental results demonstrate that our system can generate strain volumes with good quality and display an incrementally reconstructed volume image in near real-time. PMID:26954841

  19. 3D Data Mapping and Real-Time Experiment Control and Visualization in Brain Slices.

    PubMed

    Navarro, Marco A; Hibbard, Jaime V K; Miller, Michael E; Nivin, Tyler W; Milescu, Lorin S

    2015-10-20

    Here, we propose two basic concepts that can streamline electrophysiology and imaging experiments in brain slices and enhance data collection and analysis. The first idea is to interface the experiment with a software environment that provides a 3D scene viewer in which the experimental rig, the brain slice, and the recorded data are represented to scale. Within the 3D scene viewer, the user can visualize a live image of the sample and 3D renderings of the recording electrodes with real-time position feedback. Furthermore, the user can control the instruments and visualize their status in real time. The second idea is to integrate multiple types of experimental data into a spatial and temporal map of the brain slice. These data may include low-magnification maps of the entire brain slice, for spatial context, or any other type of high-resolution structural and functional image, together with time-resolved electrical and optical signals. The entire data collection can be visualized within the 3D scene viewer. These concepts can be applied to any other type of experiment in which high-resolution data are recorded within a larger sample at different spatial and temporal coordinates.

  20. Real-time 3D human pose recognition from reconstructed volume via voxel classifiers

    NASA Astrophysics Data System (ADS)

    Yoo, ByungIn; Choi, Changkyu; Han, Jae-Joon; Lee, Changkyo; Kim, Wonjun; Suh, Sungjoo; Park, Dusik; Kim, Junmo

    2014-03-01

    This paper presents a human pose recognition method which simultaneously reconstructs a human volume based on ensemble of voxel classifiers from a single depth image in real-time. The human pose recognition is a difficult task since a single depth camera can capture only visible surfaces of a human body. In order to recognize invisible (self-occluded) surfaces of a human body, the proposed algorithm employs voxel classifiers trained with multi-layered synthetic voxels. Specifically, ray-casting onto a volumetric human model generates a synthetic voxel, where voxel consists of a 3D position and ID corresponding to the body part. The synthesized volumetric data which contain both visible and invisible body voxels are utilized to train the voxel classifiers. As a result, the voxel classifiers not only identify the visible voxels but also reconstruct the 3D positions and the IDs of the invisible voxels. The experimental results show improved performance on estimating the human poses due to the capability of inferring the invisible human body voxels. It is expected that the proposed algorithm can be applied to many fields such as telepresence, gaming, virtual fitting, wellness business, and real 3D contents control on real 3D displays.

  1. Display of real-time 3D sensor data in a DVE system

    NASA Astrophysics Data System (ADS)

    Völschow, Philipp; Münsterer, Thomas; Strobel, Michael; Kuhn, Michael

    2016-05-01

    This paper describes the implementation of displaying real-time processed LiDAR 3D data in a DVE pilot assistance system. The goal is to display to the pilot a comprehensive image of the surrounding world without misleading or cluttering information. 3D data which can be attributed, i.e. classified, to terrain or predefined obstacle classes is depicted differently from data belonging to elevated objects which could not be classified. Display techniques may be different for head-down and head-up displays to avoid cluttering of the outside view in the latter case. While terrain is shown as shaded surfaces with grid structures or as grid structures alone, respectively, classified obstacles are typically displayed with obstacle symbols only. Data from objects elevated above ground are displayed as shaded 3D points in space. In addition the displayed 3D points are accumulated over a certain time frame allowing on the one hand side a cohesive structure being displayed and on the other hand displaying moving objects correctly. In addition color coding or texturing can be applied based on known terrain features like land use.

  2. 3D Data Mapping and Real-Time Experiment Control and Visualization in Brain Slices.

    PubMed

    Navarro, Marco A; Hibbard, Jaime V K; Miller, Michael E; Nivin, Tyler W; Milescu, Lorin S

    2015-10-20

    Here, we propose two basic concepts that can streamline electrophysiology and imaging experiments in brain slices and enhance data collection and analysis. The first idea is to interface the experiment with a software environment that provides a 3D scene viewer in which the experimental rig, the brain slice, and the recorded data are represented to scale. Within the 3D scene viewer, the user can visualize a live image of the sample and 3D renderings of the recording electrodes with real-time position feedback. Furthermore, the user can control the instruments and visualize their status in real time. The second idea is to integrate multiple types of experimental data into a spatial and temporal map of the brain slice. These data may include low-magnification maps of the entire brain slice, for spatial context, or any other type of high-resolution structural and functional image, together with time-resolved electrical and optical signals. The entire data collection can be visualized within the 3D scene viewer. These concepts can be applied to any other type of experiment in which high-resolution data are recorded within a larger sample at different spatial and temporal coordinates. PMID:26488641

  3. Drogue tracking using 3D flash lidar for autonomous aerial refueling

    NASA Astrophysics Data System (ADS)

    Chen, Chao-I.; Stettner, Roger

    2011-06-01

    Autonomous aerial refueling (AAR) is an important capability for an unmanned aerial vehicle (UAV) to increase its flying range and endurance without increasing its size. This paper presents a novel tracking method that utilizes both 2D intensity and 3D point-cloud data acquired with a 3D Flash LIDAR sensor to establish relative position and orientation between the receiver vehicle and drogue during an aerial refueling process. Unlike classic, vision-based sensors, a 3D Flash LIDAR sensor can provide 3D point-cloud data in real time without motion blur, in the day or night, and is capable of imaging through fog and clouds. The proposed method segments out the drogue through 2D analysis and estimates the center of the drogue from 3D point-cloud data for flight trajectory determination. A level-set front propagation routine is first employed to identify the target of interest and establish its silhouette information. Sufficient domain knowledge, such as the size of the drogue and the expected operable distance, is integrated into our approach to quickly eliminate unlikely target candidates. A statistical analysis along with a random sample consensus (RANSAC) is performed on the target to reduce noise and estimate the center of the drogue after all 3D points on the drogue are identified. The estimated center and drogue silhouette serve as the seed points to efficiently locate the target in the next frame.

  4. 2D array transducers for real-time 3D ultrasound guidance of interventional devices

    NASA Astrophysics Data System (ADS)

    Light, Edward D.; Smith, Stephen W.

    2009-02-01

    We describe catheter ring arrays for real-time 3D ultrasound guidance of devices such as vascular grafts, heart valves and vena cava filters. We have constructed several prototypes operating at 5 MHz and consisting of 54 elements using the W.L. Gore & Associates, Inc. micro-miniature ribbon cables. We have recently constructed a new transducer using a braided wiring technology from Precision Interconnect. This transducer consists of 54 elements at 4.8 MHz with pitch of 0.20 mm and typical -6 dB bandwidth of 22%. In all cases, the transducer and wiring assembly were integrated with an 11 French catheter of a Cook Medical deployment device for vena cava filters. Preliminary in vivo and in vitro testing is ongoing including simultaneous 3D ultrasound and x-ray fluoroscopy.

  5. A scalable beamforming architecture for real-time 3D ultrasonic imaging using nonuniform sampling

    NASA Astrophysics Data System (ADS)

    Dandekar, Omkar; Castro-Pareja, Carlos R.; Shekhar, Raj

    2006-03-01

    Real-time acquisition of 3D volumes is an emerging trend in medical imaging. True real-time 3D ultrasonic imaging is particularly valuable for echocardiography and trauma imaging as well as an intraoperative imaging technique for surgical navigation. Since the frame rate of ultrasonic imaging is fundamentally limited by the speed of sound, many schemes of forming multiple receive beams with a single transmit event have been proposed. With the advent of parallel receive beamforming, several architectures to form multiple (4-8) scan lines at a time have been suggested. Most of these architectures employ uniform sampling and input memory banks to store the samples acquired from all the channels. Some recent developments like crossed electrode array, coded excitation, and synthetic aperture imaging facilitate forming an entire 2D plane with a single transmit event. These techniques are speeding up frame rate to eventually accomplish true real-time 3D ultrasonic imaging. We present an FPGA-based scalable architecture capable of forming a complete scan plane in the time it usually takes to form a single scan line. Our current implementation supports 32 input channels per FPGA and up to 128 dynamically focused beam outputs. The desired focusing delay resolution is achieved using a hybrid scheme, with a combination of nonuniform sampling of the analog channels and linear interpolation for nonsparse delays within a user-specified minimum sampling interval. Overall, our pipelined architecture is capable of processing the input RF data in an online fashion, thereby reducing the input storage requirements and potentially providing better image quality.

  6. Demonstration of digital hologram recording and 3D-scenes reconstruction in real-time

    NASA Astrophysics Data System (ADS)

    Cheremkhin, Pavel A.; Evtikhiev, Nikolay N.; Krasnov, Vitaly V.; Kulakov, Mikhail N.; Kurbatova, Ekaterina A.; Molodtsov, Dmitriy Y.; Rodin, Vladislav G.

    2016-04-01

    Digital holography is technique that allows to reconstruct information about 2D-objects and 3D-scenes. This is achieved by registration of interference pattern formed by two beams: object and reference ones. Pattern registered by the digital camera is processed. This allows to obtain amplitude and phase of the object beam. Reconstruction of shape of the 2D objects and 3D-scenes can be obtained numerically (using computer) and optically (using spatial light modulators - SLMs). In this work camera Megaplus II ES11000 was used for digital holograms recording. The camera has 4008 × 2672 pixels with sizes of 9 μm × 9 μm. For hologram recording, 50 mW frequency-doubled Nd:YAG laser with wavelength 532 nm was used. Liquid crystal on silicon SLM HoloEye PLUTO VIS was used for optical reconstruction of digital holograms. SLM has 1920 × 1080 pixels with sizes of 8 μm × 8 μm. At objects reconstruction 10 mW He-Ne laser with wavelength 632.8 nm was used. Setups for digital holograms recording and their optical reconstruction with the SLM were combined as follows. MegaPlus Central Control Software allows to display registered frames by the camera with a little delay on the computer monitor. The SLM can work as additional monitor. In result displayed frames can be shown on the SLM display in near real-time. Thus recording and reconstruction of the 3D-scenes was obtained in real-time. Preliminary, resolution of displayed frames was chosen equaled to the SLM one. Quantity of the pixels was limited by the SLM resolution. Frame rate was limited by the camera one. This holographic video setup was applied without additional program implementations that would increase time delays between hologram recording and object reconstruction. The setup was demonstrated for reconstruction of 3D-scenes.

  7. Error control in the set-up of stereo camera systems for 3d animal tracking

    NASA Astrophysics Data System (ADS)

    Cavagna, A.; Creato, C.; Del Castello, L.; Giardina, I.; Melillo, S.; Parisi, L.; Viale, M.

    2015-12-01

    Three-dimensional tracking of animal systems is the key to the comprehension of collective behavior. Experimental data collected via a stereo camera system allow the reconstruction of the 3d trajectories of each individual in the group. Trajectories can then be used to compute some quantities of interest to better understand collective motion, such as velocities, distances between individuals and correlation functions. The reliability of the retrieved trajectories is strictly related to the accuracy of the 3d reconstruction. In this paper, we perform a careful analysis of the most significant errors affecting 3d reconstruction, showing how the accuracy depends on the camera system set-up and on the precision of the calibration parameters.

  8. Real-Time Interactive Facilities Associated With A 3-D Medical Workstation

    NASA Astrophysics Data System (ADS)

    Goldwasser, S. M.; Reynolds, R. A.; Talton, D.; Walsh, E.

    1986-06-01

    Biomedical workstations of the future will incorporate three-dimensional interactive capabilities which provide real-time response to most common operator requests. Such systems will find application in many areas of medicine including clinical diagnosis, surgical and radiation therapy planning, biomedical research based on functional imaging, and medical education. This paper considers the requirements of these future systems in terms of image quality, performance, and the interactive environment, and examines the relationship of workstation capabilities to specific medical applications. We describe a prototype physician's workstation that we have designed and built to meet many of these requirements (using conventional graphics technology in conjunction with a custom real-time 3-D processor), and give an account of the remaining issues and challenges that future designers of such systems will have to address.

  9. Measurement Matrix Optimization and Mismatch Problem Compensation for DLSLA 3-D SAR Cross-Track Reconstruction

    PubMed Central

    Bao, Qian; Jiang, Chenglong; Lin, Yun; Tan, Weixian; Wang, Zhirui; Hong, Wen

    2016-01-01

    With a short linear array configured in the cross-track direction, downward looking sparse linear array three-dimensional synthetic aperture radar (DLSLA 3-D SAR) can obtain the 3-D image of an imaging scene. To improve the cross-track resolution, sparse recovery methods have been investigated in recent years. In the compressive sensing (CS) framework, the reconstruction performance depends on the property of measurement matrix. This paper concerns the technique to optimize the measurement matrix and deal with the mismatch problem of measurement matrix caused by the off-grid scatterers. In the model of cross-track reconstruction, the measurement matrix is mainly affected by the configuration of antenna phase centers (APC), thus, two mutual coherence based criteria are proposed to optimize the configuration of APCs. On the other hand, to compensate the mismatch problem of the measurement matrix, the sparse Bayesian inference based method is introduced into the cross-track reconstruction by jointly estimate the scatterers and the off-grid error. Experiments demonstrate the performance of the proposed APCs’ configuration schemes and the proposed cross-track reconstruction method. PMID:27556471

  10. Measurement Matrix Optimization and Mismatch Problem Compensation for DLSLA 3-D SAR Cross-Track Reconstruction.

    PubMed

    Bao, Qian; Jiang, Chenglong; Lin, Yun; Tan, Weixian; Wang, Zhirui; Hong, Wen

    2016-01-01

    With a short linear array configured in the cross-track direction, downward looking sparse linear array three-dimensional synthetic aperture radar (DLSLA 3-D SAR) can obtain the 3-D image of an imaging scene. To improve the cross-track resolution, sparse recovery methods have been investigated in recent years. In the compressive sensing (CS) framework, the reconstruction performance depends on the property of measurement matrix. This paper concerns the technique to optimize the measurement matrix and deal with the mismatch problem of measurement matrix caused by the off-grid scatterers. In the model of cross-track reconstruction, the measurement matrix is mainly affected by the configuration of antenna phase centers (APC), thus, two mutual coherence based criteria are proposed to optimize the configuration of APCs. On the other hand, to compensate the mismatch problem of the measurement matrix, the sparse Bayesian inference based method is introduced into the cross-track reconstruction by jointly estimate the scatterers and the off-grid error. Experiments demonstrate the performance of the proposed APCs' configuration schemes and the proposed cross-track reconstruction method. PMID:27556471

  11. Measurement Matrix Optimization and Mismatch Problem Compensation for DLSLA 3-D SAR Cross-Track Reconstruction.

    PubMed

    Bao, Qian; Jiang, Chenglong; Lin, Yun; Tan, Weixian; Wang, Zhirui; Hong, Wen

    2016-08-22

    With a short linear array configured in the cross-track direction, downward looking sparse linear array three-dimensional synthetic aperture radar (DLSLA 3-D SAR) can obtain the 3-D image of an imaging scene. To improve the cross-track resolution, sparse recovery methods have been investigated in recent years. In the compressive sensing (CS) framework, the reconstruction performance depends on the property of measurement matrix. This paper concerns the technique to optimize the measurement matrix and deal with the mismatch problem of measurement matrix caused by the off-grid scatterers. In the model of cross-track reconstruction, the measurement matrix is mainly affected by the configuration of antenna phase centers (APC), thus, two mutual coherence based criteria are proposed to optimize the configuration of APCs. On the other hand, to compensate the mismatch problem of the measurement matrix, the sparse Bayesian inference based method is introduced into the cross-track reconstruction by jointly estimate the scatterers and the off-grid error. Experiments demonstrate the performance of the proposed APCs' configuration schemes and the proposed cross-track reconstruction method.

  12. Local characterization of hindered Brownian motion by using digital video microscopy and 3D particle tracking

    SciTech Connect

    Dettmer, Simon L.; Keyser, Ulrich F.; Pagliara, Stefano

    2014-02-15

    In this article we present methods for measuring hindered Brownian motion in the confinement of complex 3D geometries using digital video microscopy. Here we discuss essential features of automated 3D particle tracking as well as diffusion data analysis. By introducing local mean squared displacement-vs-time curves, we are able to simultaneously measure the spatial dependence of diffusion coefficients, tracking accuracies and drift velocities. Such local measurements allow a more detailed and appropriate description of strongly heterogeneous systems as opposed to global measurements. Finite size effects of the tracking region on measuring mean squared displacements are also discussed. The use of these methods was crucial for the measurement of the diffusive behavior of spherical polystyrene particles (505 nm diameter) in a microfluidic chip. The particles explored an array of parallel channels with different cross sections as well as the bulk reservoirs. For this experiment we present the measurement of local tracking accuracies in all three axial directions as well as the diffusivity parallel to the channel axis while we observed no significant flow but purely Brownian motion. Finally, the presented algorithm is suitable also for tracking of fluorescently labeled particles and particles driven by an external force, e.g., electrokinetic or dielectrophoretic forces.

  13. Fast parallel interferometric 3D tracking of numerous optically trapped particles and their hydrodynamic interaction.

    PubMed

    Ruh, Dominic; Tränkle, Benjamin; Rohrbach, Alexander

    2011-10-24

    Multi-dimensional, correlated particle tracking is a key technology to reveal dynamic processes in living and synthetic soft matter systems. In this paper we present a new method for tracking micron-sized beads in parallel and in all three dimensions - faster and more precise than existing techniques. Using an acousto-optic deflector and two quadrant-photo-diodes, we can track numerous optically trapped beads at up to tens of kHz with a precision of a few nanometers by back-focal plane interferometry. By time-multiplexing the laser focus, we can calibrate individually all traps and all tracking signals in a few seconds and in 3D. We show 3D histograms and calibration constants for nine beads in a quadratic arrangement, although trapping and tracking is easily possible for more beads also in arbitrary 2D arrangements. As an application, we investigate the hydrodynamic coupling and diffusion anomalies of spheres trapped in a 3 × 3 arrangement. PMID:22109012

  14. A 3D front tracking method on a CPU/GPU system

    SciTech Connect

    Bo, Wurigen; Grove, John

    2011-01-21

    We describe the method to port a sequential 3D interface tracking code to a GPU with CUDA. The interface is represented as a triangular mesh. Interface geometry properties and point propagation are performed on a GPU. Interface mesh adaptation is performed on a CPU. The convergence of the method is assessed from the test problems with given velocity fields. Performance results show overall speedups from 11 to 14 for the test problems under mesh refinement. We also briefly describe our ongoing work to couple the interface tracking method with a hydro solver.

  15. 3D silicon sensors with variable electrode depth for radiation hard high resolution particle tracking

    NASA Astrophysics Data System (ADS)

    Da Vià, C.; Borri, M.; Dalla Betta, G.; Haughton, I.; Hasi, J.; Kenney, C.; Povoli, M.; Mendicino, R.

    2015-04-01

    3D sensors, with electrodes micro-processed inside the silicon bulk using Micro-Electro-Mechanical System (MEMS) technology, were industrialized in 2012 and were installed in the first detector upgrade at the LHC, the ATLAS IBL in 2014. They are the radiation hardest sensors ever made. A new idea is now being explored to enhance the three-dimensional nature of 3D sensors by processing collecting electrodes at different depths inside the silicon bulk. This technique uses the electric field strength to suppress the charge collection effectiveness of the regions outside the p-n electrodes' overlap. Evidence of this property is supported by test beam data of irradiated and non-irradiated devices bump-bonded with pixel readout electronics and simulations. Applications include High-Luminosity Tracking in the high multiplicity LHC forward regions. This paper will describe the technical advantages of this idea and the tracking application rationale.

  16. A Real-time, 3D Musculoskeletal Model for Dynamic Simulation of Arm Movements

    PubMed Central

    Chadwick, Edward K.; Blana, Dimitra; van den Bogert, Antonie J.; Kirsch, Robert F.

    2010-01-01

    Neuroprostheses can be used to restore movement of the upper limb in individuals with high-level spinal cord injury. Development and evaluation of command and control schemes for such devices typically requires real-time, “patient-in-the-loop” experimentation. A real-time, three-dimensional, musculoskeletal model of the upper limb has been developed for use in a simulation environment to allow such testing to be carried out non-invasively. The model provides real-time feedback of human arm dynamics that can be displayed to the user in a virtual reality environment. The model has a three degree-of-freedom gleno-humeral joint as well as elbow flexion/extension and pronation/supination, and contains 22 muscles of the shoulder and elbow divided into multiple elements. The model is able to run in real time on modest desktop hardware and demonstrates that a large-scale, 3D model can be made to run in real time. This is a prerequisite for a real-time, whole arm model that will form part of a dynamic arm simulator for use in the development, testing and user training of neural prosthesis systems. PMID:19272926

  17. Real-time 3D radiation risk assessment supporting simulation of work in nuclear environments.

    PubMed

    Szőke, I; Louka, M N; Bryntesen, T R; Bratteli, J; Edvardsen, S T; RøEitrheim, K K; Bodor, K

    2014-06-01

    This paper describes the latest developments at the Institute for Energy Technology (IFE) in Norway, in the field of real-time 3D (three-dimensional) radiation risk assessment for the support of work simulation in nuclear environments. 3D computer simulation can greatly facilitate efficient work planning, briefing, and training of workers. It can also support communication within and between work teams, and with advisors, regulators, the media and public, at all the stages of a nuclear installation's lifecycle. Furthermore, it is also a beneficial tool for reviewing current work practices in order to identify possible gaps in procedures, as well as to support the updating of international recommendations, dissemination of experience, and education of the current and future generation of workers.IFE has been involved in research and development into the application of 3D computer simulation and virtual reality (VR) technology to support work in radiological environments in the nuclear sector since the mid 1990s. During this process, two significant software tools have been developed, the VRdose system and the Halden Planner, and a number of publications have been produced to contribute to improving the safety culture in the nuclear industry.This paper describes the radiation risk assessment techniques applied in earlier versions of the VRdose system and the Halden Planner, for visualising radiation fields and calculating dose, and presents new developments towards implementing a flexible and up-to-date dosimetric package in these 3D software tools, based on new developments in the field of radiation protection. The latest versions of these 3D tools are capable of more accurate risk estimation, permit more flexibility via a range of user choices, and are applicable to a wider range of irradiation situations than their predecessors. PMID:24727389

  18. A Comprehensive Software System for Interactive, Real-time, Visual 3D Deterministic and Stochastic Groundwater Modeling

    NASA Astrophysics Data System (ADS)

    Li, S.

    2002-05-01

    Taking advantage of the recent developments in groundwater modeling research and computer, image and graphics processing, and objected oriented programming technologies, Dr. Li and his research group have recently developed a comprehensive software system for unified deterministic and stochastic groundwater modeling. Characterized by a new real-time modeling paradigm and improved computational algorithms, the software simulates 3D unsteady flow and reactive transport in general groundwater formations subject to both systematic and "randomly" varying stresses and geological and chemical heterogeneity. The software system has following distinct features and capabilities: Interactive simulation and real time visualization and animation of flow in response to deterministic as well as stochastic stresses. Interactive, visual, and real time particle tracking, random walk, and reactive plume modeling in both systematically and randomly fluctuating flow. Interactive statistical inference, scattered data interpolation, regression, and ordinary and universal Kriging, conditional and unconditional simulation. Real-time, visual and parallel conditional flow and transport simulations. Interactive water and contaminant mass balance analysis and visual and real-time flux update. Interactive, visual, and real time monitoring of head and flux hydrographs and concentration breakthroughs. Real-time modeling and visualization of aquifer transition from confined to unconfined to partially de-saturated or completely dry and rewetting Simultaneous and embedded subscale models, automatic and real-time regional to local data extraction; Multiple subscale flow and transport models Real-time modeling of steady and transient vertical flow patterns on multiple arbitrarily-shaped cross-sections and simultaneous visualization of aquifer stratigraphy, properties, hydrological features (rivers, lakes, wetlands, wells, drains, surface seeps), and dynamically adjusted surface flooding area

  19. 3D Visualization of Monte-Carlo Simulation's of HZE Track Structure and Initial Chemical Species

    NASA Technical Reports Server (NTRS)

    Plante, Ianik; Cucinotta, Francis A.

    2009-01-01

    Heavy ions biophysics is important for space radiation risk assessment [1] and hadron-therapy [2]. The characteristic of heavy ions tracks include a very high energy deposition region close to the track (<20 nm) denoted as the track core, and an outer penumbra region consisting of individual secondary electrons (6-rays). A still open question is the radiobiological effects of 6- rays relative to the track core. Of importance is the induction of double-strand breaks (DSB) [3] and oxidative damage to the biomolecules and the tissue matrix, considered the most important lesions for acute and long term effects of radiation. In this work, we have simulated a 56Fe26+ ion track of 1 GeV/amu with our Monte-Carlo code RITRACKS [4]. The simulation results have been used to calculate the energy depiction and initial chemical species in a "voxelized" space, which is then visualized in 3D. Several voxels with dose >1000 Gy are found in the penumbra, some located 0.1 mm from the track core. In computational models, the DSB induction probability is calculated with radial dose [6], which may not take into account the higher RBE of electron track ends for DSB induction. Therefore, these simulations should help improve models of DSB induction and our understanding of heavy ions biophysics.

  20. Miniature stereoscopic video system provides real-time 3D registration and image fusion for minimally invasive surgery

    NASA Astrophysics Data System (ADS)

    Yaron, Avi; Bar-Zohar, Meir; Horesh, Nadav

    2007-02-01

    Sophisticated surgeries require the integration of several medical imaging modalities, like MRI and CT, which are three-dimensional. Many efforts are invested in providing the surgeon with this information in an intuitive & easy to use manner. A notable development, made by Visionsense, enables the surgeon to visualize the scene in 3D using a miniature stereoscopic camera. It also provides real-time 3D measurements that allow registration of navigation systems as well as 3D imaging modalities, overlaying these images on the stereoscopic video image in real-time. The real-time MIS 'see through tissue' fusion solutions enable the development of new MIS procedures in various surgical segments, such as spine, abdomen, cardio-thoracic and brain. This paper describes 3D surface reconstruction and registration methods using Visionsense camera, as a step toward fully automated multi-modality 3D registration.

  1. A real-time misalignment correction algorithm for stereoscopic 3D cameras

    NASA Astrophysics Data System (ADS)

    Pekkucuksen, Ibrahim E.; Batur, Aziz Umit; Zhang, Buyue

    2012-03-01

    Camera calibration is an important problem for stereo 3-D cameras since the misalignment between the two views can lead to vertical disparities that significantly degrade 3-D viewing quality. Offline calibration during manufacturing is not always an option especially for mass produced cameras due to cost. In addition, even if one-time calibration is performed during manufacturing, its accuracy cannot be maintained indefinitely because environmental factors can lead to changes in camera hardware. In this paper, we propose a real-time stereo calibration solution that runs inside a consumer camera and continuously estimates and corrects for the misalignment between the stereo cameras. Our algorithm works by processing images of natural scenes and does not require the use of special calibration charts. The algorithm first estimates the disparity in horizontal and vertical directions between the corresponding blocks from stereo images. Then, this initial estimate is refined with two dimensional search using smaller sub-blocks. The displacement data and block coordinates are fed to a modified affine transformation model and outliers are discarded to keep the modeling error low. Finally, the estimated affine parameters are split by half and misalignment correction is applied to each view accordingly. The proposed algorithm significantly reduces the misalignment between stereo frames and enables a more comfortable 3-D viewing experience.

  2. Web GIS in practice V: 3-D interactive and real-time mapping in Second Life

    PubMed Central

    Boulos, Maged N Kamel; Burden, David

    2007-01-01

    This paper describes technologies from Daden Limited for geographically mapping and accessing live news stories/feeds, as well as other real-time, real-world data feeds (e.g., Google Earth KML feeds and GeoRSS feeds) in the 3-D virtual world of Second Life, by plotting and updating the corresponding Earth location points on a globe or some other suitable form (in-world), and further linking those points to relevant information and resources. This approach enables users to visualise, interact with, and even walk or fly through, the plotted data in 3-D. Users can also do the reverse: put pins on a map in the virtual world, and then view the data points on the Web in Google Maps or Google Earth. The technologies presented thus serve as a bridge between mirror worlds like Google Earth and virtual worlds like Second Life. We explore the geo-data display potential of virtual worlds and their likely convergence with mirror worlds in the context of the future 3-D Internet or Metaverse, and reflect on the potential of such technologies and their future possibilities, e.g. their use to develop emergency/public health virtual situation rooms to effectively manage emergencies and disasters in real time. The paper also covers some of the issues associated with these technologies, namely user interface accessibility and individual privacy. PMID:18042275

  3. Web GIS in practice V: 3-D interactive and real-time mapping in Second Life.

    PubMed

    Boulos, Maged N Kamel; Burden, David

    2007-01-01

    This paper describes technologies from Daden Limited for geographically mapping and accessing live news stories/feeds, as well as other real-time, real-world data feeds (e.g., Google Earth KML feeds and GeoRSS feeds) in the 3-D virtual world of Second Life, by plotting and updating the corresponding Earth location points on a globe or some other suitable form (in-world), and further linking those points to relevant information and resources. This approach enables users to visualise, interact with, and even walk or fly through, the plotted data in 3-D. Users can also do the reverse: put pins on a map in the virtual world, and then view the data points on the Web in Google Maps or Google Earth. The technologies presented thus serve as a bridge between mirror worlds like Google Earth and virtual worlds like Second Life. We explore the geo-data display potential of virtual worlds and their likely convergence with mirror worlds in the context of the future 3-D Internet or Metaverse, and reflect on the potential of such technologies and their future possibilities, e.g. their use to develop emergency/public health virtual situation rooms to effectively manage emergencies and disasters in real time. The paper also covers some of the issues associated with these technologies, namely user interface accessibility and individual privacy. PMID:18042275

  4. 3D motion tracking of the heart using Harmonic Phase (HARP) isosurfaces

    NASA Astrophysics Data System (ADS)

    Soliman, Abraam S.; Osman, Nael F.

    2010-03-01

    Tags are non-invasive features induced in the heart muscle that enable the tracking of heart motion. Each tag line, in fact, corresponds to a 3D tag surface that deforms with the heart muscle during the cardiac cycle. Tracking of tag surfaces deformation is useful for the analysis of left ventricular motion. Cardiac material markers (Kerwin et al, MIA, 1997) can be obtained from the intersections of orthogonal surfaces which can be reconstructed from short- and long-axis tagged images. The proposed method uses Harmonic Phase (HARP) method for tracking tag lines corresponding to a specific harmonic phase value and then the reconstruction of grid tag surfaces is achieved by a Delaunay triangulation-based interpolation for sparse tag points. Having three different tag orientations from short- and long-axis images, the proposed method showed the deformation of 3D tag surfaces during the cardiac cycle. Previous work on tag surface reconstruction was restricted for the "dark" tag lines; however, the use of HARP as proposed enables the reconstruction of isosurfaces based on their harmonic phase values. The use of HARP, also, provides a fast and accurate way for tag lines identification and tracking, and hence, generating the surfaces.

  5. 3D shape tracking of minimally invasive medical instruments using optical frequency domain reflectometry

    NASA Astrophysics Data System (ADS)

    Parent, Francois; Kanti Mandal, Koushik; Loranger, Sebastien; Watanabe Fernandes, Eric Hideki; Kashyap, Raman; Kadoury, Samuel

    2016-03-01

    We propose here a new alternative to provide real-time device tracking during minimally invasive interventions using a truly-distributed strain sensor based on optical frequency domain reflectometry (OFDR) in optical fibers. The guidance of minimally invasive medical instruments such as needles or catheters (ex. by adding a piezoelectric coating) has been the focus of extensive research in the past decades. Real-time tracking of instruments in medical interventions facilitates image guidance and helps the user to reach a pre-localized target more precisely. Image-guided systems using ultrasound imaging and shape sensors based on fiber Bragg gratings (FBG)-embedded optical fibers can provide retroactive feedback to the user in order to reach the targeted areas with even more precision. However, ultrasound imaging with electro-magnetic tracking cannot be used in the magnetic resonance imaging (MRI) suite, while shape sensors based on FBG embedded in optical fibers provides discrete values of the instrument position, which requires approximations to be made to evaluate its global shape. This is why a truly-distributed strain sensor based on OFDR could enhance the tracking accuracy. In both cases, since the strain is proportional to the radius of curvature of the fiber, a strain sensor can provide the three-dimensional shape of medical instruments by simply inserting fibers inside the devices. To faithfully follow the shape of the needle in the tracking frame, 3 fibers glued in a specific geometry are used, providing 3 degrees of freedom along the fiber. Near real-time tracking of medical instruments is thus obtained offering clear advantages for clinical monitoring in remotely controlled catheter or needle guidance. We present results demonstrating the promising aspects of this approach as well the limitations of using the OFDR technique.

  6. Meanie3D - a mean-shift based, multivariate, multi-scale clustering and tracking algorithm

    NASA Astrophysics Data System (ADS)

    Simon, Jürgen-Lorenz; Malte, Diederich; Silke, Troemel

    2014-05-01

    Project OASE is the one of 5 work groups at the HErZ (Hans Ertel Centre for Weather Research), an ongoing effort by the German weather service (DWD) to further research at Universities concerning weather prediction. The goal of project OASE is to gain an object-based perspective on convective events by identifying them early in the onset of convective initiation and follow then through the entire lifecycle. The ability to follow objects in this fashion requires new ways of object definition and tracking, which incorporate all the available data sets of interest, such as Satellite imagery, weather Radar or lightning counts. The Meanie3D algorithm provides the necessary tool for this purpose. Core features of this new approach to clustering (object identification) and tracking are the ability to identify objects using the mean-shift algorithm applied to a multitude of variables (multivariate), as well as the ability to detect objects on various scales (multi-scale) using elements of Scale-Space theory. The algorithm works in 2D as well as 3D without modifications. It is an extension of a method well known from the field of computer vision and image processing, which has been tailored to serve the needs of the meteorological community. In spite of the special application to be demonstrated here (like convective initiation), the algorithm is easily tailored to provide clustering and tracking for a wide class of data sets and problems. In this talk, the demonstration is carried out on two of the OASE group's own composite sets. One is a 2D nationwide composite of Germany including C-Band Radar (2D) and Satellite information, the other a 3D local composite of the Bonn/Jülich area containing a high-resolution 3D X-Band Radar composite.

  7. Simultaneous real-time 3D photoacoustic tomography and EEG for neurovascular coupling study in an animal model of epilepsy

    NASA Astrophysics Data System (ADS)

    Wang, Bo; Xiao, Jiaying; Jiang, Huabei

    2014-08-01

    Objective. Neurovascular coupling in epilepsy is poorly understood; its study requires simultaneous monitoring of hemodynamic changes and neural activity in the brain. Approach. Here for the first time we present a combined real-time 3D photoacoustic tomography (PAT) and electrophysiology/electroencephalography (EEG) system for the study of neurovascular coupling in epilepsy, whose ability was demonstrated with a pentylenetetrazol (PTZ) induced generalized seizure model in rats. Two groups of experiments were carried out with different wavelengths to detect the changes of oxy-hemoglobin (HbO2) and deoxy-hemoglobin (HbR) signals in the rat brain. We extracted the average PAT signals of the superior sagittal sinus (SSS), and compared them with the EEG signal. Main results. Results showed that the seizure process can be divided into three stages. A ‘dip’ lasting for 1-2 min in the first stage and the following hyperfusion in the second stage were observed. The HbO2 signal and the HbR signal were generally negatively correlated. The change of blood flow was also estimated. All the acquired results here were in accordance with other published results. Significance. Compared to other existing functional neuroimaging tools, the method proposed here enables reliable tracking of hemodynamic signal with both high spatial and high temporal resolution in 3D, so it is more suitable for neurovascular coupling study of epilepsy.

  8. Automated 3-D Tracking of Centrosomes in Sequences of Confocal Image Stacks

    SciTech Connect

    Kerekes, Ryan A; Gleason, Shaun Scott; Trivedi, Dr. Niraj; Solecki, Dr. David

    2009-01-01

    In order to facilitate the study of neuron migration, we propose a method for 3-D detection and tracking of centrosomes in time-lapse confocal image stacks of live neuron cells. We combine Laplacian-based blob detection, adaptive thresholding, and the extraction of scale and roundness features to find centrosome-like objects in each frame. We link these detections using the joint probabilistic data association filter (JPDAF) tracking algorithm with a Newtonian state-space model tailored to the motion characteristics of centrosomes in live neurons. We apply our algorithm to image sequences containing multiple cells, some of which had been treated with motion-inhibiting drugs. We provide qualitative results and quantitative comparisons to manual segmentation and tracking results showing that our motion estimates closely agree with those generated by neurobiology experts.

  9. Sensor Spatial Distortion, Visual Latency, and Update Rate Effects on 3D Tracking in Virtual Environments

    NASA Technical Reports Server (NTRS)

    Ellis, S. R.; Adelstein, B. D.; Baumeler, S.; Jense, G. J.; Jacoby, R. H.; Trejo, Leonard (Technical Monitor)

    1998-01-01

    Several common defects that we have sought to minimize in immersing virtual environments are: static sensor spatial distortion, visual latency, and low update rates. Human performance within our environments during large amplitude 3D tracking was assessed by objective and subjective methods in the presence and absence of these defects. Results show that 1) removal of our relatively small spatial sensor distortion had minor effects on the tracking activity, 2) an Adapted Cooper-Harper controllability scale proved the most sensitive subjective indicator of the degradation of dynamic fidelity caused by increasing latency and decreasing frame rates, and 3) performance, as measured by normalized RMS tracking error or subjective impressions, was more markedly influenced by changing visual latency than by update rate.

  10. Tracking left ventricular borders in 3D echocardiographic sequences using motion-guided optical flow

    NASA Astrophysics Data System (ADS)

    Leung, K. Y. Esther; Danilouchkine, Mikhail G.; van Stralen, Marijn; de Jong, Nico; van der Steen, Antonius F. W.; Bosch, Johan G.

    2009-02-01

    For obtaining quantitative and objective functional parameters from three-dimensional (3D) echocardiographic sequences, automated segmentation methods may be preferable to cumbersome manual delineation of 3D borders. In this study, a novel optical-flow based tracking method is proposed for propagating 3D endocardial contours of the left ventricle throughout the cardiac cycle. To take full advantage of the time-continuous nature of cardiac motion, a statistical motion model was explicitly embedded in the optical flow solution. The cardiac motion was modeled as frame-to-frame affine transforms, which were extracted using Procrustes analysis on a set of training contours. Principal component analysis was applied to obtain a compact model of cardiac motion throughout the whole cardiac cycle. The parameters of this model were resolved in an optical flow manner, via spatial and temporal gradients in image intensity. The algorithm was tested on 36 noncontrast and 28 contrast enhanced 3D echocardiographic sequences in a leave-one-out manner. Good results were obtained using a combination of the proposed motion-guided method and a purely data-driven optical flow approach. The improvement was particularly noticeable in areas where the LV wall was obscured by image artifacts. In conclusion, the results show the applicability of the proposed method in clinical quality echocardiograms.

  11. 3-D Flow Field Diagnostics and Validation Studies using Stereoscopic Tracking Velocimetry

    NASA Technical Reports Server (NTRS)

    Cha, Soyoung Stephen; Ramachandran, Narayanan; Whitaker, Ann F. (Technical Monitor)

    2002-01-01

    The measurement of 3-D three-component velocity fields is of great importance in both ground and space experiments for understanding materials processing and fluid physics. Here, we present the investigation results of stereoscopic tracking velocimetry (STV) for measuring 3-D velocity fields. The effort includes diagnostic technology development, experimental velocity measurement, and comparison with analytical and numerical computation. The advantages of STV stems from the system simplicity for building compact hardware and in software efficiency for continual near-real-time process monitoring. It also has illumination flexibility for observing volumetric flow fields from arbitrary directions. STV is based on stereoscopic CCD observations of particles seeded in a flow. Neural networks are used for data analysis. The developed diagnostic tool is tested with a simple directional solidification apparatus using Succinonitrile. The 3-D velocity field in the liquid phase is measured and compared with results from detailed numerical computations. Our theoretical, numerical, and experimental effort has shown STV to be a viable candidate for reliably quantifying the 3-D flow field in materials processing and fluids experiments.

  12. Analysis of thoracic aorta hemodynamics using 3D particle tracking velocimetry and computational fluid dynamics.

    PubMed

    Gallo, Diego; Gülan, Utku; Di Stefano, Antonietta; Ponzini, Raffaele; Lüthi, Beat; Holzner, Markus; Morbiducci, Umberto

    2014-09-22

    Parallel to the massive use of image-based computational hemodynamics to study the complex flow establishing in the human aorta, the need for suitable experimental techniques and ad hoc cases for the validation and benchmarking of numerical codes has grown more and more. Here we present a study where the 3D pulsatile flow in an anatomically realistic phantom of human ascending aorta is investigated both experimentally and computationally. The experimental study uses 3D particle tracking velocimetry (PTV) to characterize the flow field in vitro, while finite volume method is applied to numerically solve the governing equations of motion in the same domain, under the same conditions. Our findings show that there is an excellent agreement between computational and measured flow fields during the forward flow phase, while the agreement is poorer during the reverse flow phase. In conclusion, here we demonstrate that 3D PTV is very suitable for a detailed study of complex unsteady flows as in aorta and for validating computational models of aortic hemodynamics. In a future step, it will be possible to take advantage from the ability of 3D PTV to evaluate velocity fluctuations and, for this reason, to gain further knowledge on the process of transition to turbulence occurring in the thoracic aorta.

  13. Real-time 3D visualization of the thoraco-abdominal surface during breathing with body movement and deformation extraction.

    PubMed

    Povšič, K; Jezeršek, M; Možina, J

    2015-07-01

    Real-time 3D visualization of the breathing displacements can be a useful diagnostic tool in order to immediately observe the most active regions on the thoraco-abdominal surface. The developed method is capable of separating non-relevant torso movement and deformations from the deformations that are solely related to breathing. This makes it possible to visualize only the breathing displacements. The system is based on the structured laser triangulation principle, with simultaneous spatial and color data acquisition of the thoraco-abdominal region. Based on the tracking of the attached passive markers, the torso movement and deformation is compensated using rigid and non-rigid transformation models on the three-dimensional (3D) data. The total time of 3D data processing together with visualization equals 20 ms per cycle.In vitro verification of the rigid movement extraction was performed using the iterative closest point algorithm as a reference. Furthermore, a volumetric evaluation on a live subject was performed to establish the accuracy of the rigid and non-rigid model. The root mean square deviation between the measured and the reference volumes shows an error of  ±0.08 dm(3) for rigid movement extraction. Similarly, the error was calculated to be  ±0.02 dm(3) for torsional deformation extraction and  ±0.11 dm(3) for lateral bending deformation extraction. The results confirm that during the torso movement and deformation, the proposed method is sufficiently accurate to visualize only the displacements related to breathing. The method can be used, for example, during the breathing exercise on an indoor bicycle or a treadmill.

  14. METHODS FOR USING 3-D ULTRASOUND SPECKLE TRACKING IN BIAXIAL MECHANICAL TESTING OF BIOLOGICAL TISSUE SAMPLES

    PubMed Central

    Yap, Choon Hwai; Park, Dae Woo; Dutta, Debaditya; Simon, Marc; Kim, Kang

    2014-01-01

    Being multilayered and anisotropic, biological tissues such as cardiac and arterial walls are structurally complex, making full assessment and understanding of their mechanical behavior challenging. Current standard mechanical testing uses surface markers to track tissue deformations and does not provide deformation data below the surface. In the study described here, we found that combining mechanical testing with 3-D ultrasound speckle tracking could overcome this limitation. Rat myocardium was tested with a biaxial tester and was concurrently scanned with high-frequency ultrasound in three dimensions. The strain energy function was computed from stresses and strains using an iterative non-linear curve-fitting algorithm. Because the strain energy function consists of terms for the base matrix and for embedded fibers, spatially varying fiber orientation was also computed by curve fitting. Using finite-element simulations, we first validated the accuracy of the non-linear curve-fitting algorithm. Next, we compared experimentally measured rat myocardium strain energy function values with those in the literature and found a matching order of magnitude. Finally, we retained samples after the experiments for fiber orientation quantification using histology and found that the results satisfactorily matched those computed in the experiments. We conclude that 3-D ultrasound speckle tracking can be a useful addition to traditional mechanical testing of biological tissues and may provide the benefit of enabling fiber orientation computation. PMID:25616585

  15. Ultrasonic diaphragm tracking for cardiac interventional navigation on 3D motion compensated static roadmaps

    NASA Astrophysics Data System (ADS)

    Timinger, Holger; Kruger, Sascha; Dietmayer, Klaus; Borgert, Joern

    2005-04-01

    In this paper, a novel approach to cardiac interventional navigation on 3D motion-compensated static roadmaps is presented. Current coronary interventions, e.g. percutaneous transluminal coronary angioplasties, are performed using 2D X-ray fluoroscopy. This comes along with well-known drawbacks like radiation exposure, use of contrast agent, and limited visualization, e.g. overlap and foreshortening, due to projection imaging. In the presented approach, the interventional device, i.e. the catheter, is tracked using an electromagnetic tracking system (MTS). Therefore, the catheters position is mapped into a static 3D image of the volume of interest (VOI) by means of an affine registration. In order to compensate for respiratory motion of the catheter with respect to the static image, a parameterized affine motion model is used which is driven by a respiratory sensor signal. This signal is derived from ultrasonic diaphragm tracking. The motion compensation for the heartbeat is done using ECG-gating. The methods are validated using a heart- and diaphragm-phantom. The mean displacement of the catheter due to the simulated organ motion decreases from approximately 9 mm to 1.3 mm. This result indicates that the proposed method is able to reconstruct the catheter position within the VOI accurately and that it can help to overcome drawbacks of current interventional procedures.

  16. 3D measurement of the position of gold particles via evanescent digital holographic particle tracking velocimetry

    NASA Astrophysics Data System (ADS)

    Satake, Shin-ichi; Unno, Noriyuki; Nakata, Shuichiro; Taniguchi, Jun

    2016-08-01

    A new technique based on digital holography and evanescent waves was developed for 3D measurements of the position of gold nanoparticles in water. In this technique, an intensity profile is taken from a holographic image of a gold particle. To detect the position of the gold particle with high accuracy, its holographic image is recorded on a nanosized step made of MEXFLON, which has a refractive index close to that of water, and the position of the particle is reconstructed by means of digital holography. The height of the nanosized step was measured by using a profilometer and the digitally reconstructed height of the glass substrate had good agreement with the measured value. Furthermore, this method can be used to accurately track the 3D position of a gold particle in water.

  17. Real-time 3D medical structure segmentation using fast evolving active contours

    NASA Astrophysics Data System (ADS)

    Wang, Xiaotao; Wang, Qiang; Hao, Zhihui; Xu, Kuanhong; Guo, Ping; Ren, Haibing; Jang, Wooyoung; Kim, Jung-bae

    2014-03-01

    Segmentation of 3D medical structures in real-time is an important as well as intractable problem for clinical applications due to the high computation and memory cost. We propose a novel fast evolving active contour model in this paper to reduce the requirements of computation and memory. The basic idea is to evolve the brief represented dynamic contour interface as far as possible per iteration. Our method encodes zero level set via a single unordered list, and evolves the list recursively by adding activated adjacent neighbors to its end, resulting in active parts of the zero level set moves far enough per iteration along with list scanning. To guarantee the robustness of this process, a new approximation of curvature for integer valued level set is proposed as the internal force to penalize the list smoothness and restrain the list continual growth. Besides, list scanning times are also used as an upper hard constraint to control the list growing. Together with the internal force, efficient regional and constrained external forces, whose computations are only performed along the unordered list, are also provided to attract the list toward object boundaries. Specially, our model calculates regional force only in a narrowband outside the zero level set and can efficiently segment multiple regions simultaneously as well as handle the background with multiple components. Compared with state-of-the-art algorithms, our algorithm is one-order of magnitude faster with similar segmentation accuracy and can achieve real-time performance for the segmentation of 3D medical structures on a standard PC.

  18. An automated tool for 3D tracking of single molecules in living cells

    NASA Astrophysics Data System (ADS)

    Gardini, L.; Capitanio, M.; Pavone, F. S.

    2015-03-01

    Since the behaviour of proteins and biological molecules is tightly related to cell's environment, more and more microscopy techniques are moving from in vitro to in living cells experiments. Looking at both diffusion and active transportation processes inside a cell requires three-dimensional localization over a few microns range, high SNR images and high temporal resolution. Since protein dynamics inside a cell involve all three dimensions, we developed an automated routine for 3D tracking of single fluorescent molecules inside living cells with nanometer accuracy, by exploiting the properties of the point-spread-function of out-of-focus Quantum Dots bound to the protein of interest.

  19. Longitudinal Measurement of Extracellular Matrix Rigidity in 3D Tumor Models Using Particle-tracking Microrheology

    PubMed Central

    El-Hamidi, Hamid; Celli, Jonathan P.

    2014-01-01

    The mechanical microenvironment has been shown to act as a crucial regulator of tumor growth behavior and signaling, which is itself remodeled and modified as part of a set of complex, two-way mechanosensitive interactions. While the development of biologically-relevant 3D tumor models have facilitated mechanistic studies on the impact of matrix rheology on tumor growth, the inverse problem of mapping changes in the mechanical environment induced by tumors remains challenging. Here, we describe the implementation of particle-tracking microrheology (PTM) in conjunction with 3D models of pancreatic cancer as part of a robust and viable approach for longitudinally monitoring physical changes in the tumor microenvironment, in situ. The methodology described here integrates a system of preparing in vitro 3D models embedded in a model extracellular matrix (ECM) scaffold of Type I collagen with fluorescently labeled probes uniformly distributed for position- and time-dependent microrheology measurements throughout the specimen. In vitro tumors are plated and probed in parallel conditions using multiwell imaging plates. Drawing on established methods, videos of tracer probe movements are transformed via the Generalized Stokes Einstein Relation (GSER) to report the complex frequency-dependent viscoelastic shear modulus, G*(ω). Because this approach is imaging-based, mechanical characterization is also mapped onto large transmitted-light spatial fields to simultaneously report qualitative changes in 3D tumor size and phenotype. Representative results showing contrasting mechanical response in sub-regions associated with localized invasion-induced matrix degradation as well as system calibration, validation data are presented. Undesirable outcomes from common experimental errors and troubleshooting of these issues are also presented. The 96-well 3D culture plating format implemented in this protocol is conducive to correlation of microrheology measurements with therapeutic

  20. An automated tool for 3D tracking of single molecules in living cells

    NASA Astrophysics Data System (ADS)

    Gardini, L.; Capitanio, M.; Pavone, F. S.

    2015-07-01

    Recently, tremendous improvements have been achieved in the precision of localization of single fluorescent molecules, allowing localization and tracking of biomolecules at the nm level. Since the behaviour of proteins and biological molecules is tightly influenced by the cell's environment, a growing number of microscopy techniques are moving from in vitro to live cell experiments. Looking at both diffusion and active transportation processes inside a cell requires three-dimensional localization over a few microns range, high SNR images and high temporal resolution (ms order of magnitude). To satisfy these requirements we developed an automated routine that allow 3D tracking of single fluorescent molecules in living cells with nanometer accuracy, by exploiting the properties of the point-spread-function of out-of-focus Quantum Dots bound to the protein of interest.

  1. Spatial light modulation for improved microscope stereo vision and 3D tracking

    NASA Astrophysics Data System (ADS)

    Lee, Michael P.; Gibson, Graham; Tassieri, Manlio; Phillips, Dave; Bernet, Stefan; Ritsh-Marte, Monika; Padgett, Miles J.

    2013-09-01

    We present a new type of stereo microscopy which can be used for tracking in 3D over an extended depth. The use of Spatial Light Modulators (SLMs) in the Fourier plane of a microscope sample is a common technique in Holographic Optical Tweezers (HOT). This set up is readily transferable from a tweezer system to an imaging system, where the tweezing laser is replaced with a camera. Just as a HOT system can diffract many traps of different types, in the imaging system many different imaging types can be diffracted with the SLM. The type of imaging we have developed is stereo imaging combined with lens correction. This approach has similarities with human vision where each eye has a lens, and it also extends the depth over which we can accurately track particles.

  2. Three-dimensional liver motion tracking using real-time two-dimensional MRI

    SciTech Connect

    Brix, Lau; Ringgaard, Steffen; Sørensen, Thomas Sangild; Poulsen, Per Rugaard

    2014-04-15

    Purpose: Combined magnetic resonance imaging (MRI) systems and linear accelerators for radiotherapy (MR-Linacs) are currently under development. MRI is noninvasive and nonionizing and can produce images with high soft tissue contrast. However, new tracking methods are required to obtain fast real-time spatial target localization. This study develops and evaluates a method for tracking three-dimensional (3D) respiratory liver motion in two-dimensional (2D) real-time MRI image series with high temporal and spatial resolution. Methods: The proposed method for 3D tracking in 2D real-time MRI series has three steps: (1) Recording of a 3D MRI scan and selection of a blood vessel (or tumor) structure to be tracked in subsequent 2D MRI series. (2) Generation of a library of 2D image templates oriented parallel to the 2D MRI image series by reslicing and resampling the 3D MRI scan. (3) 3D tracking of the selected structure in each real-time 2D image by finding the template and template position that yield the highest normalized cross correlation coefficient with the image. Since the tracked structure has a known 3D position relative to each template, the selection and 2D localization of a specific template translates into quantification of both the through-plane and in-plane position of the structure. As a proof of principle, 3D tracking of liver blood vessel structures was performed in five healthy volunteers in two 5.4 Hz axial, sagittal, and coronal real-time 2D MRI series of 30 s duration. In each 2D MRI series, the 3D localization was carried out twice, using nonoverlapping template libraries, which resulted in a total of 12 estimated 3D trajectories per volunteer. Validation tests carried out to support the tracking algorithm included quantification of the breathing induced 3D liver motion and liver motion directionality for the volunteers, and comparison of 2D MRI estimated positions of a structure in a watermelon with the actual positions. Results: Axial, sagittal

  3. 3D Fluorescent and Reflective Imaging of Whole Stardust Tracks in Aerogel

    SciTech Connect

    Greenberg, M.; Ebel, D.S.

    2011-11-07

    The NASA Stardust mission returned to earth in 2006 with the cometary collector having captured over 1,000 particles in an aerogel medium at a relative velocity of 6.1 km/s. Particles captured in aerogel were heated, disaggregated and dispersed along 'tracks' or cavities in aerogel, singular tracks representing a history of one capture event. It has been our focus to chemically and morphologically characterize whole tracks in 3-dimensions, utilizing solely non-destructive methods. To this end, we have used a variety of methods: 3D Laser Scanning Confocal Microscopy (LSCM), synchrotron X-ray fluorescence (SXRF), and synchrotron X-ray diffraction (SXRD). In the past months we have developed two new techniques to aid in data collection. (1) We have received a new confocal microscope which has enabled autofluorescent and spectral imaging of aerogel samples. (2) We have developed a stereo-SXRF technique to chemically identify large grains in SXRF maps in 3-space. The addition of both of these methods to our analytic abilities provides a greater understanding of the mechanisms and results of track formation.

  4. Quantifying the 3D Odorant Concentration Field Used by Actively Tracking Blue Crabs

    NASA Astrophysics Data System (ADS)

    Webster, D. R.; Dickman, B. D.; Jackson, J. L.; Weissburg, M. J.

    2007-11-01

    Blue crabs and other aquatic organisms locate food and mates by tracking turbulent odorant plumes. The odorant concentration fluctuates unpredictably due to turbulent transport, and many characteristics of the fluctuation pattern have been hypothesized as useful cues for orienting to the odorant source. To make a direct linkage between tracking behavior and the odorant concentration signal, we developed a measurement system based the laser induced fluorescence technique to quantify the instantaneous 3D concentration field surrounding actively tracking blue crabs. The data suggest a correlation between upstream walking speed and the concentration of the odorant signal arriving at the antennule chemosensors, which are located near the mouth region. More specifically, we note an increase in upstream walking speed when high concentration bursts arrive at the antennules location. We also test hypotheses regarding the ability of blue crabs to steer relative to the plume centerline based on the signal contrast between the chemosensors located on their leg appendages. These chemosensors are located much closer to the substrate compared to the antennules and are separated by the width of the blue crab. In this case, it appears that blue crabs use the bilateral signal comparison to track along the edge of the plume.

  5. Adaptive Kalman snake for semi-autonomous 3D vessel tracking.

    PubMed

    Lee, Sang-Hoon; Lee, Sanghoon

    2015-10-01

    In this paper, we propose a robust semi-autonomous algorithm for 3D vessel segmentation and tracking based on an active contour model and a Kalman filter. For each computed tomography angiography (CTA) slice, we use the active contour model to segment the vessel boundary and the Kalman filter to track position and shape variations of the vessel boundary between slices. For successful segmentation via active contour, we select an adequate number of initial points from the contour of the first slice. The points are set manually by user input for the first slice. For the remaining slices, the initial contour position is estimated autonomously based on segmentation results of the previous slice. To obtain refined segmentation results, an adaptive control spacing algorithm is introduced into the active contour model. Moreover, a block search-based initial contour estimation procedure is proposed to ensure that the initial contour of each slice can be near the vessel boundary. Experiments were performed on synthetic and real chest CTA images. Compared with the well-known Chan-Vese (CV) model, the proposed algorithm exhibited better performance in segmentation and tracking. In particular, receiver operating characteristic analysis on the synthetic and real CTA images demonstrated the time efficiency and tracking robustness of the proposed model. In terms of computational time redundancy, processing time can be effectively reduced by approximately 20%.

  6. 3D Visualization of near real-time remote-sensing observation for hurricanes field campaign using Google Earth API

    NASA Astrophysics Data System (ADS)

    Li, P.; Turk, J.; Vu, Q.; Knosp, B.; Hristova-Veleva, S. M.; Lambrigtsen, B.; Poulsen, W. L.; Licata, S.

    2009-12-01

    NASA is planning a new field experiment, the Genesis and Rapid Intensification Processes (GRIP), in the summer of 2010 to better understand how tropical storms form and develop into major hurricanes. The DC-8 aircraft and the Global Hawk Unmanned Airborne System (UAS) will be deployed loaded with instruments for measurements including lightning, temperature, 3D wind, precipitation, liquid and ice water contents, aerosol and cloud profiles. During the field campaign, both the spaceborne and the airborne observations will be collected in real-time and integrated with the hurricane forecast models. This observation-model integration will help the campaign achieve its science goals by allowing team members to effectively plan the mission with current forecasts. To support the GRIP experiment, JPL developed a website for interactive visualization of all related remote-sensing observations in the GRIP’s geographical domain using the new Google Earth API. All the observations are collected in near real-time (NRT) with 2 to 5 hour latency. The observations include a 1KM blended Sea Surface Temperature (SST) map from GHRSST L2P products; 6-hour composite images of GOES IR; stability indices, temperature and vapor profiles from AIRS and AMSU-B; microwave brightness temperature and rain index maps from AMSR-E, SSMI and TRMM-TMI; ocean surface wind vectors, vorticity and divergence of the wind from QuikSCAT; the 3D precipitation structure from TRMM-PR and vertical profiles of cloud and precipitation from CloudSAT. All the NRT observations are collected from the data centers and science facilities at NASA and NOAA, subsetted, re-projected, and composited into hourly or daily data products depending on the frequency of the observation. The data products are then displayed on the 3D Google Earth plug-in at the JPL Tropical Cyclone Information System (TCIS) website. The data products offered by the TCIS in the Google Earth display include image overlays, wind vectors, clickable

  7. The role of 3D and speckle tracking echocardiography in cardiac amyloidosis: a case report.

    PubMed

    Nucci, E M; Lisi, M; Cameli, M; Baldi, L; Puccetti, L; Mondillo, S; Favilli, R; Lunghetti, S

    2014-01-01

    Cardiac amyloidosis (CA) is a disorder characterized by amyloid fibrils deposition in cardiac interstitium; it results in a restrictive cardiomyopathy with heart failure (HF) and conduction abnormalities. The "gold standard" for diagnosis of CA is myocardial biopsy but possible sampling errors and procedural risks, limit it's use. Magnetic resonance (RMN) offers more information than traditional echocardiography and allows diagnosis of CA but often it's impossible to perform. We report the case of a man with HF and symptomatic bradyarrhythmia that required an urgent pacemaker implant. Echocardiography was strongly suggestive of CA but wasn't impossible to perform an RMN to confirm this hypothesis because the patient was implanted with a definitive pacemaker. So was performed a Speckle Tracking Echocardiography (STE) and a 3D echocardiography: STE allows to differentiate CA from others hypertrophic cardiomyopathy by longitudinal strain value < 12% and 3D echocardiography shows regional left ventricular dyssynchrony with a characteristic temporal pattern of dispersion of regional volume systolic change. On the basis of these results, finally was performed an endomyocardial biopsy that confirmed the diagnosis of CA. This case underlines the importance of news, noninvasive techniques such as eco 3D and STE for early diagnosis of CA, especially when RMN cannot be performed.

  8. Robust object tracking techniques for vision-based 3D motion analysis applications

    NASA Astrophysics Data System (ADS)

    Knyaz, Vladimir A.; Zheltov, Sergey Y.; Vishnyakov, Boris V.

    2016-04-01

    Automated and accurate spatial motion capturing of an object is necessary for a wide variety of applications including industry and science, virtual reality and movie, medicine and sports. For the most part of applications a reliability and an accuracy of the data obtained as well as convenience for a user are the main characteristics defining the quality of the motion capture system. Among the existing systems for 3D data acquisition, based on different physical principles (accelerometry, magnetometry, time-of-flight, vision-based), optical motion capture systems have a set of advantages such as high speed of acquisition, potential for high accuracy and automation based on advanced image processing algorithms. For vision-based motion capture accurate and robust object features detecting and tracking through the video sequence are the key elements along with a level of automation of capturing process. So for providing high accuracy of obtained spatial data the developed vision-based motion capture system "Mosca" is based on photogrammetric principles of 3D measurements and supports high speed image acquisition in synchronized mode. It includes from 2 to 4 technical vision cameras for capturing video sequences of object motion. The original camera calibration and external orientation procedures provide the basis for high accuracy of 3D measurements. A set of algorithms as for detecting, identifying and tracking of similar targets, so for marker-less object motion capture is developed and tested. The results of algorithms' evaluation show high robustness and high reliability for various motion analysis tasks in technical and biomechanics applications.

  9. Robust and highly performant ring detection algorithm for 3d particle tracking using 2d microscope imaging

    PubMed Central

    Afik, Eldad

    2015-01-01

    Three-dimensional particle tracking is an essential tool in studying dynamics under the microscope, namely, fluid dynamics in microfluidic devices, bacteria taxis, cellular trafficking. The 3d position can be determined using 2d imaging alone by measuring the diffraction rings generated by an out-of-focus fluorescent particle, imaged on a single camera. Here I present a ring detection algorithm exhibiting a high detection rate, which is robust to the challenges arising from ring occlusion, inclusions and overlaps, and allows resolving particles even when near to each other. It is capable of real time analysis thanks to its high performance and low memory footprint. The proposed algorithm, an offspring of the circle Hough transform, addresses the need to efficiently trace the trajectories of many particles concurrently, when their number in not necessarily fixed, by solving a classification problem, and overcomes the challenges of finding local maxima in the complex parameter space which results from ring clusters and noise. Several algorithmic concepts introduced here can be advantageous in other cases, particularly when dealing with noisy and sparse data. The implementation is based on open-source and cross-platform software packages only, making it easy to distribute and modify. It is implemented in a microfluidic experiment allowing real-time multi-particle tracking at 70 Hz, achieving a detection rate which exceeds 94% and only 1% false-detection. PMID:26329642

  10. TIPS Placement in Swine, Guided by Electromagnetic Real-Time Needle Tip Localization Displayed on Previously Acquired 3-D CT

    SciTech Connect

    Solomon, Stephen B.; Magee, Carolyn; Acker, David E.; Venbrux, Anthony C.

    1999-09-15

    Purpose: To determine the feasibility of guiding a transjugular intrahepatic portosystemic shunt (TIPS) procedure with an electromagnetic real-time needle tip position sensor coupled to previously acquired 3-dimensional (3-D) computed tomography (CT) images. Methods: An electromagnetic position sensor was placed at the tip of a Colapinto needle. The real-time position and orientation of the needle tip was then displayed on previously acquired 3-D CT images which were registered with the five swine. Portal vein puncture was then attempted in all animals. Results: The computer calculated accuracy of the position sensor was on average 3 mm. Four of five portal vein punctures were successful. In the successes, only one or two attempts were necessary and success was achieved in minutes. Conclusion: A real-time position sensor attached to the tip of a Colapinto needle and coupled to previously acquired 3-D CT images may potentially aid in entering the portal vein during the TIPS procedure.

  11. Nondestructive 3D confocal laser imaging with deconvolution of seven whole stardust tracks with complementary XRF and quantitative analysis

    SciTech Connect

    Greenberg, M.; Ebel, D.S.

    2009-03-19

    We present a nondestructive 3D system for analysis of whole Stardust tracks, using a combination of Laser Confocal Scanning Microscopy and synchrotron XRF. 3D deconvolution is used for optical corrections, and results of quantitative analyses of several tracks are presented. The Stardust mission to comet Wild 2 trapped many cometary and ISM particles in aerogel, leaving behind 'tracks' of melted silica aerogel on both sides of the collector. Collected particles and their tracks range in size from submicron to millimeter scale. Interstellar dust collected on the obverse of the aerogel collector is thought to have an average track length of {approx}15 {micro}m. It has been our goal to perform a total non-destructive 3D textural and XRF chemical analysis on both types of tracks. To that end, we use a combination of Laser Confocal Scanning Microscopy (LCSM) and X Ray Florescence (XRF) spectrometry. Utilized properly, the combination of 3D optical data and chemical data provides total nondestructive characterization of full tracks, prior to flattening or other destructive analysis methods. Our LCSM techniques allow imaging at 0.075 {micro}m/pixel, without the use of oil-based lenses. A full textural analysis on track No.82 is presented here as well as analysis of 6 additional tracks contained within 3 keystones (No.128, No.129 and No.140). We present a method of removing the axial distortion inherent in LCSM images, by means of a computational 3D Deconvolution algorithm, and present some preliminary experiments with computed point spread functions. The combination of 3D LCSM data and XRF data provides invaluable information, while preserving the integrity of the samples for further analysis. It is imperative that these samples, the first extraterrestrial solids returned since the Apollo era, be fully mapped nondestructively in 3D, to preserve the maximum amount of information prior to other, destructive analysis.

  12. Real-time 3D Fourier-domain optical coherence tomography guided microvascular anastomosis

    NASA Astrophysics Data System (ADS)

    Huang, Yong; Ibrahim, Zuhaib; Lee, W. P. A.; Brandacher, Gerald; Kang, Jin U.

    2013-03-01

    Vascular and microvascular anastomosis is considered to be the foundation of plastic and reconstructive surgery, hand surgery, transplant surgery, vascular surgery and cardiac surgery. In the last two decades innovative techniques, such as vascular coupling devices, thermo-reversible poloxamers and suture-less cuff have been introduced. Intra-operative surgical guidance using a surgical imaging modality that provides in-depth view and 3D imaging can improve outcome following both conventional and innovative anastomosis techniques. Optical coherence tomography (OCT) is a noninvasive high-resolution (micron level), high-speed, 3D imaging modality that has been adopted widely in biomedical and clinical applications. In this work we performed a proof-of-concept evaluation study of OCT as an assisted intraoperative and post-operative imaging modality for microvascular anastomosis of rodent femoral vessels. The OCT imaging modality provided lateral resolution of 12 μm and 3.0 μm axial resolution in air and 0.27 volume/s imaging speed, which could provide the surgeon with clearly visualized vessel lumen wall and suture needle position relative to the vessel during intraoperative imaging. Graphics processing unit (GPU) accelerated phase-resolved Doppler OCT (PRDOCT) imaging of the surgical site was performed as a post-operative evaluation of the anastomosed vessels and to visualize the blood flow and thrombus formation. This information could help surgeons improve surgical precision in this highly challenging anastomosis of rodent vessels with diameter less than 0.5 mm. Our imaging modality could not only detect accidental suture through the back wall of lumen but also promptly diagnose and predict thrombosis immediately after reperfusion. Hence, real-time OCT can assist in decision-making process intra-operatively and avoid post-operative complications.

  13. Automatic 2D to 3D conversion implemented for real-time applications

    NASA Astrophysics Data System (ADS)

    Ponomaryov, Volodymyr; Ramos-Diaz, Eduardo; Gonzalez Huitron, Victor

    2014-05-01

    Different hardware implementations of designed automatic 2D to 3D video color conversion employing 2D video sequence are presented. The analyzed framework includes together processing of neighboring frames using the following blocks: CIELa*b* color space conversion, wavelet transform, edge detection using HF wavelet sub-bands (HF, LH and HH), color segmentation via k-means on a*b* color plane, up-sampling, disparity map (DM) estimation, adaptive postfiltering, and finally, the anaglyph 3D scene generation. During edge detection, the Donoho threshold is computed, then each sub-band is binarized according to a threshold chosen and finally the thresholding image is formed. DM estimation is performed in the following matter: in left stereo image (or frame), a window with varying sizes is used according to the information obtained from binarized sub-band image, distinguishing different texture areas into LL sub-band image. The stereo matching is performed between two (left and right) LL sub-band images using processing with different window sizes. Upsampling procedure is employed in order to obtain the enhanced DM. Adaptive post-processing procedure is based on median filter and k-means segmentation in a*b* color plane. The SSIM and QBP criteria are applied in order to compare the performance of the proposed framework against other disparity map computation techniques. The designed technique has been implemented on DSP TMS320DM648, Matlab's Simulink module over a PC with Windows 7 and using graphic card (NVIDIA Quadro K2000) demonstrating that the proposed approach can be applied in real-time processing mode.

  14. High-speed real-time 3-D coordinates measurement based on fringe projection profilometry considering camera lens distortion

    NASA Astrophysics Data System (ADS)

    Feng, Shijie; Chen, Qian; Zuo, Chao; Sun, Jiasong; Yu, Shi Ling

    2014-10-01

    Optical three-dimensional (3-D) profilometry is gaining increasing attention for its simplicity, flexibility, high accuracy, and non-contact nature. Recent advances in imaging sensors and digital projection technology further its progress in high-speed, real-time applications, enabling 3-D shapes reconstruction of moving objects and dynamic scenes. However, the camera lens is never perfect and the lens distortion does influence the accuracy of the measurement result, which is often overlooked in the existing real-time 3-D shape measurement systems. To this end, here we present a novel high-speed real-time 3-D coordinates measuring technique based on fringe projection with the consideration of the camera lens distortion. A pixel mapping relation between a distorted image and a corrected one is pre-determined and stored in computer memory for real-time fringe correction. The out-of-plane height is obtained firstly and the acquisition for the two corresponding in-plane coordinates follows on the basis of the solved height. Besides, a method of lookup table (LUT) is introduced as well for fast data processing. Our experimental results reveal that the measurement error of the in-plane coordinates has been reduced by one order of magnitude and the accuracy of the out-plane coordinate been tripled after the distortions being eliminated. Moreover, owing to the generated LUTs, a 3-D reconstruction speed of 92.34 frames per second can be achieved.

  15. SU-E-J-237: Real-Time 3D Anatomy Estimation From Undersampled MR Acquisitions

    SciTech Connect

    Glitzner, M; Lagendijk, J; Raaymakers, B; Crijns, S; Senneville, B Denis de

    2015-06-15

    Recent developments made MRI guided radiotherapy feasible. Performing simultaneous imaging during fractions can provide information about changing anatomy by means of deformable image registration for either immediate plan adaptations or accurate dose accumulation on the changing anatomy. In 3D MRI, however, acquisition time is considerable and scales with resolution. Furthermore, intra-scan motion degrades image quality.In this work, we investigate the sensitivity of registration quality on imageresolution: potentially, by employing spatial undersampling, the acquisition timeof MR images for the purpose of deformable image registration can be reducedsignificantly.On a volunteer, 3D-MR imaging data was sampled in a navigator-gated manner, acquiring one axial volume (360×260×100mm{sup 3}) per 3s during exhale phase. A T1-weighted FFE sequence was used with an acquired voxel size of (2.5mm{sup 3}) for a duration of 17min. Deformation vector fields were evaluated for 100 imaging cycles with respect to the initial anatomy using deformable image registration based on optical flow. Subsequently, the imaging data was downsampled by a factor of 2, simulating a fourfold acquisition speed. Displacements of the downsampled volumes were then calculated by the same process.In kidneyliver boundaries and the region around stomach/duodenum, prominent organ drifts could be observed in both the original and the downsampled imaging data. An increasing displacement of approximately 2mm was observed for the kidney, while an area around the stomach showed sudden displacements of 4mm. Comparison of the motile points over time showed high reproducibility between the displacements of high-resolution and downsampled volumes: over a 17min acquisition, the componentwise RMS error was not more than 0.38mm.Based on the synthetic experiments, 3D nonrigid image registration shows little sensitivity to image resolution and the displacement information is preserved even when halving the

  16. A real-time emergency response workstation using a 3-D numerical model initialized with sodar

    SciTech Connect

    Lawver, B.S.; Sullivan, T.J.; Baskett, R.L.

    1993-01-28

    Many emergency response dispersion modeling systems provide simple Gaussian models driven by single meteorological tower inputs to estimate the downwind consequences from accidental spills or stack releases. Complex meteorological or terrain settings demand more sophisticated resolution of the three-dimensional structure of the atmosphere to reliably calculate plume dispersion. Mountain valleys and sea breeze flows are two common examples of such settings. To address these complexities, the authors have implemented the three-dimensional diagnostic MATHEW mass-adjusted wind field and ADPIC particle-in-cell dispersion models on a workstation for use in real-time emergency response modeling. MATHEW/ADPIC have shown their utility in a variety of complex settings over the last 15 years within the Department of Energy`s Atmospheric Release Advisory Capability (ARAC) project. The models are initialized using an array of surface wind measurements from meteorological towers coupled with vertical profiles from an acoustic sounder (sodar). The workstation automatically acquires the meteorological data every 15 minutes. A source term is generated using either defaults or a real-time stack monitor. Model outputs include contoured isopleths displayed on site geography or plume densities shown over 3-D color shaded terrain. The models are automatically updated every 15 minutes to provide the emergency response manager with a continuous display of potentially hazardous ground-level conditions if an actual release were to occur. Model run time is typically less than 2 minutes on 6 megaflop ({approximately}30 MIPS) workstations. Data acquisition, limited by dial-up modem communications, requires 3 to 5 minutes.

  17. Application of 3D WebGIS and real-time technique in earthquake information publishing and visualization

    NASA Astrophysics Data System (ADS)

    Li, Boren; Wu, Jianping; Pan, Mao; Huang, Jing

    2015-06-01

    In hazard management, earthquake researchers have utilized GIS to ease the process of managing disasters. Researchers use WebGIS to assess hazards and seismic risk. Although they can provide a visual analysis platform based on GIS technology, they lack a general description in the extensibility of WebGIS for processing dynamic data, especially real-time data. In this paper, we propose a novel approach for real-time 3D visual earthquake information publishing model based on WebGIS and digital globe to improve the ability of processing real-time data in systems based on WebGIS. On the basis of the model, we implement a real-time 3D earthquake information publishing system—EqMap3D. The system can not only publish real-time earthquake information but also display these data and their background geoscience information in a 3D scene. It provides a powerful tool for display, analysis, and decision-making for researchers and administrators. It also facilitates better communication between researchers engaged in geosciences and the interested public.

  18. Real-time computer-generated integral imaging and 3D image calibration for augmented reality surgical navigation.

    PubMed

    Wang, Junchen; Suenaga, Hideyuki; Liao, Hongen; Hoshi, Kazuto; Yang, Liangjing; Kobayashi, Etsuko; Sakuma, Ichiro

    2015-03-01

    Autostereoscopic 3D image overlay for augmented reality (AR) based surgical navigation has been studied and reported many times. For the purpose of surgical overlay, the 3D image is expected to have the same geometric shape as the original organ, and can be transformed to a specified location for image overlay. However, how to generate a 3D image with high geometric fidelity and quantitative evaluation of 3D image's geometric accuracy have not been addressed. This paper proposes a graphics processing unit (GPU) based computer-generated integral imaging pipeline for real-time autostereoscopic 3D display, and an automatic closed-loop 3D image calibration paradigm for displaying undistorted 3D images. Based on the proposed methods, a novel AR device for 3D image surgical overlay is presented, which mainly consists of a 3D display, an AR window, a stereo camera for 3D measurement, and a workstation for information processing. The evaluation on the 3D image rendering performance with 2560×1600 elemental image resolution shows the rendering speeds of 50-60 frames per second (fps) for surface models, and 5-8 fps for large medical volumes. The evaluation of the undistorted 3D image after the calibration yields sub-millimeter geometric accuracy. A phantom experiment simulating oral and maxillofacial surgery was also performed to evaluate the proposed AR overlay device in terms of the image registration accuracy, 3D image overlay accuracy, and the visual effects of the overlay. The experimental results show satisfactory image registration and image overlay accuracy, and confirm the system usability.

  19. The Quantitative Measurement Of Temperature Distribution In 3-D Thermal Field With High-Speed Real-Time Holographic Interferometry

    NASA Astrophysics Data System (ADS)

    Ji-zong, Wu; Wei-qiao, Fu; Qin, Wu

    1989-06-01

    The theory of using high-speed real-time holographic interferometry to measure quantitatively 3-D thermal field is discussed in thispaper. An experimental arrangement, and the holographic interference fringes of thermal field formed by the electrAc heating coil wires which were taken by the high-speed camera are given. With CONCEPT 32/2725 computer system and corresponding programms the distribution of 3-D thermal field is calculated and plotted Finally, the problems required to be improved and solved for the method of measuring quantitatively 3-D thermal field are discussed.

  20. Registration of Real-Time 3-D Ultrasound to Tomographic Images of the Abdominal Aorta.

    PubMed

    Brekken, Reidar; Iversen, Daniel Høyer; Tangen, Geir Arne; Dahl, Torbjørn

    2016-08-01

    The purpose of this study was to develop an image-based method for registration of real-time 3-D ultrasound to computed tomography (CT) of the abdominal aorta, targeting future use in ultrasound-guided endovascular intervention. We proposed a method in which a surface model of the aortic wall was segmented from CT, and the approximate initial location of this model relative to the ultrasound volume was manually indicated. The model was iteratively transformed to automatically optimize correspondence to the ultrasound data. Feasibility was studied using data from a silicon phantom and in vivo data from a volunteer with previously acquired CT. Through visual evaluation, the ultrasound and CT data were seen to correspond well after registration. Both aortic lumen and branching arteries were well aligned. The processing was done offline, and the registration took approximately 0.2 s per ultrasound volume. The results encourage further patient studies to investigate accuracy, robustness and clinical value of the approach. PMID:27156015

  1. Real-time 3D visualization of cellular rearrangements during cardiac valve formation.

    PubMed

    Pestel, Jenny; Ramadass, Radhan; Gauvrit, Sebastien; Helker, Christian; Herzog, Wiebke; Stainier, Didier Y R

    2016-06-15

    During cardiac valve development, the single-layered endocardial sheet at the atrioventricular canal (AVC) is remodeled into multilayered immature valve leaflets. Most of our knowledge about this process comes from examining fixed samples that do not allow a real-time appreciation of the intricacies of valve formation. Here, we exploit non-invasive in vivo imaging techniques to identify the dynamic cell behaviors that lead to the formation of the immature valve leaflets. We find that in zebrafish, the valve leaflets consist of two sets of endocardial cells at the luminal and abluminal side, which we refer to as luminal cells (LCs) and abluminal cells (ALCs), respectively. By analyzing cellular rearrangements during valve formation, we observed that the LCs and ALCs originate from the atrium and ventricle, respectively. Furthermore, we utilized Wnt/β-catenin and Notch signaling reporter lines to distinguish between the LCs and ALCs, and also found that cardiac contractility and/or blood flow is necessary for the endocardial expression of these signaling reporters. Thus, our 3D analyses of cardiac valve formation in zebrafish provide fundamental insights into the cellular rearrangements underlying this process.

  2. A 3D Vector/Scalar Visualization and Particle Tracking Package

    1999-08-19

    BOILERMAKER is an interactive visualization system consisting of three components: a visualization component, a particle tracking component, and a communication layer. The software, to date, has been used primarily in the visualization of vector and scalar fields associated with computational fluid dynamics (CFD) models of flue gas flows in industrial boilers and incinerators. Users can interactively request and toggle static vector fields, dynamic streamlines, and flowing vector fields. In addition, the user can interactively placemore » injector nozzles on boiler walls and visualize massed, evaporating sprays emanating from them. Some characteristics of the spray can be adjusted from within the visualization environment including spray shape and particle size. Also included with this release is software that supports 3D menu capabilities, scrollbars, communication and navigation.« less

  3. A 3D Vector/Scalar Visualization and Particle Tracking Package

    SciTech Connect

    Freitag, Lori; Disz, Terry; Papka, Mike; Heath, Daniel; Diachin, Darin; Herzog, Jim; Ryan, and Bob

    1999-08-19

    BOILERMAKER is an interactive visualization system consisting of three components: a visualization component, a particle tracking component, and a communication layer. The software, to date, has been used primarily in the visualization of vector and scalar fields associated with computational fluid dynamics (CFD) models of flue gas flows in industrial boilers and incinerators. Users can interactively request and toggle static vector fields, dynamic streamlines, and flowing vector fields. In addition, the user can interactively place injector nozzles on boiler walls and visualize massed, evaporating sprays emanating from them. Some characteristics of the spray can be adjusted from within the visualization environment including spray shape and particle size. Also included with this release is software that supports 3D menu capabilities, scrollbars, communication and navigation.

  4. Neural network techniques for invariant recognition and motion tracking of 3-D objects

    SciTech Connect

    Hwang, J.N.; Tseng, Y.H.

    1995-12-31

    Invariant recognition and motion tracking of 3-D objects under partial object viewing are difficult tasks. In this paper, we introduce a new neural network solution that is robust to noise corruption and partial viewing of objects. This method directly utilizes the acquired range data and requires no feature extraction. In the proposed approach, the object is first parametrically represented by a continuous distance transformation neural network (CDTNN) which is trained by the surface points of the exemplar object. When later presented with the surface points of an unknown object, this parametric representation allows the mismatch information to back-propagate through the CDTNN to gradually determine the best similarity transformation (translation and rotation) of the unknown object. The mismatch can be directly measured in the reconstructed representation domain between the model and the unknown object.

  5. Application of 3D hydrodynamic and particle tracking models for better environmental management of finfish culture

    NASA Astrophysics Data System (ADS)

    Moreno Navas, Juan; Telfer, Trevor C.; Ross, Lindsay G.

    2011-04-01

    Hydrographic conditions, and particularly current speeds, have a strong influence on the management of fish cage culture. These hydrodynamic conditions can be used to predict particle movement within the water column and the results used to optimise environmental conditions for effective site selection, setting of environmental quality standards, waste dispersion, and potential disease transfer. To this end, a 3D hydrodynamic model, MOHID, has been coupled to a particle tracking model to study the effects of mean current speed, quiescent water periods and bulk water circulation in Mulroy Bay, Co. Donegal Ireland, an Irish fjard (shallow fjordic system) important to the aquaculture industry. A Lagangrian method simulated the instantaneous release of "particles" emulating discharge from finfish cages to show the behaviour of waste in terms of water circulation and water exchange. The 3D spatial models were used to identify areas of mixed and stratified water using a version of the Simpson-Hunter criteria, and to use this in conjunction with models of current flow for appropriate site selection for salmon aquaculture. The modelled outcomes for stratification were in good agreement with the direct measurements of water column stratification based on observed density profiles. Calculations of the Simpson-Hunter tidal parameter indicated that most of Mulroy Bay was potentially stratified with a well mixed region over the shallow channels where the water is faster flowing. The fjard was characterised by areas of both very low and high mean current speeds, with some areas having long periods of quiescent water. The residual current and the particle tracking animations created through the models revealed an anticlockwise eddy that may influence waste dispersion and potential for disease transfer, among salmon cages and which ensures that the retention time of waste substances from cages is extended. The hydrodynamic model results were incorporated into the ArcView TM GIS

  6. Defragmented image based autostereoscopic 3D displays with dynamic eye tracking

    NASA Astrophysics Data System (ADS)

    Kim, Sung-Kyu; Yoon, Ki-Hyuk; Yoon, Seon Kyu; Ju, Heongkyu

    2015-12-01

    We studied defragmented image based autostereoscopic 3D displays with dynamic eye tracking. Specifically, we examined the impact of parallax barrier (PB) angular orientation on their image quality. The 3D display system required fine adjustment of PB angular orientation with respect to a display panel. This was critical for both image color balancing and minimizing image resolution mismatch between horizontal and vertical directions. For evaluating uniformity of image brightness, we applied optical ray tracing simulations. The simulations took effects of PB orientation misalignment into account. The simulation results were then compared with recorded experimental data. Our optimal simulated system produced significantly enhanced image uniformity at around sweet spots in viewing zones. However this was contradicted by real experimental results. We offer quantitative treatment of illuminance uniformity of view images to estimate misalignment of PB orientation, which could account for brightness non-uniformity observed experimentally. Our study also shows that slight imperfection in the adjustment of PB orientation due to practical restrictions of adjustment accuracy can induce substantial non-uniformity of view images' brightness. We find that image brightness non-uniformity critically depends on misalignment of PB angular orientation, for example, as slight as ≤ 0.01 ° in our system. This reveals that reducing misalignment of PB angular orientation from the order of 10-2 to 10-3 degrees can greatly improve the brightness uniformity.

  7. Using an Automated 3D-tracking System to Record Individual and Shoals of Adult Zebrafish

    PubMed Central

    Maaswinkel, Hans; Zhu, Liqun; Weng, Wei

    2013-01-01

    Like many aquatic animals, zebrafish (Danio rerio) moves in a 3D space. It is thus preferable to use a 3D recording system to study its behavior. The presented automatic video tracking system accomplishes this by using a mirror system and a calibration procedure that corrects for the considerable error introduced by the transition of light from water to air. With this system it is possible to record both single and groups of adult zebrafish. Before use, the system has to be calibrated. The system consists of three modules: Recording, Path Reconstruction, and Data Processing. The step-by-step protocols for calibration and using the three modules are presented. Depending on the experimental setup, the system can be used for testing neophobia, white aversion, social cohesion, motor impairments, novel object exploration etc. It is especially promising as a first-step tool to study the effects of drugs or mutations on basic behavioral patterns. The system provides information about vertical and horizontal distribution of the zebrafish, about the xyz-components of kinematic parameters (such as locomotion, velocity, acceleration, and turning angle) and it provides the data necessary to calculate parameters for social cohesions when testing shoals. PMID:24336189

  8. A new method for automatic tracking of facial landmarks in 3D motion captured images (4D).

    PubMed

    Al-Anezi, T; Khambay, B; Peng, M J; O'Leary, E; Ju, X; Ayoub, A

    2013-01-01

    The aim of this study was to validate the automatic tracking of facial landmarks in 3D image sequences. 32 subjects (16 males and 16 females) aged 18-35 years were recruited. 23 anthropometric landmarks were marked on the face of each subject with non-permanent ink using a 0.5mm pen. The subjects were asked to perform three facial animations (maximal smile, lip purse and cheek puff) from rest position. Each animation was captured by the 3D imaging system. A single operator manually digitised the landmarks on the 3D facial models and their locations were compared with those of the automatically tracked ones. To investigate the accuracy of manual digitisation, the operator re-digitised the same set of 3D images of 10 subjects (5 male and 5 female) at 1 month interval. The discrepancies in x, y and z coordinates between the 3D position of the manual digitised landmarks and that of the automatic tracked facial landmarks were within 0.17mm. The mean distance between the manually digitised and the automatically tracked landmarks using the tracking software was within 0.55 mm. The automatic tracking of facial landmarks demonstrated satisfactory accuracy which would facilitate the analysis of the dynamic motion during facial animations. PMID:23218511

  9. A new method for automatic tracking of facial landmarks in 3D motion captured images (4D).

    PubMed

    Al-Anezi, T; Khambay, B; Peng, M J; O'Leary, E; Ju, X; Ayoub, A

    2013-01-01

    The aim of this study was to validate the automatic tracking of facial landmarks in 3D image sequences. 32 subjects (16 males and 16 females) aged 18-35 years were recruited. 23 anthropometric landmarks were marked on the face of each subject with non-permanent ink using a 0.5mm pen. The subjects were asked to perform three facial animations (maximal smile, lip purse and cheek puff) from rest position. Each animation was captured by the 3D imaging system. A single operator manually digitised the landmarks on the 3D facial models and their locations were compared with those of the automatically tracked ones. To investigate the accuracy of manual digitisation, the operator re-digitised the same set of 3D images of 10 subjects (5 male and 5 female) at 1 month interval. The discrepancies in x, y and z coordinates between the 3D position of the manual digitised landmarks and that of the automatic tracked facial landmarks were within 0.17mm. The mean distance between the manually digitised and the automatically tracked landmarks using the tracking software was within 0.55 mm. The automatic tracking of facial landmarks demonstrated satisfactory accuracy which would facilitate the analysis of the dynamic motion during facial animations.

  10. Design and application of real-time visual attention model for the exploration of 3D virtual environments.

    PubMed

    Hillaire, Sébastien; Lécuyer, Anatole; Regia-Corte, Tony; Cozot, Rémi; Royan, Jérôme; Breton, Gaspard

    2012-03-01

    This paper studies the design and application of a novel visual attention model designed to compute user's gaze position automatically, i.e., without using a gaze-tracking system. The model we propose is specifically designed for real-time first-person exploration of 3D virtual environments. It is the first model adapted to this context which can compute in real time a continuous gaze point position instead of a set of 3D objects potentially observed by the user. To do so, contrary to previous models which use a mesh-based representation of visual objects, we introduce a representation based on surface-elements. Our model also simulates visual reflexes and the cognitive processes which take place in the brain such as the gaze behavior associated to first-person navigation in the virtual environment. Our visual attention model combines both bottom-up and top-down components to compute a continuous gaze point position on screen that hopefully matches the user's one. We conducted an experiment to study and compare the performance of our method with a state-of-the-art approach. Our results are found significantly better with sometimes more than 100 percent of accuracy gained. This suggests that computing a gaze point in a 3D virtual environment in real time is possible and is a valid approach, compared to object-based approaches. Finally, we expose different applications of our model when exploring virtual environments. We present different algorithms which can improve or adapt the visual feedback of virtual environments based on gaze information. We first propose a level-of-detail approach that heavily relies on multiple-texture sampling. We show that it is possible to use the gaze information of our visual attention model to increase visual quality where the user is looking, while maintaining a high-refresh rate. Second, we introduce the use of the visual attention model in three visual effects inspired by the human visual system namely: depth-of-field blur, camera

  11. Design and application of real-time visual attention model for the exploration of 3D virtual environments.

    PubMed

    Hillaire, Sébastien; Lécuyer, Anatole; Regia-Corte, Tony; Cozot, Rémi; Royan, Jérôme; Breton, Gaspard

    2012-03-01

    This paper studies the design and application of a novel visual attention model designed to compute user's gaze position automatically, i.e., without using a gaze-tracking system. The model we propose is specifically designed for real-time first-person exploration of 3D virtual environments. It is the first model adapted to this context which can compute in real time a continuous gaze point position instead of a set of 3D objects potentially observed by the user. To do so, contrary to previous models which use a mesh-based representation of visual objects, we introduce a representation based on surface-elements. Our model also simulates visual reflexes and the cognitive processes which take place in the brain such as the gaze behavior associated to first-person navigation in the virtual environment. Our visual attention model combines both bottom-up and top-down components to compute a continuous gaze point position on screen that hopefully matches the user's one. We conducted an experiment to study and compare the performance of our method with a state-of-the-art approach. Our results are found significantly better with sometimes more than 100 percent of accuracy gained. This suggests that computing a gaze point in a 3D virtual environment in real time is possible and is a valid approach, compared to object-based approaches. Finally, we expose different applications of our model when exploring virtual environments. We present different algorithms which can improve or adapt the visual feedback of virtual environments based on gaze information. We first propose a level-of-detail approach that heavily relies on multiple-texture sampling. We show that it is possible to use the gaze information of our visual attention model to increase visual quality where the user is looking, while maintaining a high-refresh rate. Second, we introduce the use of the visual attention model in three visual effects inspired by the human visual system namely: depth-of-field blur, camera

  12. Infrared tomographic PIV and 3D motion tracking system applied to aquatic predator-prey interaction

    NASA Astrophysics Data System (ADS)

    Adhikari, Deepak; Longmire, Ellen K.

    2013-02-01

    Infrared tomographic PIV and 3D motion tracking are combined to measure evolving volumetric velocity fields and organism trajectories during aquatic predator-prey interactions. The technique was used to study zebrafish foraging on both non-evasive and evasive prey species. Measurement volumes of 22.5 mm × 10.5 mm × 12 mm were reconstructed from images captured on a set of four high-speed cameras. To obtain accurate fluid velocity vectors within each volume, fish were first masked out using an automated visual hull method. Fish and prey locations were identified independently from the same image sets and tracked separately within the measurement volume. Experiments demonstrated that fish were not influenced by the infrared laser illumination or the tracer particles. Results showed that the zebrafish used different strategies, suction and ram feeding, for successful capture of non-evasive and evasive prey, respectively. The two strategies yielded different variations in fluid velocity between the fish mouth and the prey. In general, the results suggest that the local flow field, the direction of prey locomotion with respect to the predator and the relative accelerations and speeds of the predator and prey may all be significant in determining predation success.

  13. New fabrication techniques for ring-array transducers for real-time 3D intravascular ultrasound.

    PubMed

    Light, Edward D; Lieu, Victor; Smith, Stephen W

    2009-10-01

    We have previously described miniature 2D array transducers integrated into a Cook Medical, Inc. vena cava filter deployment device. While functional, the fabrication technique was very labor intensive and did not lend itself well to efficient fabrication of large numbers of devices. We developed two new fabrication methods that we believe can be used to efficiently manufacture these types of devices in greater than prototype numbers. One transducer consisted of 55 elements operating near 5 MHz. The interelement spacing is 0.20 mm. It was constructed on a flat piece of copper-clad polyimide and then wrapped around an 11 French catheter of a Cook Medical, Inc. inferior vena cava (IVC) filter deployment device. We used a braided wiring technology from Tyco Electronics Corp. to connect the elements to our real-time 3D ultrasound scanner. Typical measured transducer element bandwidth was 20% centered at 4.7 MHz and the 50 Omega round trip insertion loss was --82 dB. The mean of the nearest neighbor cross talk was -37.0 dB. The second method consisted of a 46-cm long single layer flex circuit from MicroConnex that terminates in an interconnect that plugs directly into our system cable. This transducer had 70 elements at 0.157 mm interelement spacing operating at 4.8 MHz. Typical measured transducer element bandwidth was 29% and the 50 Omega round trip insertion loss was -83 dB. The mean of the nearest neighbor cross talk was -33.0 dB. PMID:20458877

  14. A smart homecage system with 3D tracking for long-term behavioral experiments.

    PubMed

    Byunghun Lee; Kiani, Mehdi; Ghovanloo, Maysam

    2014-01-01

    A wirelessly-powered homecage system, called the EnerCage-HC, that is equipped with multi-coil wireless power transfer, closed-loop power control, optical behavioral tracking, and a graphic user interface (GUI) is presented for long-term electrophysiology experiments. The EnerCage-HC system can wirelessly power a mobile unit attached to a small animal subject and also track its behavior in real-time as it is housed inside a standard homecage. The EnerCage-HC system is equipped with one central and four overlapping slanted wire-wound coils (WWCs) with optimal geometries to form 3-and 4-coil power transmission links while operating at 13.56 MHz. Utilizing multi-coil links increases the power transfer efficiency (PTE) compared to conventional 2-coil links and also reduces the number of power amplifiers (PAs) to only one, which significantly reduces the system complexity, cost, and dissipated heat. A Microsoft Kinect installed 90 cm above the homecage localizes the animal position and orientation with 1.6 cm accuracy. An in vivo experiment was conducted on a freely behaving rat by continuously delivering 24 mW to the mobile unit for > 7 hours inside a standard homecage. PMID:25570379

  15. A Smart Homecage System with 3D Tracking for Long-Term Behavioral Experiments

    PubMed Central

    Lee, Byunghun; Kiani, Mehdi; Ghovanloo, Maysam

    2015-01-01

    A wirelessly-powered homecage system, called the EnerCage-HC, that is equipped with multi-coil wireless power transfer, closed-loop power control, optical behavioral tracking, and a graphic user interface (GUI) is presented for long-term electrophysiology experiments. The EnerCage-HC system can wirelessly power a mobile unit attached to a small animal subject and also track its behavior in real-time as it is housed inside a standard homecage. The EnerCage-HC system is equipped with one central and four overlapping slanted wire-wound coils (WWCs) with optimal geometries to form 3- and 4-coil power transmission links while operating at 13.56 MHz. Utilizing multi-coil links increases the power transfer efficiency (PTE) compared to conventional 2-coil links and also reduces the number of power amplifiers (PAs) to only one, which significantly reduces the system complexity, cost, and dissipated heat. A Microsoft Kinect installed 90 cm above the homecage localizes the animal position and orientation with 1.6 cm accuracy. An in vivo experiment was conducted on a freely behaving rat by continuously delivering 24 mW to the mobile unit for > 7 hours inside a standard homecage. PMID:25570379

  16. Automated 3D Motion Tracking using Gabor Filter Bank, Robust Point Matching, and Deformable Models

    PubMed Central

    Wang, Xiaoxu; Chung, Sohae; Metaxas, Dimitris; Axel, Leon

    2013-01-01

    Tagged Magnetic Resonance Imaging (tagged MRI or tMRI) provides a means of directly and noninvasively displaying the internal motion of the myocardium. Reconstruction of the motion field is needed to quantify important clinical information, e.g., the myocardial strain, and detect regional heart functional loss. In this paper, we present a three-step method for this task. First, we use a Gabor filter bank to detect and locate tag intersections in the image frames, based on local phase analysis. Next, we use an improved version of the Robust Point Matching (RPM) method to sparsely track the motion of the myocardium, by establishing a transformation function and a one-to-one correspondence between grid tag intersections in different image frames. In particular, the RPM helps to minimize the impact on the motion tracking result of: 1) through-plane motion, and 2) relatively large deformation and/or relatively small tag spacing. In the final step, a meshless deformable model is initialized using the transformation function computed by RPM. The model refines the motion tracking and generates a dense displacement map, by deforming under the influence of image information, and is constrained by the displacement magnitude to retain its geometric structure. The 2D displacement maps in short and long axis image planes can be combined to drive a 3D deformable model, using the Moving Least Square method, constrained by the minimization of the residual error at tag intersections. The method has been tested on a numerical phantom, as well as on in vivo heart data from normal volunteers and heart disease patients. The experimental results show that the new method has a good performance on both synthetic and real data. Furthermore, the method has been used in an initial clinical study to assess the differences in myocardial strain distributions between heart disease (left ventricular hypertrophy) patients and the normal control group. The final results show that the proposed method

  17. Tracking Paths of Ocean Source Ambient Seismic Noise into, and through, the 3D Earth

    NASA Astrophysics Data System (ADS)

    Reading, A. M.; Gal, M.; Morse, P. E.; Koper, K. D.; Hemer, M. A.; Rawlinson, N.; Salmon, M.; De Kool, M.; Kennett, B. L. N.

    2014-12-01

    Array measurements of seismic noise (microseisms) are emerging as independent observables that inform our knowledge of ocean storms. Using an improved implementation of IAS Capon analysis, we can infer the location and amplitude of multiple sources of seismic noise over multiple decades. For the Southern Ocean, we can use seismic records to assist in identifying shifting patterns of ocean storms. Thus we can investigate topics such as the disparity between wave height trends identified using calibrated satellite records, which appear to be in increasing over multiple decades, and wave heights measured directly using a wave-rider buoy, which does not show a significant change over the same time frame. The passage of wave energy from the water column to the solid Earth, and through the 3D Earth to the seismic array must be tracked effectively. In this contribution, we focus on understanding the passage of seismic noise through the 3D Earth. In particular, we investigate path deviations from 1D Earth models for body waves sources from a variety of locations in the Southern Ocean recorded at Australian seismic arrays. We also investigate path deviations of surface waves travelling across the Australian continent, using the AusREM Earth model. We also appraise other factors affecting the interpretation of slowness, backazimuth and amplitude from seismic array records. These include the effect of the bathymetry-related transfer function controlling energy entering the solid Earth from the water column and the impact of local geology at the site of the seismic array. For a season of storms in the southern hemisphere winter, we simulate the path of energy from a representative range of locations to Australia seismic arrays. We employ a wavefront tracking technique, fast marching, that can support heterogeneous structure and the consideration of multiple arrivals. We find that storms in some locations are subject to a much larger deviation from the expected path of energy

  18. Programmable real-time applications with the 3D-Flow for input data rate systems of hundreds of MHz

    SciTech Connect

    Crosetto, D.

    1996-02-01

    The applicability of the 3D-Flow system to different experimental setups for real-time applications in the range of hundreds of nanoseconds is described. The results of the simulation of several real-time applications using the 3D-Flow demonstrate the advantages of a simple architecture that carries out operations in a balanced manner using regular connections and exceptionally few replicated components compared to conventional microprocessors. Diverse applications can be found that will benefit from this approach: High Energy Physics (HEP), which typically requires discerning patterns from thousands of accelerator particle collision signals up to 40 Mhz input data rate; Medical Imaging, that requires interactive tools for studying fast occurring biological processes; processing output from high-rate CCD cameras in commercial applications, such as quality control in manufacturing; data compression; speech and character recognition; automatic automobile guidance, and other applications. The 3D-Flow system was conceived for experiments at the Superconducting Super Collider (SSC). It was adopted by the Gamma Electron and Muon (GEM) experiment that was to be used for particle identification. The target of the 3D-Flow system was real-time pattern recognition at 100 million frames/sec.

  19. 3-D geometry calibration and markerless electromagnetic tracking with a mobile C-arm

    NASA Astrophysics Data System (ADS)

    Cheryauka, Arvi; Barrett, Johnny; Wang, Zhonghua; Litvin, Andrew; Hamadeh, Ali; Beaudet, Daniel

    2007-03-01

    The design of mobile X-ray C-arm equipment with image tomography and surgical guidance capabilities involves the retrieval of repeatable gantry positioning in three-dimensional space. Geometry misrepresentations can cause degradation of the reconstruction results with the appearance of blurred edges, image artifacts, and even false structures. It may also amplify surgical instrument tracking errors leading to improper implant placement. In our prior publications we have proposed a C-arm 3D positioner calibration method comprising separate intrinsic and extrinsic geometry calibration steps. Following this approach, in the present paper, we extend the intrinsic geometry calibration of C-gantry beyond angular positions in the orbital plane into angular positions on a unit sphere of isocentric rotation. Our method makes deployment of markerless interventional tool guidance with use of high-resolution fluoro images and electromagnetic tracking feasible at any angular position of the tube-detector assembly. Variations of the intrinsic parameters associated with C-arm motion are measured off-line as functions of orbital and lateral angles. The proposed calibration procedure provides better accuracy, and prevents unnecessary workflow steps for surgical navigation applications. With a slight modification, the Misalignment phantom, a tool for intrinsic geometry calibration, is also utilized to obtain an accurate 'image-to-sensor' mapping. We show simulation results, image quality and navigation accuracy estimates, and feasibility data acquired with the prototype system. The experimental results show the potential of high-resolution CT imaging (voxel size below 0.5 mm) and confident navigation in an interventional surgery setting with a mobile C-arm.

  20. Model Estimation and Selection towardsUnconstrained Real-Time Tracking and Mapping.

    PubMed

    Gauglitz, Steffen; Sweeney, Chris; Ventura, Jonathan; Turk, Matthew; Höllerer, Tobias

    2014-06-01

    We present an approach and prototype implementation to initialization-free real-time tracking and mapping that supports any type of camera motion in 3D environments, that is, parallax-inducing as well as rotation-only motions. Our approach effectively behaves like a keyframe-based Simultaneous Localization and Mapping system or a panorama tracking and mapping system, depending on the camera movement. It seamlessly switches between the two modes and is thus able to track and map through arbitrary sequences of parallax-inducing and rotation-only camera movements. The system integrates both model-based and model-free tracking, automatically choosing between the two depending on the situation, and subsequently uses the "Geometric Robust Information Criterion" to decide whether the current camera motion can best be represented as a parallax-inducing motion or a rotation-only motion. It continues to collect and map data after tracking failure by creating separate tracks which are later merged if they are found to overlap. This is in contrast to most existing tracking and mapping systems, which suspend tracking and mapping and thus discard valuable data until relocalization with respect to the initial map is successful. We tested our prototype implementation on a variety of video sequences, successfully tracking through different camera motions and fully automatically building combinations of panoramas and 3D structure. PMID:26357301

  1. Model Estimation and Selection towards Unconstrained Real-Time Tracking and Mapping.

    PubMed

    Gauglitz, Steffen; Sweeney, Chris; Ventura, Jonathan; Turk, Matthew; Höllerer, Tobias

    2013-10-16

    We present an approach and prototype implementation to initialization-free real-time tracking and mapping that supports any type of camera motion in 3D environments, that is, parallax-inducing as well as rotation-only motions. Our approach effectively behaves like a keyframe-based Simultaneous Localization and Mapping system or a panorama tracking and mapping system, depending on the camera movement. It seamlessly switches between the two modes and is thus able to track and map through arbitrary sequences of parallax-inducing and rotation-only camera movements. The system integrates both model-based and model-free tracking, automatically choosing between the two depending on the situation, and subsequently uses the `Geometric Robust Information Criterion' to decide whether the current camera motion can best be represented as a parallax inducing motion or a rotation-only motion. It continues to collect and map data after tracking failure, thus creating separate tracks which are later merged if they are found to overlap. This is in contrast to most existing tracking and mapping systems, which suspend tracking and mapping and thus discard valuable data until relocalization with respect to the initial map is successful. We tested our prototype implementation on a variety of video sequences, successfully tracking through different camera motions and fully automatically building combinations of panoramas and 3D structure. PMID:24144984

  2. Real-Time Climate Simulations in the Interactive 3D Game Universe Sandbox ²

    NASA Astrophysics Data System (ADS)

    Goldenson, N. L.

    2014-12-01

    Exploration in an open-ended computer game is an engaging way to explore climate and climate change. Everyone can explore physical models with real-time visualization in the educational simulator Universe Sandbox ² (universesandbox.com/2), which includes basic climate simulations on planets. I have implemented a time-dependent, one-dimensional meridional heat transport energy balance model to run and be adjustable in real time in the midst of a larger simulated system. Universe Sandbox ² is based on the original game - at its core a gravity simulator - with other new physically-based content for stellar evolution, and handling collisions between bodies. Existing users are mostly science enthusiasts in informal settings. We believe that this is the first climate simulation to be implemented in a professionally developed computer game with modern 3D graphical output in real time. The type of simple climate model we've adopted helps us depict the seasonal cycle and the more drastic changes that come from changing the orbit or other external forcings. Users can alter the climate as the simulation is running by altering the star(s) in the simulation, dragging to change orbits and obliquity, adjusting the climate simulation parameters directly or changing other properties like CO2 concentration that affect the model parameters in representative ways. Ongoing visuals of the expansion and contraction of sea ice and snow-cover respond to the temperature calculations, and make it accessible to explore a variety of scenarios and intuitive to understand the output. Variables like temperature can also be graphed in real time. We balance computational constraints with the ability to capture the physical phenomena we wish to visualize, giving everyone access to a simple open-ended meridional energy balance climate simulation to explore and experiment with. The software lends itself to labs at a variety of levels about climate concepts including seasons, the Greenhouse effect

  3. Multithreaded real-time 3D image processing software architecture and implementation

    NASA Astrophysics Data System (ADS)

    Ramachandra, Vikas; Atanassov, Kalin; Aleksic, Milivoje; Goma, Sergio R.

    2011-03-01

    Recently, 3D displays and videos have generated a lot of interest in the consumer electronics industry. To make 3D capture and playback popular and practical, a user friendly playback interface is desirable. Towards this end, we built a real time software 3D video player. The 3D video player displays user captured 3D videos, provides for various 3D specific image processing functions and ensures a pleasant viewing experience. Moreover, the player enables user interactivity by providing digital zoom and pan functionalities. This real time 3D player was implemented on the GPU using CUDA and OpenGL. The player provides user interactive 3D video playback. Stereo images are first read by the player from a fast drive and rectified. Further processing of the images determines the optimal convergence point in the 3D scene to reduce eye strain. The rationale for this convergence point selection takes into account scene depth and display geometry. The first step in this processing chain is identifying keypoints by detecting vertical edges within the left image. Regions surrounding reliable keypoints are then located on the right image through the use of block matching. The difference in the positions between the corresponding regions in the left and right images are then used to calculate disparity. The extrema of the disparity histogram gives the scene disparity range. The left and right images are shifted based upon the calculated range, in order to place the desired region of the 3D scene at convergence. All the above computations are performed on one CPU thread which calls CUDA functions. Image upsampling and shifting is performed in response to user zoom and pan. The player also consists of a CPU display thread, which uses OpenGL rendering (quad buffers). This also gathers user input for digital zoom and pan and sends them to the processing thread.

  4. Real-Time Feature Tracking Using Homography

    NASA Technical Reports Server (NTRS)

    Clouse, Daniel S.; Cheng, Yang; Ansar, Adnan I.; Trotz, David C.; Padgett, Curtis W.

    2010-01-01

    This software finds feature point correspondences in sequences of images. It is designed for feature matching in aerial imagery. Feature matching is a fundamental step in a number of important image processing operations: calibrating the cameras in a camera array, stabilizing images in aerial movies, geo-registration of images, and generating high-fidelity surface maps from aerial movies. The method uses a Shi-Tomasi corner detector and normalized cross-correlation. This process is likely to result in the production of some mismatches. The feature set is cleaned up using the assumption that there is a large planar patch visible in both images. At high altitude, this assumption is often reasonable. A mathematical transformation, called an homography, is developed that allows us to predict the position in image 2 of any point on the plane in image 1. Any feature pair that is inconsistent with the homography is thrown out. The output of the process is a set of feature pairs, and the homography. The algorithms in this innovation are well known, but the new implementation improves the process in several ways. It runs in real-time at 2 Hz on 64-megapixel imagery. The new Shi-Tomasi corner detector tries to produce the requested number of features by automatically adjusting the minimum distance between found features. The homography-finding code now uses an implementation of the RANSAC algorithm that adjusts the number of iterations automatically to achieve a pre-set probability of missing a set of inliers. The new interface allows the caller to pass in a set of predetermined points in one of the images. This allows the ability to track the same set of points through multiple frames.

  5. Portable high-intensity focused ultrasound system with 3D electronic steering, real-time cavitation monitoring, and 3D image reconstruction algorithms: a preclinical study in pigs

    PubMed Central

    2014-01-01

    Purpose: The aim of this study was to evaluate the safety and accuracy of a new portable ultrasonography-guided high-intensity focused ultrasound (USg-HIFU) system with a 3-dimensional (3D) electronic steering transducer, a simultaneous ablation and imaging module, real-time cavitation monitoring, and 3D image reconstruction algorithms. Methods: To address the accuracy of the transducer, hydrophones in a water chamber were used to assess the generation of sonic fields. An animal study was also performed in five pigs by ablating in vivo thighs by single-point sonication (n=10) or volume sonication (n=10) and ex vivo kidneys by single-point sonication (n=10). Histological and statistical analyses were performed. Results: In the hydrophone study, peak voltages were detected within 1.0 mm from the targets on the y- and z-axes and within 2.0-mm intervals along the x-axis (z-axis, direction of ultrasound propagation; y- and x-axes, perpendicular to the direction of ultrasound propagation). Twenty-nine of 30 HIFU sessions successfully created ablations at the target. The in vivo porcine thigh study showed only a small discrepancy (width, 0.5-1.1 mm; length, 3.0 mm) between the planning ultrasonograms and the pathological specimens. Inordinate thermal damage was not observed in the adjacent tissues or sonic pathways in the in vivo thigh and ex vivo kidney studies. Conclusion: Our study suggests that this new USg-HIFU system may be a safe and accurate technique for ablating soft tissues and encapsulated organs. PMID:25038809

  6. A real-time noise filtering strategy for photon counting 3D imaging lidar.

    PubMed

    Zhang, Zijing; Zhao, Yuan; Zhang, Yong; Wu, Long; Su, Jianzhong

    2013-04-22

    For a direct-detection 3D imaging lidar, the use of Geiger mode avalanche photodiode (Gm-APD) could greatly enhance the detection sensitivity of the lidar system since each range measurement requires a single detected photon. Furthermore, Gm-APD offers significant advantages in reducing the size, mass, power and complexity of the system. However the inevitable noise, including the background noise, the dark count noise and so on, remains a significant challenge to obtain a clear 3D image of the target of interest. This paper presents a smart strategy, which can filter out false alarms in the stage of acquisition of raw time of flight (TOF) data and obtain a clear 3D image in real time. As a result, a clear 3D image is taken from the experimental system despite the background noise of the sunny day.

  7. A real-time noise filtering strategy for photon counting 3D imaging lidar.

    PubMed

    Zhang, Zijing; Zhao, Yuan; Zhang, Yong; Wu, Long; Su, Jianzhong

    2013-04-22

    For a direct-detection 3D imaging lidar, the use of Geiger mode avalanche photodiode (Gm-APD) could greatly enhance the detection sensitivity of the lidar system since each range measurement requires a single detected photon. Furthermore, Gm-APD offers significant advantages in reducing the size, mass, power and complexity of the system. However the inevitable noise, including the background noise, the dark count noise and so on, remains a significant challenge to obtain a clear 3D image of the target of interest. This paper presents a smart strategy, which can filter out false alarms in the stage of acquisition of raw time of flight (TOF) data and obtain a clear 3D image in real time. As a result, a clear 3D image is taken from the experimental system despite the background noise of the sunny day. PMID:23609635

  8. Mapping 3D Strains with Ultrasound Speckle Tracking: Method Validation and Initial Results in Porcine Scleral Inflation.

    PubMed

    Cruz Perez, Benjamin; Pavlatos, Elias; Morris, Hugh J; Chen, Hong; Pan, Xueliang; Hart, Richard T; Liu, Jun

    2016-07-01

    This study aimed to develop and validate a high frequency ultrasound method for measuring distributive, 3D strains in the sclera during elevations of intraocular pressure. A 3D cross-correlation based speckle-tracking algorithm was implemented to compute the 3D displacement vector and strain tensor at each tracking point. Simulated ultrasound radiofrequency data from a sclera-like structure at undeformed and deformed states with known strains were used to evaluate the accuracy and signal-to-noise ratio (SNR) of strain estimation. An experimental high frequency ultrasound (55 MHz) system was built to acquire 3D scans of porcine eyes inflated from 15 to 17 and then 19 mmHg. Simulations confirmed good strain estimation accuracy and SNR (e.g., the axial strains had less than 4.5% error with SNRs greater than 16.5 for strains from 0.005 to 0.05). Experimental data in porcine eyes showed increasing tensile, compressive, and shear strains in the posterior sclera during inflation, with a volume ratio close to one suggesting near-incompressibility. This study established the feasibility of using high frequency ultrasound speckle tracking for measuring 3D tissue strains and its potential to characterize physiological deformations in the posterior eye. PMID:26563101

  9. Real-time 3D visualization of volumetric video motion sensor data

    SciTech Connect

    Carlson, J.; Stansfield, S.; Shawver, D.; Flachs, G.M.; Jordan, J.B.; Bao, Z.

    1996-11-01

    This paper addresses the problem of improving detection, assessment, and response capabilities of security systems. Our approach combines two state-of-the-art technologies: volumetric video motion detection (VVMD) and virtual reality (VR). This work capitalizes on the ability of VVMD technology to provide three-dimensional (3D) information about the position, shape, and size of intruders within a protected volume. The 3D information is obtained by fusing motion detection data from multiple video sensors. The second component involves the application of VR technology to display information relating to the sensors and the sensor environment. VR technology enables an operator, or security guard, to be immersed in a 3D graphical representation of the remote site. VVMD data is transmitted from the remote site via ordinary telephone lines. There are several benefits to displaying VVMD information in this way. Because the VVMD system provides 3D information and because the sensor environment is a physical 3D space, it seems natural to display this information in 3D. Also, the 3D graphical representation depicts essential details within and around the protected volume in a natural way for human perception. Sensor information can also be more easily interpreted when the operator can `move` through the virtual environment and explore the relationships between the sensor data, objects and other visual cues present in the virtual environment. By exploiting the powerful ability of humans to understand and interpret 3D information, we expect to improve the means for visualizing and interpreting sensor information, allow a human operator to assess a potential threat more quickly and accurately, and enable a more effective response. This paper will detail both the VVMD and VR technologies and will discuss a prototype system based upon their integration.

  10. 3D real-time visualization of blood flow in cerebral aneurysms by light field particle image velocimetry

    NASA Astrophysics Data System (ADS)

    Carlsohn, Matthias F.; Kemmling, André; Petersen, Arne; Wietzke, Lennart

    2016-04-01

    Cerebral aneurysms require endovascular treatment to eliminate potentially lethal hemorrhagic rupture by hemostasis of blood flow within the aneurysm. Devices (e.g. coils and flow diverters) promote homeostasis, however, measurement of blood flow within an aneurysm or cerebral vessel before and after device placement on a microscopic level has not been possible so far. This would allow better individualized treatment planning and improve manufacture design of devices. For experimental analysis, direct measurement of real-time microscopic cerebrovascular flow in micro-structures may be an alternative to computed flow simulations. An application of microscopic aneurysm flow measurement on a regular basis to empirically assess a high number of different anatomic shapes and the corresponding effect of different devices would require a fast and reliable method at low cost with high throughout assessment. Transparent three dimensional 3D models of brain vessels and aneurysms may be used for microscopic flow measurements by particle image velocimetry (PIV), however, up to now the size of structures has set the limits for conventional 3D-imaging camera set-ups. On line flow assessment requires additional computational power to cope with the processing large amounts of data generated by sequences of multi-view stereo images, e.g. generated by a light field camera capturing the 3D information by plenoptic imaging of complex flow processes. Recently, a fast and low cost workflow for producing patient specific three dimensional models of cerebral arteries has been established by stereo-lithographic (SLA) 3D printing. These 3D arterial models are transparent an exhibit a replication precision within a submillimeter range required for accurate flow measurements under physiological conditions. We therefore test the feasibility of microscopic flow measurements by PIV analysis using a plenoptic camera system capturing light field image sequences. Averaging across a sequence of

  11. A Bayesian approach to real-time 3D tumor localization via monoscopic x-ray imaging during treatment delivery

    SciTech Connect

    Li, Ruijiang; Fahimian, Benjamin P.; Xing, Lei

    2011-07-15

    Purpose: Monoscopic x-ray imaging with on-board kV devices is an attractive approach for real-time image guidance in modern radiation therapy such as VMAT or IMRT, but it falls short in providing reliable information along the direction of imaging x-ray. By effectively taking consideration of projection data at prior times and/or angles through a Bayesian formalism, the authors develop an algorithm for real-time and full 3D tumor localization with a single x-ray imager during treatment delivery. Methods: First, a prior probability density function is constructed using the 2D tumor locations on the projection images acquired during patient setup. Whenever an x-ray image is acquired during the treatment delivery, the corresponding 2D tumor location on the imager is used to update the likelihood function. The unresolved third dimension is obtained by maximizing the posterior probability distribution. The algorithm can also be used in a retrospective fashion when all the projection images during the treatment delivery are used for 3D localization purposes. The algorithm does not involve complex optimization of any model parameter and therefore can be used in a ''plug-and-play'' fashion. The authors validated the algorithm using (1) simulated 3D linear and elliptic motion and (2) 3D tumor motion trajectories of a lung and a pancreas patient reproduced by a physical phantom. Continuous kV images were acquired over a full gantry rotation with the Varian TrueBeam on-board imaging system. Three scenarios were considered: fluoroscopic setup, cone beam CT setup, and retrospective analysis. Results: For the simulation study, the RMS 3D localization error is 1.2 and 2.4 mm for the linear and elliptic motions, respectively. For the phantom experiments, the 3D localization error is < 1 mm on average and < 1.5 mm at 95th percentile in the lung and pancreas cases for all three scenarios. The difference in 3D localization error for different scenarios is small and is not

  12. Learning Dictionaries of Sparse Codes of 3D Movements of Body Joints for Real-Time Human Activity Understanding

    PubMed Central

    Qi, Jin; Yang, Zhiyong

    2014-01-01

    Real-time human activity recognition is essential for human-robot interactions for assisted healthy independent living. Most previous work in this area is performed on traditional two-dimensional (2D) videos and both global and local methods have been used. Since 2D videos are sensitive to changes of lighting condition, view angle, and scale, researchers begun to explore applications of 3D information in human activity understanding in recently years. Unfortunately, features that work well on 2D videos usually don't perform well on 3D videos and there is no consensus on what 3D features should be used. Here we propose a model of human activity recognition based on 3D movements of body joints. Our method has three steps, learning dictionaries of sparse codes of 3D movements of joints, sparse coding, and classification. In the first step, space-time volumes of 3D movements of body joints are obtained via dense sampling and independent component analysis is then performed to construct a dictionary of sparse codes for each activity. In the second step, the space-time volumes are projected to the dictionaries and a set of sparse histograms of the projection coefficients are constructed as feature representations of the activities. Finally, the sparse histograms are used as inputs to a support vector machine to recognize human activities. We tested this model on three databases of human activities and found that it outperforms the state-of-the-art algorithms. Thus, this model can be used for real-time human activity recognition in many applications. PMID:25473850

  13. Tracking of cracks in bridges using GPR: a 3D approach

    NASA Astrophysics Data System (ADS)

    Benedetto, A.

    2012-04-01

    Corrosion associated with reinforcing bars is the most significant contributor to bridge deficiencies. The corrosion is usually caused by moisture and chloride ion exposure. In particular, corrosion products FeO, Fe2O3, Fe3O4 and other oxides along reinforcement bars. The reinforcing bars are attacked by corrosion and yield expansive corrosion products. These oxidation products occupy a larger volume than the original intact steel and internal expansive stresses lead to cracking and debonding. There are some conventional inspection methods for detection of reinforcing bar corrosion but they can be invasive and destructive, often laborious, lane closures is required and it is difficult or unreliable any quantification of corrosion. For these reasons, bridge engineers are always more preferring to use the Ground Penetrating Radar (GPR) technique. In this work a novel numerical approach for three dimensional tracking and mapping of cracks in the bridge is proposed. The work starts from some interesting results based on the use of the 3D imaging technique in order to improve the potentiality of GPR to detect voids, cracks or buried object. The numerical approach has been tested on data acquired on some bridges using a pulse GPR system specifically designed for bridge deck and pavement inspection that is called RIS Hi Bright. The equipment integrates two arrays of Ultra Wide Band ground coupled antennas, having a main working frequency of 2 GHz. The two arrays within the RIS Hi Bright are using antennas arranged with different polarization. One array includes sensors with parallel polarization with respect to the scanning direction (VV array), the other has sensors in orthogonal polarization (HH array). Overall the system collects 16 profiles within a single scan (8 HH + 8 VV). The cracks, associated often to moisture increasing and higher values of the dielectric constant, produce a not negligible increasing of the signal amplitude. Following this, the algorithm

  14. Pupil Tracking for Real-Time Motion Corrected Anterior Segment Optical Coherence Tomography

    PubMed Central

    Carrasco-Zevallos, Oscar M.; Nankivil, Derek; Viehland, Christian; Keller, Brenton; Izatt, Joseph A.

    2016-01-01

    Volumetric acquisition with anterior segment optical coherence tomography (ASOCT) is necessary to obtain accurate representations of the tissue structure and to account for asymmetries of the anterior eye anatomy. Additionally, recent interest in imaging of anterior segment vasculature and aqueous humor flow resulted in application of OCT angiography techniques to generate en face and 3D micro-vasculature maps of the anterior segment. Unfortunately, ASOCT structural and vasculature imaging systems do not capture volumes instantaneously and are subject to motion artifacts due to involuntary eye motion that may hinder their accuracy and repeatability. Several groups have demonstrated real-time tracking for motion-compensated in vivo OCT retinal imaging, but these techniques are not applicable in the anterior segment. In this work, we demonstrate a simple and low-cost pupil tracking system integrated into a custom swept-source OCT system for real-time motion-compensated anterior segment volumetric imaging. Pupil oculography hardware coaxial with the swept-source OCT system enabled fast detection and tracking of the pupil centroid. The pupil tracking ASOCT system with a field of view of 15 x 15 mm achieved diffraction-limited imaging over a lateral tracking range of +/- 2.5 mm and was able to correct eye motion at up to 22 Hz. Pupil tracking ASOCT offers a novel real-time motion compensation approach that may facilitate accurate and reproducible anterior segment imaging. PMID:27574800

  15. Pupil Tracking for Real-Time Motion Corrected Anterior Segment Optical Coherence Tomography.

    PubMed

    Carrasco-Zevallos, Oscar M; Nankivil, Derek; Viehland, Christian; Keller, Brenton; Izatt, Joseph A

    2016-01-01

    Volumetric acquisition with anterior segment optical coherence tomography (ASOCT) is necessary to obtain accurate representations of the tissue structure and to account for asymmetries of the anterior eye anatomy. Additionally, recent interest in imaging of anterior segment vasculature and aqueous humor flow resulted in application of OCT angiography techniques to generate en face and 3D micro-vasculature maps of the anterior segment. Unfortunately, ASOCT structural and vasculature imaging systems do not capture volumes instantaneously and are subject to motion artifacts due to involuntary eye motion that may hinder their accuracy and repeatability. Several groups have demonstrated real-time tracking for motion-compensated in vivo OCT retinal imaging, but these techniques are not applicable in the anterior segment. In this work, we demonstrate a simple and low-cost pupil tracking system integrated into a custom swept-source OCT system for real-time motion-compensated anterior segment volumetric imaging. Pupil oculography hardware coaxial with the swept-source OCT system enabled fast detection and tracking of the pupil centroid. The pupil tracking ASOCT system with a field of view of 15 x 15 mm achieved diffraction-limited imaging over a lateral tracking range of +/- 2.5 mm and was able to correct eye motion at up to 22 Hz. Pupil tracking ASOCT offers a novel real-time motion compensation approach that may facilitate accurate and reproducible anterior segment imaging. PMID:27574800

  16. Rapid, High-Throughput Tracking of Bacterial Motility in 3D via Phase-Contrast Holographic Video Microscopy

    PubMed Central

    Cheong, Fook Chiong; Wong, Chui Ching; Gao, YunFeng; Nai, Mui Hoon; Cui, Yidan; Park, Sungsu; Kenney, Linda J.; Lim, Chwee Teck

    2015-01-01

    Tracking fast-swimming bacteria in three dimensions can be extremely challenging with current optical techniques and a microscopic approach that can rapidly acquire volumetric information is required. Here, we introduce phase-contrast holographic video microscopy as a solution for the simultaneous tracking of multiple fast moving cells in three dimensions. This technique uses interference patterns formed between the scattered and the incident field to infer the three-dimensional (3D) position and size of bacteria. Using this optical approach, motility dynamics of multiple bacteria in three dimensions, such as speed and turn angles, can be obtained within minutes. We demonstrated the feasibility of this method by effectively tracking multiple bacteria species, including Escherichia coli, Agrobacterium tumefaciens, and Pseudomonas aeruginosa. In addition, we combined our fast 3D imaging technique with a microfluidic device to present an example of a drug/chemical assay to study effects on bacterial motility. PMID:25762336

  17. Real-time 3D adaptive filtering for portable imaging systems

    NASA Astrophysics Data System (ADS)

    Bockenbach, Olivier; Ali, Murtaza; Wainwright, Ian; Nadeski, Mark

    2015-03-01

    Portable imaging devices have proven valuable for emergency medical services both in the field and hospital environments and are becoming more prevalent in clinical settings where the use of larger imaging machines is impractical. 3D adaptive filtering is one of the most advanced techniques aimed at noise reduction and feature enhancement, but is computationally very demanding and hence often not able to run with sufficient performance on a portable platform. In recent years, advanced multicore DSPs have been introduced that attain high processing performance while maintaining low levels of power dissipation. These processors enable the implementation of complex algorithms like 3D adaptive filtering, improving the image quality of portable medical imaging devices. In this study, the performance of a 3D adaptive filtering algorithm on a digital signal processor (DSP) is investigated. The performance is assessed by filtering a volume of size 512x256x128 voxels sampled at a pace of 10 MVoxels/sec.

  18. Real-time 3-D shape measurement with composite phase-shifting fringes and multi-view system.

    PubMed

    Tao, Tianyang; Chen, Qian; Da, Jian; Feng, Shijie; Hu, Yan; Zuo, Chao

    2016-09-01

    In recent years, fringe projection has become an established and essential method for dynamic three-dimensional (3-D) shape measurement in different fields such as online inspection and real-time quality control. Numerous high-speed 3-D shape measurement methods have been developed by either employing high-speed hardware, minimizing the number of pattern projection, or both. However, dynamic 3-D shape measurement of arbitrarily-shaped objects with full sensor resolution without the necessity of additional pattern projections is still a big challenge. In this work, we introduce a high-speed 3-D shape measurement technique based on composite phase-shifting fringes and a multi-view system. The geometry constraint is adopted to search the corresponding points independently without additional images. Meanwhile, by analysing the 3-D position and the main wrapped phase of the corresponding point, pairs with an incorrect 3-D position or a considerable phase difference are effectively rejected. All of the qualified corresponding points are then corrected, and the unique one as well as the related period order is selected through the embedded triangular wave. Finally, considering that some points can only be captured by one of the cameras due to the occlusions, these points may have different fringe orders in the two views, so a left-right consistency check is employed to eliminate those erroneous period orders in this case. Several experiments on both static and dynamic scenes are performed, verifying that our method can achieve a speed of 120 frames per second (fps) with 25-period fringe patterns for fast, dense, and accurate 3-D measurement.

  19. Real-time 3-D shape measurement with composite phase-shifting fringes and multi-view system.

    PubMed

    Tao, Tianyang; Chen, Qian; Da, Jian; Feng, Shijie; Hu, Yan; Zuo, Chao

    2016-09-01

    In recent years, fringe projection has become an established and essential method for dynamic three-dimensional (3-D) shape measurement in different fields such as online inspection and real-time quality control. Numerous high-speed 3-D shape measurement methods have been developed by either employing high-speed hardware, minimizing the number of pattern projection, or both. However, dynamic 3-D shape measurement of arbitrarily-shaped objects with full sensor resolution without the necessity of additional pattern projections is still a big challenge. In this work, we introduce a high-speed 3-D shape measurement technique based on composite phase-shifting fringes and a multi-view system. The geometry constraint is adopted to search the corresponding points independently without additional images. Meanwhile, by analysing the 3-D position and the main wrapped phase of the corresponding point, pairs with an incorrect 3-D position or a considerable phase difference are effectively rejected. All of the qualified corresponding points are then corrected, and the unique one as well as the related period order is selected through the embedded triangular wave. Finally, considering that some points can only be captured by one of the cameras due to the occlusions, these points may have different fringe orders in the two views, so a left-right consistency check is employed to eliminate those erroneous period orders in this case. Several experiments on both static and dynamic scenes are performed, verifying that our method can achieve a speed of 120 frames per second (fps) with 25-period fringe patterns for fast, dense, and accurate 3-D measurement. PMID:27607632

  20. Integrating eye tracking and motion sensor on mobile phone for interactive 3D display

    NASA Astrophysics Data System (ADS)

    Sun, Yu-Wei; Chiang, Chen-Kuo; Lai, Shang-Hong

    2013-09-01

    In this paper, we propose an eye tracking and gaze estimation system for mobile phone. We integrate an eye detector, cornereye center and iso-center to improve pupil detection. The optical flow information is used for eye tracking. We develop a robust eye tracking system that integrates eye detection and optical-flow based image tracking. In addition, we further incorporate the orientation sensor information from the mobile phone to improve the eye tracking for accurate gaze estimation. We demonstrate the accuracy of the proposed eye tracking and gaze estimation system through experiments on some public video sequences as well as videos acquired directly from mobile phone.

  1. Real-time logo detection and tracking in video

    NASA Astrophysics Data System (ADS)

    George, M.; Kehtarnavaz, N.; Rahman, M.; Carlsohn, M.

    2010-05-01

    This paper presents a real-time implementation of a logo detection and tracking algorithm in video. The motivation of this work stems from applications on smart phones that require the detection of logos in real-time. For example, one application involves detecting company logos so that customers can easily get special offers in real-time. This algorithm uses a hybrid approach by initially running the Scale Invariant Feature Transform (SIFT) algorithm on the first frame in order to obtain the logo location and then by using an online calibration of color within the SIFT detected area in order to detect and track the logo in subsequent frames in a time efficient manner. The results obtained indicate that this hybrid approach allows robust logo detection and tracking to be achieved in real-time.

  2. Touring Mars Online, Real-time, in 3D for Math and Science Educators and Students

    ERIC Educational Resources Information Center

    Jones, Greg; Kalinowski, Kevin

    2007-01-01

    This article discusses a project that placed over 97% of Mars' topography made available from NASA into an interactive 3D multi-user online learning environment beginning in 2003. In 2005 curriculum materials that were created to support middle school math and science education were developed. Research conducted at the University of North Texas…

  3. Hybrid MV-kV 3D respiratory motion tracking during radiation therapy with low imaging dose

    NASA Astrophysics Data System (ADS)

    Yan, Huagang; Li, Haiyun; Liu, Zhixiang; Nath, Ravinder; Liu, Wu

    2012-12-01

    A novel real-time adaptive MV-kV imaging framework for image-guided radiation therapy is developed to reduce the thoracic and abdominal tumor targeting uncertainty caused by respiration-induced intrafraction motion with ultra-low patient imaging dose. In our method, continuous stereoscopic MV-kV imaging is used at the beginning of a radiation therapy delivery for several seconds to measure the implanted marker positions. After this stereoscopic imaging period, the kV imager is switched off except for the times when no fiducial marker is detected in the cine-MV images. The 3D time-varying marker positions are estimated by combining the MV 2D projection data and the motion correlations between directional components of marker motion established from the stereoscopic imaging period and updated afterwards; in particular, the most likely position is assumed to be the position on the projection line that has the shortest distance to the first principal component line segment constructed from previous trajectory points. An adaptive windowed auto-regressive prediction is utilized to predict the marker position a short time later (310 ms and 460 ms in this study) to allow for tracking system latency. To demonstrate the feasibility and evaluate the accuracy of the proposed method, computer simulations were performed for both arc and fixed-gantry deliveries using 66 h of retrospective tumor motion data from 42 patients treated for thoracic or abdominal cancers. The simulations reveal that using our hybrid approach, a smaller than 1.2 mm or 1.5 mm root-mean-square tracking error can be achieved at a system latency of 310 ms or 460 ms, respectively. Because the kV imaging is only used for a short period of time in our method, extra patient imaging dose can be reduced by an order of magnitude compared to continuous MV-kV imaging, while the clinical tumor targeting accuracy for thoracic or abdominal cancers is maintained. Furthermore, no additional hardware is required with the

  4. Real-Time Tracking of Knee Adduction Moment in Patients with Knee Osteoarthritis

    PubMed Central

    Kang, Sang Hoon; Lee, Song Joo; Zhang, Li-Qun

    2014-01-01

    Background The external knee adduction moment (EKAM) is closely associated with the presence, progression, and severity of knee osteoarthritis (OA). However, there is a lack of convenient and practical method to estimate and track in real-time the EKAM of patients with knee OA for clinical evaluation and gait training, especially outside of gait laboratories. New Method A real-time EKAM estimation method was developed and applied to track and investigate the EKAM and other knee moments during stepping on an elliptical trainer in both healthy subjects and a patient with knee OA. Results Substantial changes were observed in the EKAM and other knee moments during stepping in the patient with knee OA. Comparison with Existing Method(s) This is the first study to develop and test feasibility of real-time tracking method of the EKAM on patients with knee OA using 3-D inverse dynamics. Conclusions The study provides us an accurate and practical method to evaluate in real-time the critical EKAM associated with knee OA, which is expected to help us to diagnose and evaluate patients with knee OA and provide the patients with real-time EKAM feedback rehabilitation training. PMID:24361759

  5. 3D-SURFER 2.0: web platform for real-time search and characterization of protein surfaces.

    PubMed

    Xiong, Yi; Esquivel-Rodriguez, Juan; Sael, Lee; Kihara, Daisuke

    2014-01-01

    The increasing number of uncharacterized protein structures necessitates the development of computational approaches for function annotation using the protein tertiary structures. Protein structure database search is the basis of any structure-based functional elucidation of proteins. 3D-SURFER is a web platform for real-time protein surface comparison of a given protein structure against the entire PDB using 3D Zernike descriptors. It can smoothly navigate the protein structure space in real-time from one query structure to another. A major new feature of Release 2.0 is the ability to compare the protein surface of a single chain, a single domain, or a single complex against databases of protein chains, domains, complexes, or a combination of all three in the latest PDB. Additionally, two types of protein structures can now be compared: all-atom-surface and backbone-atom-surface. The server can also accept a batch job for a large number of database searches. Pockets in protein surfaces can be identified by VisGrid and LIGSITE (csc) . The server is available at http://kiharalab.org/3d-surfer/. PMID:24573477

  6. 3D-SURFER 2.0: web platform for real-time search and characterization of protein surfaces.

    PubMed

    Xiong, Yi; Esquivel-Rodriguez, Juan; Sael, Lee; Kihara, Daisuke

    2014-01-01

    The increasing number of uncharacterized protein structures necessitates the development of computational approaches for function annotation using the protein tertiary structures. Protein structure database search is the basis of any structure-based functional elucidation of proteins. 3D-SURFER is a web platform for real-time protein surface comparison of a given protein structure against the entire PDB using 3D Zernike descriptors. It can smoothly navigate the protein structure space in real-time from one query structure to another. A major new feature of Release 2.0 is the ability to compare the protein surface of a single chain, a single domain, or a single complex against databases of protein chains, domains, complexes, or a combination of all three in the latest PDB. Additionally, two types of protein structures can now be compared: all-atom-surface and backbone-atom-surface. The server can also accept a batch job for a large number of database searches. Pockets in protein surfaces can be identified by VisGrid and LIGSITE (csc) . The server is available at http://kiharalab.org/3d-surfer/.

  7. V3D enables real-time 3D visualization and quantitative analysis of large-scale biological image data sets.

    PubMed

    Peng, Hanchuan; Ruan, Zongcai; Long, Fuhui; Simpson, Julie H; Myers, Eugene W

    2010-04-01

    The V3D system provides three-dimensional (3D) visualization of gigabyte-sized microscopy image stacks in real time on current laptops and desktops. V3D streamlines the online analysis, measurement and proofreading of complicated image patterns by combining ergonomic functions for selecting a location in an image directly in 3D space and for displaying biological measurements, such as from fluorescent probes, using the overlaid surface objects. V3D runs on all major computer platforms and can be enhanced by software plug-ins to address specific biological problems. To demonstrate this extensibility, we built a V3D-based application, V3D-Neuron, to reconstruct complex 3D neuronal structures from high-resolution brain images. V3D-Neuron can precisely digitize the morphology of a single neuron in a fruitfly brain in minutes, with about a 17-fold improvement in reliability and tenfold savings in time compared with other neuron reconstruction tools. Using V3D-Neuron, we demonstrate the feasibility of building a 3D digital atlas of neurite tracts in the fruitfly brain. PMID:20231818

  8. An embedded real-time red peach detection system based on an OV7670 camera, ARM cortex-M4 processor and 3D look-up tables.

    PubMed

    Teixidó, Mercè; Font, Davinia; Pallejà, Tomàs; Tresanchez, Marcel; Nogués, Miquel; Palacín, Jordi

    2012-10-22

    This work proposes the development of an embedded real-time fruit detection system for future automatic fruit harvesting. The proposed embedded system is based on an ARM Cortex-M4 (STM32F407VGT6) processor and an Omnivision OV7670 color camera. The future goal of this embedded vision system will be to control a robotized arm to automatically select and pick some fruit directly from the tree. The complete embedded system has been designed to be placed directly in the gripper tool of the future robotized harvesting arm. The embedded system will be able to perform real-time fruit detection and tracking by using a three-dimensional look-up-table (LUT) defined in the RGB color space and optimized for fruit picking. Additionally, two different methodologies for creating optimized 3D LUTs based on existing linear color models and fruit histograms were implemented in this work and compared for the case of red peaches. The resulting system is able to acquire general and zoomed orchard images and to update the relative tracking information of a red peach in the tree ten times per second.

  9. An Embedded Real-Time Red Peach Detection System Based on an OV7670 Camera, ARM Cortex-M4 Processor and 3D Look-Up Tables

    PubMed Central

    Teixidó, Mercè; Font, Davinia; Pallejà, Tomàs; Tresanchez, Marcel; Nogués, Miquel; Palacín, Jordi

    2012-01-01

    This work proposes the development of an embedded real-time fruit detection system for future automatic fruit harvesting. The proposed embedded system is based on an ARM Cortex-M4 (STM32F407VGT6) processor and an Omnivision OV7670 color camera. The future goal of this embedded vision system will be to control a robotized arm to automatically select and pick some fruit directly from the tree. The complete embedded system has been designed to be placed directly in the gripper tool of the future robotized harvesting arm. The embedded system will be able to perform real-time fruit detection and tracking by using a three-dimensional look-up-table (LUT) defined in the RGB color space and optimized for fruit picking. Additionally, two different methodologies for creating optimized 3D LUTs based on existing linear color models and fruit histograms were implemented in this work and compared for the case of red peaches. The resulting system is able to acquire general and zoomed orchard images and to update the relative tracking information of a red peach in the tree ten times per second. PMID:23202040

  10. Real-time geometric scene estimation for RGBD images using a 3D box shape grammar

    NASA Astrophysics Data System (ADS)

    Willis, Andrew R.; Brink, Kevin M.

    2016-06-01

    This article describes a novel real-time algorithm for the purpose of extracting box-like structures from RGBD image data. In contrast to conventional approaches, the proposed algorithm includes two novel attributes: (1) it divides the geometric estimation procedure into subroutines having atomic incremental computational costs, and (2) it uses a generative "Block World" perceptual model that infers both concave and convex box elements from detection of primitive box substructures. The end result is an efficient geometry processing engine suitable for use in real-time embedded systems such as those on an UAVs where it is intended to be an integral component for robotic navigation and mapping applications.

  11. Development of CT and 3D-CT Using Flat Panel Detector Based Real-Time Digital Radiography System

    SciTech Connect

    Ravindran, V. R.; Sreelakshmi, C.; Vibin

    2008-09-26

    The application of Digital Radiography in the Nondestructive Evaluation (NDE) of space vehicle components is a recent development in India. A Real-time DR system based on amorphous silicon Flat Panel Detector has been developed for the NDE of solid rocket motors at Rocket Propellant Plant of VSSC in a few years back. The technique has been successfully established for the nondestructive evaluation of solid rocket motors. The DR images recorded for a few solid rocket specimens are presented in the paper. The Real-time DR system is capable of generating sufficient digital X-ray image data with object rotation for the CT image reconstruction. In this paper the indigenous development of CT imaging based on the Realtime DR system for solid rocket motor is presented. Studies are also carried out to generate 3D-CT image from a set of adjacent CT images of the rocket motor. The capability of revealing the spatial location and characterisation of defect is demonstrated by the CT and 3D-CT images generated.

  12. Argonaute 3D: a real-time cooperative medical planning software on DSL network.

    PubMed

    Le Mer, Pascal; Soler, Luc; Pavy, Dominique; Bernard, Alain; Moreau, Johan; Mutter, Didier; Marescaux, Jacques

    2004-01-01

    Today, diagnosis of cancer and also therapeutic choice imply many specialized practitioners. They are generally located at different places and have to take the best decision as promptly as possible with the difficulty of CT-scan or MRI interpretation. Argonaute 3D is a tool that easily overcomes these issues, thanks to a cooperative solution based on virtual reality. An experimentation, where four practitioners met virtually throughout France, allowed to assess the interest of this solution.

  13. Needle Trajectory and Tip Localization in Real-Time 3-D Ultrasound Using a Moving Stylus.

    PubMed

    Beigi, Parmida; Rohling, Robert; Salcudean, Tim; Lessoway, Victoria A; Ng, Gary C

    2015-07-01

    Described here is a novel approach to needle localization in 3-D ultrasound based on automatic detection of small changes in appearance on movement of the needle stylus. By stylus oscillation, including its full insertion into the cannula to the tip, the image processing techniques can localize the needle trajectory and the tip in the 3-D ultrasound volume. The 3-D needle localization task is reduced to two 2-D localizations using orthogonal projections. To evaluate our method, we tested it on three different ex vivo tissue types, and the preliminary results indicated that the method accuracy lies within clinical acceptance, with average error ranges of 0.9°-1.4° in needle trajectory and 0.8-1.1 mm in needle tip. Results also indicate that method performance is independent of the echogenicity of the tissue. This technique is a safe way of producing ultrasonic intensity changes and appears to introduce negligible risk to the patient, as the outer cannula remains fixed.

  14. A spheroid toxicity assay using magnetic 3D bioprinting and real-time mobile device-based imaging.

    PubMed

    Tseng, Hubert; Gage, Jacob A; Shen, Tsaiwei; Haisler, William L; Neeley, Shane K; Shiao, Sue; Chen, Jianbo; Desai, Pujan K; Liao, Angela; Hebel, Chris; Raphael, Robert M; Becker, Jeanne L; Souza, Glauco R

    2015-01-01

    An ongoing challenge in biomedical research is the search for simple, yet robust assays using 3D cell cultures for toxicity screening. This study addresses that challenge with a novel spheroid assay, wherein spheroids, formed by magnetic 3D bioprinting, contract immediately as cells rearrange and compact the spheroid in relation to viability and cytoskeletal organization. Thus, spheroid size can be used as a simple metric for toxicity. The goal of this study was to validate spheroid contraction as a cytotoxic endpoint using 3T3 fibroblasts in response to 5 toxic compounds (all-trans retinoic acid, dexamethasone, doxorubicin, 5'-fluorouracil, forskolin), sodium dodecyl sulfate (+control), and penicillin-G (-control). Real-time imaging was performed with a mobile device to increase throughput and efficiency. All compounds but penicillin-G significantly slowed contraction in a dose-dependent manner (Z' = 0.88). Cells in 3D were more resistant to toxicity than cells in 2D, whose toxicity was measured by the MTT assay. Fluorescent staining and gene expression profiling of spheroids confirmed these findings. The results of this study validate spheroid contraction within this assay as an easy, biologically relevant endpoint for high-throughput compound screening in representative 3D environments. PMID:26365200

  15. A spheroid toxicity assay using magnetic 3D bioprinting and real-time mobile device-based imaging

    PubMed Central

    Tseng, Hubert; Gage, Jacob A.; Shen, Tsaiwei; Haisler, William L.; Neeley, Shane K.; Shiao, Sue; Chen, Jianbo; Desai, Pujan K.; Liao, Angela; Hebel, Chris; Raphael, Robert M.; Becker, Jeanne L.; Souza, Glauco R.

    2015-01-01

    An ongoing challenge in biomedical research is the search for simple, yet robust assays using 3D cell cultures for toxicity screening. This study addresses that challenge with a novel spheroid assay, wherein spheroids, formed by magnetic 3D bioprinting, contract immediately as cells rearrange and compact the spheroid in relation to viability and cytoskeletal organization. Thus, spheroid size can be used as a simple metric for toxicity. The goal of this study was to validate spheroid contraction as a cytotoxic endpoint using 3T3 fibroblasts in response to 5 toxic compounds (all-trans retinoic acid, dexamethasone, doxorubicin, 5′-fluorouracil, forskolin), sodium dodecyl sulfate (+control), and penicillin-G (−control). Real-time imaging was performed with a mobile device to increase throughput and efficiency. All compounds but penicillin-G significantly slowed contraction in a dose-dependent manner (Z’ = 0.88). Cells in 3D were more resistant to toxicity than cells in 2D, whose toxicity was measured by the MTT assay. Fluorescent staining and gene expression profiling of spheroids confirmed these findings. The results of this study validate spheroid contraction within this assay as an easy, biologically relevant endpoint for high-throughput compound screening in representative 3D environments. PMID:26365200

  16. Low-cost real-time 3D PC distributed-interactive-simulation (DIS) application for C4I

    NASA Astrophysics Data System (ADS)

    Gonthier, David L.; Veron, Harry

    1998-04-01

    A 3D Distributed Interactive Simulation (DIS) application was developed and demonstrated in a PC environment. The application is capable of running in the stealth mode or as a player which includes battlefield simulations, such as ModSAF. PCs can be clustered together, but not necessarily collocated, to run a simulation or training exercise on their own. A 3D perspective view of the battlefield is displayed that includes terrain, trees, buildings and other objects supported by the DIS application. Screen update rates of 15 to 20 frames per second have been achieved with fully lit and textured scenes thus providing high quality and fast graphics. A complete PC system can be configured for under $2,500. The software runs under Windows95 and WindowsNT. It is written in C++ and uses a commercial API called RenderWare for 3D rendering. The software uses Microsoft Foundation classes and Microsoft DirectPlay for joystick input. The RenderWare libraries enhance the performance through optimization for MMX and the Pentium Pro processor. The RenderWare and the Righteous 3D graphics board from Orchid Technologies with an advertised rendering rate of up to 2 million texture mapped triangles per second. A low-cost PC DIS simulator that can partake in a real-time collaborative simulation with other platforms is thus achieved.

  17. Use of a graphics processing unit (GPU) to facilitate real-time 3D graphic presentation of the patient skin-dose distribution during fluoroscopic interventional procedures

    NASA Astrophysics Data System (ADS)

    Rana, Vijay; Rudin, Stephen; Bednarek, Daniel R.

    2012-03-01

    We have developed a dose-tracking system (DTS) that calculates the radiation dose to the patient's skin in realtime by acquiring exposure parameters and imaging-system-geometry from the digital bus on a Toshiba Infinix C-arm unit. The cumulative dose values are then displayed as a color map on an OpenGL-based 3D graphic of the patient for immediate feedback to the interventionalist. Determination of those elements on the surface of the patient 3D-graphic that intersect the beam and calculation of the dose for these elements in real time demands fast computation. Reducing the size of the elements results in more computation load on the computer processor and therefore a tradeoff occurs between the resolution of the patient graphic and the real-time performance of the DTS. The speed of the DTS for calculating dose to the skin is limited by the central processing unit (CPU) and can be improved by using the parallel processing power of a graphics processing unit (GPU). Here, we compare the performance speed of GPU-based DTS software to that of the current CPU-based software as a function of the resolution of the patient graphics. Results show a tremendous improvement in speed using the GPU. While an increase in the spatial resolution of the patient graphics resulted in slowing down the computational speed of the DTS on the CPU, the speed of the GPU-based DTS was hardly affected. This GPU-based DTS can be a powerful tool for providing accurate, real-time feedback about patient skin-dose to physicians while performing interventional procedures.

  18. Use of a graphics processing unit (GPU) to facilitate real-time 3D graphic presentation of the patient skin-dose distribution during fluoroscopic interventional procedures.

    PubMed

    Rana, Vijay; Rudin, Stephen; Bednarek, Daniel R

    2012-02-23

    We have developed a dose-tracking system (DTS) that calculates the radiation dose to the patient's skin in real-time by acquiring exposure parameters and imaging-system-geometry from the digital bus on a Toshiba Infinix C-arm unit. The cumulative dose values are then displayed as a color map on an OpenGL-based 3D graphic of the patient for immediate feedback to the interventionalist. Determination of those elements on the surface of the patient 3D-graphic that intersect the beam and calculation of the dose for these elements in real time demands fast computation. Reducing the size of the elements results in more computation load on the computer processor and therefore a tradeoff occurs between the resolution of the patient graphic and the real-time performance of the DTS. The speed of the DTS for calculating dose to the skin is limited by the central processing unit (CPU) and can be improved by using the parallel processing power of a graphics processing unit (GPU). Here, we compare the performance speed of GPU-based DTS software to that of the current CPU-based software as a function of the resolution of the patient graphics. Results show a tremendous improvement in speed using the GPU. While an increase in the spatial resolution of the patient graphics resulted in slowing down the computational speed of the DTS on the CPU, the speed of the GPU-based DTS was hardly affected. This GPU-based DTS can be a powerful tool for providing accurate, real-time feedback about patient skin-dose to physicians while performing interventional procedures.

  19. Development of real-time motion capture system for 3D on-line games linked with virtual character

    NASA Astrophysics Data System (ADS)

    Kim, Jong Hyeong; Ryu, Young Kee; Cho, Hyung Suck

    2004-10-01

    Motion tracking method is being issued as essential part of the entertainment, medical, sports, education and industry with the development of 3-D virtual reality. Virtual human character in the digital animation and game application has been controlled by interfacing devices; mouse, joysticks, midi-slider, and so on. Those devices could not enable virtual human character to move smoothly and naturally. Furthermore, high-end human motion capture systems in commercial market are expensive and complicated. In this paper, we proposed a practical and fast motion capturing system consisting of optic sensors, and linked the data with 3-D game character with real time. The prototype experiment setup is successfully applied to a boxing game which requires very fast movement of human character.

  20. Real-time 3D imaging of microstructure growth in battery cells using indirect MRI.

    PubMed

    Ilott, Andrew J; Mohammadi, Mohaddese; Chang, Hee Jung; Grey, Clare P; Jerschow, Alexej

    2016-09-27

    Lithium metal is a promising anode material for Li-ion batteries due to its high theoretical specific capacity and low potential. The growth of dendrites is a major barrier to the development of high capacity, rechargeable Li batteries with lithium metal anodes, and hence, significant efforts have been undertaken to develop new electrolytes and separator materials that can prevent this process or promote smooth deposits at the anode. Central to these goals, and to the task of understanding the conditions that initiate and propagate dendrite growth, is the development of analytical and nondestructive techniques that can be applied in situ to functioning batteries. MRI has recently been demonstrated to provide noninvasive imaging methodology that can detect and localize microstructure buildup. However, until now, monitoring dendrite growth by MRI has been limited to observing the relatively insensitive metal nucleus directly, thus restricting the temporal and spatial resolution and requiring special hardware and acquisition modes. Here, we present an alternative approach to detect a broad class of metallic dendrite growth via the dendrites' indirect effects on the surrounding electrolyte, allowing for the application of fast 3D (1)H MRI experiments with high resolution. We use these experiments to reconstruct 3D images of growing Li dendrites from MRI, revealing details about the growth rate and fractal behavior. Radiofrequency and static magnetic field calculations are used alongside the images to quantify the amount of the growing structures.

  1. 3D tracking and phase-contrast imaging by twin-beams digital holographic microscope in microfluidics

    NASA Astrophysics Data System (ADS)

    Miccio, L.; Memmolo, P.; Finizio, A.; Paturzo, M.; Merola, F.; Grilli, S.; Ferraro, P.

    2012-06-01

    A compact twin-beam interferometer that can be adopted as a flexible diagnostic tool in microfluidic platforms is presented. The devise has two functionalities, as explained in the follow, and can be easily integrated in microfluidic chip. The configuration allows 3D tracking of micro-particles and, at same time, furnishes Quantitative Phase-Contrast maps of tracked micro-objects by interference microscopy. Experimental demonstration of its effectiveness and compatibility with biological field is given on for in vitro cells in microfluidic environment. Nowadays, several microfluidic configuration exist and many of them are commercially available, their development is due to the possibility for manipulating droplets, handling micro and nano-objects, visualize and quantify processes occurring in small volumes and, clearly, for direct applications on lab-on-a chip devices. In microfluidic research field, optical/photonics approaches are the more suitable ones because they have various advantages as to be non-contact, full-field, non-invasive and can be packaged thanks to the development of integrable optics. Moreover, phase contrast approaches, adapted to a lab-on-a-chip configurations, give the possibility to get quantitative information with remarkable lateral and vertical resolution directly in situ without the need to dye and/or kill cells. Furthermore, numerical techniques for tracking of micro-objects needs to be developed for measuring velocity fields, trajectories patterns, motility of cancer cell and so on. Here, we present a compact holographic microscope that can ensure, by the same configuration and simultaneously, accurate 3D tracking and quantitative phase-contrast analysis. The system, simple and solid, is based on twin laser beams coming from a single laser source. Through a easy conceptual design, we show how these two different functionalities can be accomplished by the same optical setup. The working principle, the optical setup and the mathematical

  2. Handheld portable real-time tracking and communications device

    DOEpatents

    Wiseman, James M.; Riblett, Jr., Loren E.; Green, Karl L.; Hunter, John A.; Cook, III, Robert N.; Stevens, James R.

    2012-05-22

    Portable handheld real-time tracking and communications devices include; a controller module, communications module including global positioning and mesh network radio module, data transfer and storage module, and a user interface module enclosed in a water-resistant enclosure. Real-time tracking and communications devices can be used by protective force, security and first responder personnel to provide situational awareness allowing for enhance coordination and effectiveness in rapid response situations. Such devices communicate to other authorized devices via mobile ad-hoc wireless networks, and do not require fixed infrastructure for their operation.

  3. Real-time optical holographic tracking of multiple objects

    NASA Technical Reports Server (NTRS)

    Chao, Tien-Hsin; Liu, Hua-Kuang

    1989-01-01

    A coherent optical correlation technique for real-time simultaneous tracking of several different objects making independent movements is described, and experimental results are presented. An evaluation of this system compared with digital computing systems is made. The real-time processing capability is obtained through the use of a liquid crystal television spatial light modulator and a dichromated gelatin multifocus hololens. A coded reference beam is utilized in the separation of the output correlation plane associated with each input target so that independent tracking can be achieved.

  4. MRI-3D ultrasound-X-ray image fusion with electromagnetic tracking for transendocardial therapeutic injections: in-vitro validation and in-vivo feasibility.

    PubMed

    Hatt, Charles R; Jain, Ameet K; Parthasarathy, Vijay; Lang, Andrew; Raval, Amish N

    2013-03-01

    Myocardial infarction (MI) is one of the leading causes of death in the world. Small animal studies have shown that stem-cell therapy offers dramatic functional improvement post-MI. An endomyocardial catheter injection approach to therapeutic agent delivery has been proposed to improve efficacy through increased cell retention. Accurate targeting is critical for reaching areas of greatest therapeutic potential while avoiding a life-threatening myocardial perforation. Multimodal image fusion has been proposed as a way to improve these procedures by augmenting traditional intra-operative imaging modalities with high resolution pre-procedural images. Previous approaches have suffered from a lack of real-time tissue imaging and dependence on X-ray imaging to track devices, leading to increased ionizing radiation dose. In this paper, we present a new image fusion system for catheter-based targeted delivery of therapeutic agents. The system registers real-time 3D echocardiography, magnetic resonance, X-ray, and electromagnetic sensor tracking within a single flexible framework. All system calibrations and registrations were validated and found to have target registration errors less than 5 mm in the worst case. Injection accuracy was validated in a motion enabled cardiac injection phantom, where targeting accuracy ranged from 0.57 to 3.81 mm. Clinical feasibility was demonstrated with in-vivo swine experiments, where injections were successfully made into targeted regions of the heart.

  5. Registration of clinical volumes to beams-eye-view images for real-time tracking

    SciTech Connect

    Bryant, Jonathan H.; Rottmann, Joerg; Lewis, John H.; Mishra, Pankaj; Berbeco, Ross I.; Keall, Paul J.

    2014-12-15

    Purpose: The authors combine the registration of 2D beam’s eye view (BEV) images and 3D planning computed tomography (CT) images, with relative, markerless tumor tracking to provide automatic absolute tracking of physician defined volumes such as the gross tumor volume (GTV). Methods: During treatment of lung SBRT cases, BEV images were continuously acquired with an electronic portal imaging device (EPID) operating in cine mode. For absolute registration of physician-defined volumes, an intensity based 2D/3D registration to the planning CT was performed using the end-of-exhale (EoE) phase of the four dimensional computed tomography (4DCT). The volume was converted from Hounsfield units into electron density by a calibration curve and digitally reconstructed radiographs (DRRs) were generated for each beam geometry. Using normalized cross correlation between the DRR and an EoE BEV image, the best in-plane rigid transformation was found. The transformation was applied to physician-defined contours in the planning CT, mapping them into the EPID image domain. A robust multiregion method of relative markerless lung tumor tracking quantified deviations from the EoE position. Results: The success of 2D/3D registration was demonstrated at the EoE breathing phase. By registering at this phase and then employing a separate technique for relative tracking, the authors are able to successfully track target volumes in the BEV images throughout the entire treatment delivery. Conclusions: Through the combination of EPID/4DCT registration and relative tracking, a necessary step toward the clinical implementation of BEV tracking has been completed. The knowledge of tumor volumes relative to the treatment field is important for future applications like real-time motion management, adaptive radiotherapy, and delivered dose calculations.

  6. MobileFusion: real-time volumetric surface reconstruction and dense tracking on mobile phones.

    PubMed

    Ondrúška, Peter; Kohli, Pushmeet; Izadi, Shahram

    2015-11-01

    We present the first pipeline for real-time volumetric surface reconstruction and dense 6DoF camera tracking running purely on standard, off-the-shelf mobile phones. Using only the embedded RGB camera, our system allows users to scan objects of varying shape, size, and appearance in seconds, with real-time feedback during the capture process. Unlike existing state of the art methods, which produce only point-based 3D models on the phone, or require cloud-based processing, our hybrid GPU/CPU pipeline is unique in that it creates a connected 3D surface model directly on the device at 25Hz. In each frame, we perform dense 6DoF tracking, which continuously registers the RGB input to the incrementally built 3D model, minimizing a noise aware photoconsistency error metric. This is followed by efficient key-frame selection, and dense per-frame stereo matching. These depth maps are fused volumetrically using a method akin to KinectFusion, producing compelling surface models. For each frame, the implicit surface is extracted for live user feedback and pose estimation. We demonstrate scans of a variety of objects, and compare to a Kinect-based baseline, showing on average ∼ 1.5cm error. We qualitatively compare to a state of the art point-based mobile phone method, demonstrating an order of magnitude faster scanning times, and fully connected surface models.

  7. MobileFusion: real-time volumetric surface reconstruction and dense tracking on mobile phones.

    PubMed

    Ondrúška, Peter; Kohli, Pushmeet; Izadi, Shahram

    2015-11-01

    We present the first pipeline for real-time volumetric surface reconstruction and dense 6DoF camera tracking running purely on standard, off-the-shelf mobile phones. Using only the embedded RGB camera, our system allows users to scan objects of varying shape, size, and appearance in seconds, with real-time feedback during the capture process. Unlike existing state of the art methods, which produce only point-based 3D models on the phone, or require cloud-based processing, our hybrid GPU/CPU pipeline is unique in that it creates a connected 3D surface model directly on the device at 25Hz. In each frame, we perform dense 6DoF tracking, which continuously registers the RGB input to the incrementally built 3D model, minimizing a noise aware photoconsistency error metric. This is followed by efficient key-frame selection, and dense per-frame stereo matching. These depth maps are fused volumetrically using a method akin to KinectFusion, producing compelling surface models. For each frame, the implicit surface is extracted for live user feedback and pose estimation. We demonstrate scans of a variety of objects, and compare to a Kinect-based baseline, showing on average ∼ 1.5cm error. We qualitatively compare to a state of the art point-based mobile phone method, demonstrating an order of magnitude faster scanning times, and fully connected surface models. PMID:26439826

  8. Real-time 3D vectorcardiography: an application for didactic use

    NASA Astrophysics Data System (ADS)

    Daniel, G.; Lissa, G.; Medina Redondo, D.; Vásquez, L.; Zapata, D.

    2007-11-01

    The traditional approach to teach the physiological basis of electrocardiography, based only on textbooks, turns out to be insufficient or confusing for students of biomedical sciences. The addition of laboratory practice to the curriculum enables students to approach theoretical aspects from a hands-on experience, resulting in a more efficient and deeper knowledge of the phenomena of interest. Here, we present the development of a PC-based application meant to facilitate the understanding of cardiac bioelectrical phenomena by visualizing in real time the instantaneous 3D cardiac vector. The system uses 8 standard leads from a 12-channel electrocardiograph. The application interface has pedagogic objectives, and facilitates the observation of cardiac depolarization and repolarization and its temporal relationship with the ECG, making it simpler to interpret.

  9. Pan and tilt real-time target tracking

    NASA Astrophysics Data System (ADS)

    Akhloufi, Moulay A.

    2010-04-01

    In recent years, we see an increase of interest for intelligent and efficient tracking systems in surveillance applications. Many of the proposed techniques are designed for static cameras environments. When the camera is moving, tracking moving objects becomes more difficult and many techniques fail to detect and track the desired targets. The problem becomes more complex when we want to track a specific object in real-time using a Pan and Tilt camera system (PTU). Tracking a target using a PTU in order to keep the target within the image is important in surveillance applications. When a target is detected, the possibility of automatically tracking it and keeping it within the image until action is taken is very important for security personnel working in sensitive areas. This work presents a real-time tracking system based on particle filters. The proposed system permits the detection and continuous tracking of a selected target using a Pan and Tilt camera platform. A novel simple and efficient approach for dealing with occlusions is presented. Also a new intelligent forget factor is introduced in order to take into account target shape variations and avoid learning non desired objects. Tests conducted in outdoor operational scenarios show the efficiency and robustness of the proposed approach.

  10. Capturing reading patterns through a real-time smart camera iris tracking system

    NASA Astrophysics Data System (ADS)

    Mehrubeoglu, Mehrube; Ortlieb, Evan; McLauchlan, Lifford; Pham, Linh M.

    2012-06-01

    A real-time iris detection and tracking algorithm has been implemented on a smart camera using LabVIEW graphical programming tools. The program detects the eye and finds the center of the iris, which is recorded and stored in Cartesian coordinates. In subsequent video frames, the location of the center of the iris corresponding to the previously detected eye is computed and recorded for a desired period of time, creating a list of coordinates representing the moving iris center location across image frames. We present an application for the developed smart camera iris tracking system that involves the assessment of reading patterns. The purpose of the study is to identify differences in reading patterns of readers at various levels to eventually determine successful reading strategies for improvement. The readers are positioned in front of a computer screen with a fixed camera directed at the reader's eyes. The readers are then asked to read preselected content on the computer screen, one comprising a traditional newspaper text and one a Web page. The iris path is captured and stored in real-time. The reading patterns are examined by analyzing the path of the iris movement. In this paper, the iris tracking system and algorithms, application of the system to real-time capture of reading patterns, and representation of 2D/3D iris track are presented with results and recommendations.

  11. Texture-based visualization of unsteady 3D flow by real-time advection and volumetric illumination.

    PubMed

    Weiskopf, Daniel; Schafhitzel, Tobias; Ertl, Thomas

    2007-01-01

    This paper presents an interactive technique for the dense texture-based visualization of unsteady 3D flow, taking into account issues of computational efficiency and visual perception. High efficiency is achieved by a 3D graphics processing unit (GPU)-based texture advection mechanism that implements logical 3D grid structures by physical memory in the form of 2D textures. This approach results in fast read and write access to physical memory, independent of GPU architecture. Slice-based direct volume rendering is used for the final display. We investigate two alternative methods for the volumetric illumination of the result of texture advection: First, gradient-based illumination that employs a real-time computation of gradients, and, second, line-based lighting based on illumination in codimension 2. In addition to the Phong model, perception-guided rendering methods are considered, such as cool/warm shading, halo rendering, or color-based depth cueing. The problems of clutter and occlusion are addressed by supporting a volumetric importance function that enhances features of the flow and reduces visual complexity in less interesting regions. GPU implementation aspects, performance measurements, and a discussion of results are included to demonstrate our visualization approach.

  12. Real-time 3D imaging of Haines jumps in porous media flow

    PubMed Central

    Berg, Steffen; Ott, Holger; Klapp, Stephan A.; Schwing, Alex; Neiteler, Rob; Brussee, Niels; Makurat, Axel; Leu, Leon; Enzmann, Frieder; Schwarz, Jens-Oliver; Kersten, Michael; Irvine, Sarah; Stampanoni, Marco

    2013-01-01

    Newly developed high-speed, synchrotron-based X-ray computed microtomography enabled us to directly image pore-scale displacement events in porous rock in real time. Common approaches to modeling macroscopic fluid behavior are phenomenological, have many shortcomings, and lack consistent links to elementary pore-scale displacement processes, such as Haines jumps and snap-off. Unlike the common singular pore jump paradigm based on observations of restricted artificial capillaries, we found that Haines jumps typically cascade through 10–20 geometrically defined pores per event, accounting for 64% of the energy dissipation. Real-time imaging provided a more detailed fundamental understanding of the elementary processes in porous media, such as hysteresis, snap-off, and nonwetting phase entrapment, and it opens the way for a rigorous process for upscaling based on thermodynamic models. PMID:23431151

  13. Real-time 3D computed tomographic reconstruction using commodity graphics hardware

    NASA Astrophysics Data System (ADS)

    Xu, Fang; Mueller, Klaus

    2007-07-01

    The recent emergence of various types of flat-panel x-ray detectors and C-arm gantries now enables the construction of novel imaging platforms for a wide variety of clinical applications. Many of these applications require interactive 3D image generation, which cannot be satisfied with inexpensive PC-based solutions using the CPU. We present a solution based on commodity graphics hardware (GPUs) to provide these capabilities. While GPUs have been employed for CT reconstruction before, our approach provides significant speedups by exploiting the various built-in hardwired graphics pipeline components for the most expensive CT reconstruction task, backprojection. We show that the timings so achieved are superior to those obtained when using the GPU merely as a multi-processor, without a drop in reconstruction quality. In addition, we also show how the data flow across the graphics pipeline can be optimized, by balancing the load among the pipeline components. The result is a novel streaming CT framework that conceptualizes the reconstruction process as a steady flow of data across a computing pipeline, updating the reconstruction result immediately after the projections have been acquired. Using a single PC equipped with a single high-end commodity graphics board (the Nvidia 8800 GTX), our system is able to process clinically-sized projection data at speeds meeting and exceeding the typical flat-panel detector data production rates, enabling throughput rates of 40-50 projections s-1 for the reconstruction of 5123 volumes.

  14. Development of 3D touch trigger probe with real-time observation

    NASA Astrophysics Data System (ADS)

    Chu, Chih-Liang; Wu, Cheng-Yu

    2010-08-01

    This study aims at inventing a low-price but high-precision 3D touch trigger probe (or a CMM probe). The tip ball of the stylus, with a diameter smaller than 100 μm, is made by a micro electro discharge machine and wire electro discharge grinding. The stylus is mounted at the centre of a stiff cross-form frame, which in turn is suspended on four micro beams. As proven by several experiments, this structure restricts the degrees of freedom on three directions. The displacement sensor and 2D angle sensor is performed using modified commercial DVD pickup heads to measure the three degrees of motional freedom on the suspension structure. As for application, since the tip ball is difficult to identify by naked eye, we use modified commercial webcam and microscope to create a micro imaging system. This imaging system has been tested to have 2.8mmx2.1mm field of view, and 1.5mm depth of field.

  15. 3D Markov Process for Traffic Flow Prediction in Real-Time

    PubMed Central

    Ko, Eunjeong; Ahn, Jinyoung; Kim, Eun Yi

    2016-01-01

    Recently, the correct estimation of traffic flow has begun to be considered an essential component in intelligent transportation systems. In this paper, a new statistical method to predict traffic flows using time series analyses and geometric correlations is proposed. The novelty of the proposed method is two-fold: (1) a 3D heat map is designed to describe the traffic conditions between roads, which can effectively represent the correlations between spatially- and temporally-adjacent traffic states; and (2) the relationship between the adjacent roads on the spatiotemporal domain is represented by cliques in MRF and the clique parameters are obtained by example-based learning. In order to assess the validity of the proposed method, it is tested using data from expressway traffic that are provided by the Korean Expressway Corporation, and the performance of the proposed method is compared with existing approaches. The results demonstrate that the proposed method can predict traffic conditions with an accuracy of 85%, and this accuracy can be improved further. PMID:26821025

  16. 3D Real-Time Echocardiography Combined with Mini Pressure Wire Generate Reliable Pressure-Volume Loops in Small Hearts

    PubMed Central

    Linden, Katharina; Dewald, Oliver; Gatzweiler, Eva; Seehase, Matthias; Duerr, Georg Daniel; Dörner, Jonas; Kleppe, Stephanie

    2016-01-01

    Background Pressure-volume loops (PVL) provide vital information regarding ventricular performance and pathophysiology in cardiac disease. Unfortunately, acquisition of PVL by conductance technology is not feasible in neonates and small children due to the available human catheter size and resulting invasiveness. The aim of the study was to validate the accuracy of PVL in small hearts using volume data obtained by real-time three-dimensional echocardiography (3DE) and simultaneously acquired pressure data. Methods In 17 piglets (weight range: 3.6–8.0 kg) left ventricular PVL were generated by 3DE and simultaneous recordings of ventricular pressure using a mini pressure wire (PVL3D). PVL3D were compared to conductance catheter measurements (PVLCond) under various hemodynamic conditions (baseline, alpha-adrenergic stimulation with phenylephrine, beta-adrenoreceptor-blockage using esmolol). In order to validate the accuracy of 3D volumetric data, cardiac magnetic resonance imaging (CMR) was performed in another 8 piglets. Results Correlation between CMR- and 3DE-derived volumes was good (enddiastolic volume: mean bias -0.03ml ±1.34ml). Computation of PVL3D in small hearts was feasible and comparable to results obtained by conductance technology. Bland-Altman analysis showed a low bias between PVL3D and PVLCond. Systolic and diastolic parameters were closely associated (Intraclass-Correlation Coefficient for: systolic myocardial elastance 0.95, arterial elastance 0.93, diastolic relaxation constant tau 0.90, indexed end-diastolic volume 0.98). Hemodynamic changes under different conditions were well detected by both methods (ICC 0.82 to 0.98). Inter- and intra-observer coefficients of variation were below 5% for all parameters. Conclusions PVL3D generated from 3DE combined with mini pressure wire represent a novel, feasible and reliable method to assess different hemodynamic conditions of cardiac function in hearts comparable to neonate and infant size. This

  17. Intracellular nanomanipulation by a photonic-force microscope with real-time acquisition of a 3D stiffness matrix

    NASA Astrophysics Data System (ADS)

    Bertseva, E.; Singh, A. S. G.; Lekki, J.; Thévenaz, P.; Lekka, M.; Jeney, S.; Gremaud, G.; Puttini, S.; Nowak, W.; Dietler, G.; Forró, L.; Unser, M.; Kulik, A. J.

    2009-07-01

    A traditional photonic-force microscope (PFM) results in huge sets of data, which requires tedious numerical analysis. In this paper, we propose instead an analog signal processor to attain real-time capabilities while retaining the richness of the traditional PFM data. Our system is devoted to intracellular measurements and is fully interactive through the use of a haptic joystick. Using our specialized analog hardware along with a dedicated algorithm, we can extract the full 3D stiffness matrix of the optical trap in real time, including the off-diagonal cross-terms. Our system is also capable of simultaneously recording data for subsequent offline analysis. This allows us to check that a good correlation exists between the classical analysis of stiffness and our real-time measurements. We monitor the PFM beads using an optical microscope. The force-feedback mechanism of the haptic joystick helps us in interactively guiding the bead inside living cells and collecting information from its (possibly anisotropic) environment. The instantaneous stiffness measurements are also displayed in real time on a graphical user interface. The whole system has been built and is operational; here we present early results that confirm the consistency of the real-time measurements with offline computations.

  18. Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions

    PubMed Central

    Park, Yong-Lae; Elayaperumal, Santhi; Daniel, Bruce; Ryu, Seok Chang; Shin, Mihye; Savall, Joan; Black, Richard J.; Moslehi, Behzad; Cutkosky, Mark R.

    2015-01-01

    We describe a MRI-compatible biopsy needle instrumented with optical fiber Bragg gratings for measuring bending deflections of the needle as it is inserted into tissues. During procedures, such as diagnostic biopsies and localized treatments, it is useful to track any tool deviation from the planned trajectory to minimize positioning errors and procedural complications. The goal is to display tool deflections in real time, with greater bandwidth and accuracy than when viewing the tool in MR images. A standard 18 ga × 15 cm inner needle is prepared using a fixture, and 350-μm-deep grooves are created along its length. Optical fibers are embedded in the grooves. Two sets of sensors, located at different points along the needle, provide an estimate of the bent profile, as well as temperature compensation. Tests of the needle in a water bath showed that it produced no adverse imaging artifacts when used with the MR scanner. PMID:26405428

  19. Real-time 3-D SAFT-UT system evaluation and validation

    SciTech Connect

    Doctor, S.R.; Schuster, G.J.; Reid, L.D.; Hall, T.E.

    1996-09-01

    SAFT-UT technology is shown to provide significant enhancements to the inspection of materials used in US nuclear power plants. This report provides guidelines for the implementation of SAFT-UT technology and shows the results from its application. An overview of the development of SAFT-UT is provided so that the reader may become familiar with the technology. Then the basic fundamentals are presented with an extensive list of references. A comprehensive operating procedure, which is used in conjunction with the SAFT-UT field system developed by Pacific Northwest Laboratory (PNL), provides the recipe for both SAFT data acquisition and analysis. The specification for the hardware implementation is provided for the SAFT-UT system along with a description of the subsequent developments and improvements. One development of technical interest is the SAFT real time processor. Performance of the real-time processor is impressive and comparison is made of this dedicated parallel processor to a conventional computer and to the newer high-speed computer architectures designed for image processing. Descriptions of other improvements, including a robotic scanner, are provided. Laboratory parametric and application studies, performed by PNL and not previously reported, are discussed followed by a section on field application work in which SAFT was used during inservice inspections of operating reactors.

  20. Left ventricular endocardial surface detection based on real-time 3D echocardiographic data

    NASA Technical Reports Server (NTRS)

    Corsi, C.; Borsari, M.; Consegnati, F.; Sarti, A.; Lamberti, C.; Travaglini, A.; Shiota, T.; Thomas, J. D.

    2001-01-01

    OBJECTIVE: A new computerized semi-automatic method for left ventricular (LV) chamber segmentation is presented. METHODS: The LV is imaged by real-time three-dimensional echocardiography (RT3DE). The surface detection model, based on level set techniques, is applied to RT3DE data for image analysis. The modified level set partial differential equation we use is solved by applying numerical methods for conservation laws. The initial conditions are manually established on some slices of the entire volume. The solution obtained for each slice is a contour line corresponding with the boundary between LV cavity and LV endocardium. RESULTS: The mathematical model has been applied to sequences of frames of human hearts (volume range: 34-109 ml) imaged by 2D and reconstructed off-line and RT3DE data. Volume estimation obtained by this new semi-automatic method shows an excellent correlation with those obtained by manual tracing (r = 0.992). Dynamic change of LV volume during the cardiac cycle is also obtained. CONCLUSION: The volume estimation method is accurate; edge based segmentation, image completion and volume reconstruction can be accomplished. The visualization technique also allows to navigate into the reconstructed volume and to display any section of the volume.

  1. Quantitative 3-d diagnostic ultrasound imaging using a modified transducer array and an automated image tracking technique.

    PubMed

    Hossack, John A; Sumanaweera, Thilaka S; Napel, Sandy; Ha, Jun S

    2002-08-01

    An approach for acquiring dimensionally accurate three-dimensional (3-D) ultrasound data from multiple 2-D image planes is presented. This is based on the use of a modified linear-phased array comprising a central imaging array that acquires multiple, essentially parallel, 2-D slices as the transducer is translated over the tissue of interest. Small, perpendicularly oriented, tracking arrays are integrally mounted on each end of the imaging transducer. As the transducer is translated in an elevational direction with respect to the central imaging array, the images obtained by the tracking arrays remain largely coplanar. The motion between successive tracking images is determined using a minimum sum of absolute difference (MSAD) image matching technique with subpixel matching resolution. An initial phantom scanning-based test of a prototype 8 MHz array indicates that linear dimensional accuracy of 4.6% (2 sigma) is achievable. This result compares favorably with those obtained using an assumed average velocity [31.5% (2 sigma) accuracy] and using an approach based on measuring image-to-image decorrelation [8.4% (2 sigma) accuracy]. The prototype array and imaging system were also tested in a clinical environment, and early results suggest that the approach has the potential to enable a low cost, rapid, screening method for detecting carotid artery stenosis. The average time for performing a screening test for carotid stenosis was reduced from an average of 45 minutes using 2-D duplex Doppler to 12 minutes using the new 3-D scanning approach.

  2. Tracking the interframe deformation of structures in 3D ultrasound imaging

    NASA Astrophysics Data System (ADS)

    Syn, M.; Gosling, J. P.; Prager, Richard W.; Berman, Laurence; Crowley, J.

    1994-09-01

    Three dimensional ultrasound imaging with a freehand probe allows a flexible approach to medical visualization and diagnosis. Given the imperfect accuracy of proprioceptive devices used to log the position and tilt of the probe, it is important to utilize the position constraints provided by image evidence. This is also important if we wish to consider the visualization of structures which move significantly during acquisition, such as a heart of fetus. We present here an initial approach to more robust segmentation and shape recovery in a particularly noisy modality. We consider 2D segmentation based on edge evidence, using first an active contour, then finding an optimal segmentation using simulated annealing. Correspondence between contours in adjacent frames can only be solved in general cases by use of a 3D prior model. Dynamic physics-based mesh models as used by Pentland [20] and Nastar [17], allow for shape modelling, then over-constrained 3D shape recovery can be performed using the intrinsic vibration modes of the model.

  3. Incorporation of 3-D Scanning Lidar Data into Google Earth for Real-time Air Pollution Observation

    NASA Astrophysics Data System (ADS)

    Chiang, C.; Nee, J.; Das, S.; Sun, S.; Hsu, Y.; Chiang, H.; Chen, S.; Lin, P.; Chu, J.; Su, C.; Lee, W.; Su, L.; Chen, C.

    2011-12-01

    3-D Differential Absorption Scanning Lidar (DIASL) system has been designed with small size, light weight, and suitable for installation in various vehicles and places for monitoring of air pollutants and displays a detailed real-time temporal and spatial variability of trace gases via the Google Earth. The fast scanning techniques and visual information can rapidly identify the locations and sources of the polluted gases and assess the most affected areas. It is helpful for Environmental Protection Agency (EPA) to protect the people's health and abate the air pollution as quickly as possible. The distributions of the atmospheric pollutants and their relationship with local metrological parameters measured with ground based instruments will also be discussed. Details will be presented in the upcoming symposium.

  4. Laetoli’s lost tracks: 3D generated mean shape and missing footprints

    PubMed Central

    Bennett, M. R.; Reynolds, S. C.; Morse, S. A.; Budka, M.

    2016-01-01

    The Laetoli site (Tanzania) contains the oldest known hominin footprints, and their interpretation remains open to debate, despite over 35 years of research. The two hominin trackways present are parallel to one another, one of which is a composite formed by at least two individuals walking in single file. Most researchers have focused on the single, clearly discernible G1 trackway while the G2/3 trackway has been largely dismissed due to its composite nature. Here we report the use of a new technique that allows us to decouple the G2 and G3 tracks for the first time. In so doing we are able to quantify the mean footprint topology of the G3 trackway and render it useable for subsequent data analyses. By restoring the effectively ‘lost’ G3 track, we have doubled the available data on some of the rarest traces directly associated with our Pliocene ancestors. PMID:26902912

  5. 3D environment modeling and location tracking using off-the-shelf components

    NASA Astrophysics Data System (ADS)

    Luke, Robert H.

    2016-05-01

    The remarkable popularity of smartphones over the past decade has led to a technological race for dominance in market share. This has resulted in a flood of new processors and sensors that are inexpensive, low power and high performance. These sensors include accelerometers, gyroscope, barometers and most importantly cameras. This sensor suite, coupled with multicore processors, allows a new community of researchers to build small, high performance platforms for low cost. This paper describes a system using off-the-shelf components to perform position tracking as well as environment modeling. The system relies on tracking using stereo vision and inertial navigation to determine movement of the system as well as create a model of the environment sensed by the system.

  6. 3D cloud detection and tracking system for solar forecast using multiple sky imagers

    SciTech Connect

    Peng, Zhenzhou; Yu, Dantong; Huang, Dong; Heiser, John; Yoo, Shinjae; Kalb, Paul

    2015-06-23

    We propose a system for forecasting short-term solar irradiance based on multiple total sky imagers (TSIs). The system utilizes a novel method of identifying and tracking clouds in three-dimensional space and an innovative pipeline for forecasting surface solar irradiance based on the image features of clouds. First, we develop a supervised classifier to detect clouds at the pixel level and output cloud mask. In the next step, we design intelligent algorithms to estimate the block-wise base height and motion of each cloud layer based on images from multiple TSIs. Thus, this information is then applied to stitch images together into larger views, which are then used for solar forecasting. We examine the system’s ability to track clouds under various cloud conditions and investigate different irradiance forecast models at various sites. We confirm that this system can 1) robustly detect clouds and track layers, and 2) extract the significant global and local features for obtaining stable irradiance forecasts with short forecast horizons from the obtained images. Finally, we vet our forecasting system at the 32-megawatt Long Island Solar Farm (LISF). Compared with the persistent model, our system achieves at least a 26% improvement for all irradiance forecasts between one and fifteen minutes.

  7. 3D cloud detection and tracking system for solar forecast using multiple sky imagers

    DOE PAGES

    Peng, Zhenzhou; Yu, Dantong; Huang, Dong; Heiser, John; Yoo, Shinjae; Kalb, Paul

    2015-06-23

    We propose a system for forecasting short-term solar irradiance based on multiple total sky imagers (TSIs). The system utilizes a novel method of identifying and tracking clouds in three-dimensional space and an innovative pipeline for forecasting surface solar irradiance based on the image features of clouds. First, we develop a supervised classifier to detect clouds at the pixel level and output cloud mask. In the next step, we design intelligent algorithms to estimate the block-wise base height and motion of each cloud layer based on images from multiple TSIs. Thus, this information is then applied to stitch images together intomore » larger views, which are then used for solar forecasting. We examine the system’s ability to track clouds under various cloud conditions and investigate different irradiance forecast models at various sites. We confirm that this system can 1) robustly detect clouds and track layers, and 2) extract the significant global and local features for obtaining stable irradiance forecasts with short forecast horizons from the obtained images. Finally, we vet our forecasting system at the 32-megawatt Long Island Solar Farm (LISF). Compared with the persistent model, our system achieves at least a 26% improvement for all irradiance forecasts between one and fifteen minutes.« less

  8. Accuracy of Real-time Couch Tracking During 3-dimensional Conformal Radiation Therapy, Intensity Modulated Radiation Therapy, and Volumetric Modulated Arc Therapy for Prostate Cancer

    SciTech Connect

    Wilbert, Juergen; Baier, Kurt; Hermann, Christian; Flentje, Michael; Guckenberger, Matthias

    2013-01-01

    Purpose: To evaluate the accuracy of real-time couch tracking for prostate cancer. Methods and Materials: Intrafractional motion trajectories of 15 prostate cancer patients were the basis for this phantom study; prostate motion had been monitored with the Calypso System. An industrial robot moved a phantom along these trajectories, motion was detected via an infrared camera system, and the robotic HexaPOD couch was used for real-time counter-steering. Residual phantom motion during real-time tracking was measured with the infrared camera system. Film dosimetry was performed during delivery of 3-dimensional conformal radiation therapy (3D-CRT), step-and-shoot intensity modulated radiation therapy (IMRT), and volumetric modulated arc therapy (VMAT). Results: Motion of the prostate was largest in the anterior-posterior direction, with systematic ( N-Ary-Summation ) and random ({sigma}) errors of 2.3 mm and 2.9 mm, respectively; the prostate was outside a threshold of 5 mm (3D vector) for 25.0%{+-}19.8% of treatment time. Real-time tracking reduced prostate motion to N-Ary-Summation =0.01 mm and {sigma} = 0.55 mm in the anterior-posterior direction; the prostate remained within a 1-mm and 5-mm threshold for 93.9%{+-}4.6% and 99.7%{+-}0.4% of the time, respectively. Without real-time tracking, pass rates based on a {gamma} index of 2%/2 mm in film dosimetry ranged between 66% and 72% for 3D-CRT, IMRT, and VMAT, on average. Real-time tracking increased pass rates to minimum 98% on average for 3D-CRT, IMRT, and VMAT. Conclusions: Real-time couch tracking resulted in submillimeter accuracy for prostate cancer, which transferred into high dosimetric accuracy independently of whether 3D-CRT, IMRT, or VMAT was used.

  9. Simultaneous bilateral real-time 3-d transcranial ultrasound imaging at 1 MHz through poor acoustic windows.

    PubMed

    Lindsey, Brooks D; Nicoletto, Heather A; Bennett, Ellen R; Laskowitz, Daniel T; Smith, Stephen W

    2013-04-01

    Ultrasound imaging has been proposed as a rapid, portable alternative imaging modality to examine stroke patients in pre-hospital or emergency room settings. However, in performing transcranial ultrasound examinations, 8%-29% of patients in a general population may present with window failure, in which case it is not possible to acquire clinically useful sonographic information through the temporal bone acoustic window. In this work, we describe the technical considerations, design and fabrication of low-frequency (1.2 MHz), large aperture (25.3 mm) sparse matrix array transducers for 3-D imaging in the event of window failure. These transducers are integrated into a system for real-time 3-D bilateral transcranial imaging-the ultrasound brain helmet-and color flow imaging capabilities at 1.2 MHz are directly compared with arrays operating at 1.8 MHz in a flow phantom with attenuation comparable to the in vivo case. Contrast-enhanced imaging allowed visualization of arteries of the Circle of Willis in 5 of 5 subjects and 8 of 10 sides of the head despite probe placement outside of the acoustic window. Results suggest that this type of transducer may allow acquisition of useful images either in individuals with poor windows or outside of the temporal acoustic window in the field.

  10. Real-time cardiac synchronization with fixed volume frame rate for reducing physiological instabilities in 3D FMRI.

    PubMed

    Tijssen, Rob H N; Okell, Thomas W; Miller, Karla L

    2011-08-15

    Although 2D echo-planar imaging (EPI) remains the dominant method for functional MRI (FMRI), 3D readouts are receiving more interest as these sequences have favorable signal-to-noise ratio (SNR) and enable imaging at a high isotropic resolution. Spoiled gradient-echo (SPGR) and balanced steady-state free-precession (bSSFP) are rapid sequences that are typically acquired with highly segmented 3D readouts, and thus less sensitive to image distortion and signal dropout. They therefore provide a powerful alternative for FMRI in areas with strong susceptibility offsets, such as deep gray matter structures and the brainstem. Unfortunately, the multi-shot nature of the readout makes these sequences highly sensitive to physiological fluctuations, and large signal instabilities are observed in the inferior regions of the brain. In this work a characterization of the source of these instabilities is given and a new method is presented to reduce the instabilities observed in 3D SPGR and bSSFP. Rapidly acquired single-slice data, which critically sampled the respiratory and cardiac waveforms, showed that cardiac pulsation is the dominant source of the instabilities. Simulations further showed that synchronizing the readout to the cardiac cycle minimizes the instabilities considerably. A real-time synchronization method was therefore developed, which utilizes parallel-imaging techniques to allow cardiac synchronization without alteration of the volume acquisition rate. The implemented method significantly improves the temporal stability in areas that are affected by cardiac-related signal fluctuations. In bSSFP data the tSNR in the brainstem increased by 45%, at the cost of a small reduction in tSNR in the cortical areas. In SPGR the temporal stability is improved by approximately 20% in the subcortical structures and as well as cortical gray matter when synchronization was performed.

  11. Tracking immune-related cell responses to drug delivery microparticles in 3D dense collagen matrix.

    PubMed

    Obarzanek-Fojt, Magdalena; Curdy, Catherine; Loggia, Nicoletta; Di Lena, Fabio; Grieder, Kathrin; Bitar, Malak; Wick, Peter

    2016-10-01

    Beyond the therapeutic purpose, the impact of drug delivery microparticles on the local tissue and inflammatory responses remains to be further elucidated specifically for reactions mediated by the host immune cells. Such immediate and prolonged reactions may adversely influence the release efficacy and intended therapeutic pathway. The lack of suitable in vitro platforms limits our ability to gain insight into the nature of immune responses at a single cell level. In order to establish an in vitro 3D system mimicking the connective host tissue counterpart, we utilized reproducible, compressed, rat-tail collagen polymerized matrices. THP1 cells (human acute monocytic leukaemia cells) differentiated into macrophage-like cells were chosen as cell model and their functionality was retained in the dense rat-tail collagen matrix. Placebo microparticles were later combined in the immune cell seeded system during collagen polymerization and secreted pro-inflammatory factors: TNFα and IL-8 were used as immune response readout (ELISA). Our data showed an elevated TNFα and IL-8 secretion by macrophage THP1 cells indicating that Placebo microparticles trigger certain immune cell responses under 3D in vivo like conditions. Furthermore, we have shown that the system is sensitive to measure the differences in THP1 macrophage pro-inflammatory responses to Active Pharmaceutical Ingredient (API) microparticles with different API release kinetics. We have successfully developed a tissue-like, advanced, in vitro system enabling selective "readouts" of specific responses of immune-related cells. Such system may provide the basis of an advanced toolbox enabling systemic evaluation and prediction of in vivo microparticle reactions on human immune-related cells.

  12. 3D tracking of surgical instruments using a single camera for laparoscopic surgery simulation.

    PubMed

    Shin, Sangkyun; Kim, Youngjun; Kwak, Hyunsoo; Lee, Deukhee; Park, Sehyung

    2011-01-01

    Most laparoscopic surgery simulation systems are expensive and complex. To overcome these problems, this study presents a novel three-dimensional tracking method for laparoscopic surgical instruments that uses only a single camera and fiducial markers. The proposed method does not require any mechanical parts to measure the three-dimensional positions/orientations of surgical instruments and the opening angle of graspers. We implemented simple and cost-effective hardware using the proposed method and successfully combined it with virtual simulation software for laparoscopic surgery.

  13. Visualizing and Tracking Evolving Features in 3D Unstructured and Adaptive Datasets

    SciTech Connect

    Silver, D.; Zabusky, N.

    2002-08-01

    The massive amounts of time-varying datasets being generated demand new visualization and quantification techniques. Visualization alone is not sufficient. Without proper measurement information/computations real science cannot be done. Our focus is this work was to combine visualization with quantification of the data to allow for advanced querying and searching. As part of this proposal, we have developed a feature extraction adn tracking methodology which allows researcher to identify features of interest and follow their evolution over time. The implementation is distributed and operates over data In-situ: where it is stored and when it was computed.

  14. Pulmonary CT image registration and warping for tracking tissue deformation during the respiratory cycle through 3D consistent image registration

    PubMed Central

    Li, Baojun; Christensen, Gary E.; Hoffman, Eric A.; McLennan, Geoffrey; Reinhardt, Joseph M.

    2008-01-01

    Tracking lung tissues during the respiratory cycle has been a challenging task for diagnostic CT and CT-guided radiotherapy. We propose an intensity- and landmark-based image registration algorithm to perform image registration and warping of 3D pulmonary CT image data sets, based on consistency constraints and matching corresponding airway branchpoints. In this paper, we demonstrate the effectivenss and accuracy of this algorithm in tracking lung tissues by both animal and human data sets. In the animal study, the result showed a tracking accuracy of 1.9 mm between 50% functional residual capacity (FRC) and 85% total lung capacity (TLC) for 12 metal seeds implanted in the lungs of a breathing sheep under precise volume control using a pulmonary ventilator. Visual inspection of the human subject results revealed the algorithm’s potential not only in matching the global shapes, but also in registering the internal structures (e.g., oblique lobe fissures, pulmonary artery branches, etc.). These results suggest that our algorithm has significant potential for warping and tracking lung tissue deformation with applications in diagnostic CT, CT-guided radiotherapy treatment planning, and therapeutic effect evaluation. PMID:19175115

  15. Pulmonary CT image registration and warping for tracking tissue deformation during the respiratory cycle through 3D consistent image registration.

    PubMed

    Li, Baojun; Christensen, Gary E; Hoffman, Eric A; McLennan, Geoffrey; Reinhardt, Joseph M

    2008-12-01

    Tracking lung tissues during the respiratory cycle has been a challenging task for diagnostic CT and CT-guided radiotherapy. We propose an intensity- and landmark-based image registration algorithm to perform image registration and warping of 3D pulmonary CT image data sets, based on consistency constraints and matching corresponding airway branchpoints. In this paper, we demonstrate the effectivenss and accuracy of this algorithm in tracking lung tissues by both animal and human data sets. In the animal study, the result showed a tracking accuracy of 1.9 mm between 50% functional residual capacity (FRC) and 85% total lung capacity (TLC) for 12 metal seeds implanted in the lungs of a breathing sheep under precise volume control using a pulmonary ventilator. Visual inspection of the human subject results revealed the algorithm's potential not only in matching the global shapes, but also in registering the internal structures (e.g., oblique lobe fissures, pulmonary artery branches, etc.). These results suggest that our algorithm has significant potential for warping and tracking lung tissue deformation with applications in diagnostic CT, CT-guided radiotherapy treatment planning, and therapeutic effect evaluation.

  16. The birth of a dinosaur footprint: Subsurface 3D motion reconstruction and discrete element simulation reveal track ontogeny

    PubMed Central

    2014-01-01

    Locomotion over deformable substrates is a common occurrence in nature. Footprints represent sedimentary distortions that provide anatomical, functional, and behavioral insights into trackmaker biology. The interpretation of such evidence can be challenging, however, particularly for fossil tracks recovered at bedding planes below the originally exposed surface. Even in living animals, the complex dynamics that give rise to footprint morphology are obscured by both foot and sediment opacity, which conceals animal–substrate and substrate–substrate interactions. We used X-ray reconstruction of moving morphology (XROMM) to image and animate the hind limb skeleton of a chicken-like bird traversing a dry, granular material. Foot movement differed significantly from walking on solid ground; the longest toe penetrated to a depth of ∼5 cm, reaching an angle of 30° below horizontal before slipping backward on withdrawal. The 3D kinematic data were integrated into a validated substrate simulation using the discrete element method (DEM) to create a quantitative model of limb-induced substrate deformation. Simulation revealed that despite sediment collapse yielding poor quality tracks at the air–substrate interface, subsurface displacements maintain a high level of organization owing to grain–grain support. Splitting the substrate volume along “virtual bedding planes” exposed prints that more closely resembled the foot and could easily be mistaken for shallow tracks. DEM data elucidate how highly localized deformations associated with foot entry and exit generate specific features in the final tracks, a temporal sequence that we term “track ontogeny.” This combination of methodologies fosters a synthesis between the surface/layer-based perspective prevalent in paleontology and the particle/volume-based perspective essential for a mechanistic understanding of sediment redistribution during track formation. PMID:25489092

  17. The birth of a dinosaur footprint: subsurface 3D motion reconstruction and discrete element simulation reveal track ontogeny.

    PubMed

    Falkingham, Peter L; Gatesy, Stephen M

    2014-12-23

    Locomotion over deformable substrates is a common occurrence in nature. Footprints represent sedimentary distortions that provide anatomical, functional, and behavioral insights into trackmaker biology. The interpretation of such evidence can be challenging, however, particularly for fossil tracks recovered at bedding planes below the originally exposed surface. Even in living animals, the complex dynamics that give rise to footprint morphology are obscured by both foot and sediment opacity, which conceals animal-substrate and substrate-substrate interactions. We used X-ray reconstruction of moving morphology (XROMM) to image and animate the hind limb skeleton of a chicken-like bird traversing a dry, granular material. Foot movement differed significantly from walking on solid ground; the longest toe penetrated to a depth of ∼5 cm, reaching an angle of 30° below horizontal before slipping backward on withdrawal. The 3D kinematic data were integrated into a validated substrate simulation using the discrete element method (DEM) to create a quantitative model of limb-induced substrate deformation. Simulation revealed that despite sediment collapse yielding poor quality tracks at the air-substrate interface, subsurface displacements maintain a high level of organization owing to grain-grain support. Splitting the substrate volume along "virtual bedding planes" exposed prints that more closely resembled the foot and could easily be mistaken for shallow tracks. DEM data elucidate how highly localized deformations associated with foot entry and exit generate specific features in the final tracks, a temporal sequence that we term "track ontogeny." This combination of methodologies fosters a synthesis between the surface/layer-based perspective prevalent in paleontology and the particle/volume-based perspective essential for a mechanistic understanding of sediment redistribution during track formation.

  18. Lagrangian 3D particle tracking in high-speed flows: Shake-The-Box for multi-pulse systems

    NASA Astrophysics Data System (ADS)

    Novara, Matteo; Schanz, Daniel; Reuther, Nico; Kähler, Christian J.; Schröder, Andreas

    2016-08-01

    The Shake-The-Box (STB) particle tracking technique, recently introduced for time-resolved 3D particle image velocimetry (PIV) images, is applied here to data from a multi-pulse investigation of a turbulent boundary layer flow with adverse pressure gradient in air at 36 m/s ( Re τ = 10,650). The multi-pulse acquisition strategy allows for the recording of four-pulse long time-resolved sequences with a time separation of a few microseconds. The experimental setup consists of a dual-imaging system and a dual-double-cavity laser emitting orthogonal polarization directions to separate the four pulses. The STB particle triangulation and tracking strategy is adapted here to cope with the limited amount of realizations available along the time sequence and to take advantage of the ghost track reduction offered by the use of two independent imaging systems. Furthermore, a correction scheme to compensate for camera vibrations is discussed, together with a method to accurately identify the position of the wall within the measurement domain. Results show that approximately 80,000 tracks can be instantaneously reconstructed within the measurement volume, enabling the evaluation of both dense velocity fields, suitable for spatial gradients evaluation, and highly spatially resolved boundary layer profiles. Turbulent boundary layer profiles obtained from ensemble averaging of the STB tracks are compared to results from 2D-PIV and long-range micro particle tracking velocimetry; the comparison shows the capability of the STB approach in delivering accurate results across a wide range of scales.

  19. An efficient quasi-3D particle tracking-based approach for transport through fractures with application to dynamic dispersion calculation.

    PubMed

    Wang, Lichun; Cardenas, M Bayani

    2015-08-01

    The quantitative study of transport through fractured media has continued for many decades, but has often been constrained by observational and computational challenges. Here, we developed an efficient quasi-3D random walk particle tracking (RWPT) algorithm to simulate solute transport through natural fractures based on a 2D flow field generated from the modified local cubic law (MLCL). As a reference, we also modeled the actual breakthrough curves (BTCs) through direct simulations with the 3D advection-diffusion equation (ADE) and Navier-Stokes equations. The RWPT algorithm along with the MLCL accurately reproduced the actual BTCs calculated with the 3D ADE. The BTCs exhibited non-Fickian behavior, including early arrival and long tails. Using the spatial information of particle trajectories, we further analyzed the dynamic dispersion process through moment analysis. From this, asymptotic time scales were determined for solute dispersion to distinguish non-Fickian from Fickian regimes. This analysis illustrates the advantage and benefit of using an efficient combination of flow modeling and RWPT. PMID:26042625

  20. Multisensor 3D tracking for counter small unmanned air vehicles (CSUAV)

    NASA Astrophysics Data System (ADS)

    Vasquez, Juan R.; Tarplee, Kyle M.; Case, Ellen E.; Zelnio, Anne M.; Rigling, Brian D.

    2008-04-01

    A variety of unmanned air vehicles (UAVs) have been developed for both military and civilian use. The typical large UAV is typically state owned, whereas small UAVs (SUAVs) may be in the form of remote controlled aircraft that are widely available. The potential threat of these SUAVs to both the military and civilian populace has led to research efforts to counter these assets via track, ID, and attack. Difficulties arise from the small size and low radar cross section when attempting to detect and track these targets with a single sensor such as radar or video cameras. In addition, clutter objects make accurate ID difficult without very high resolution data, leading to the use of an acoustic array to support this function. This paper presents a multi-sensor architecture that exploits sensor modes including EO/IR cameras, an acoustic array, and future inclusion of a radar. A sensor resource management concept is presented along with preliminary results from three of the sensors.

  1. Catheter tracking in asynchronous biplane fluoroscopy images by 3D B-snakes

    NASA Astrophysics Data System (ADS)

    Schenderlein, Marcel; Stierlin, Susanne; Manzke, Robert; Rasche, Volker; Dietmayer, Klaus

    2010-02-01

    Minimally invasive catheter ablation procedures are guided by biplane fluoroscopy images visualising the interventional scene from two different orientations. However, these images do not provide direct access to their inherent spatial information. A three-dimensional reconstruction and visualisation of the catheters from such projections has the potential to support quick and precise catheter navigation. It enhances the perception of the interventional situation and provides means of three-dimensional catheter pose documentation. In this contribution we develop an algorithm for tracking the three-dimensional pose of electro-physiological catheters in biplane fluoroscopy images. It is based on the B-Snake algorithm which had to be adapted to the biplane and in particular the asynchronous image acquisition situation. A three-dimensional B-spline curve is transformed so that its projections are consistent with the catheter path enhancing feature images, while the information from the missing image caused by the asynchronous acquisition is interpolated from its sequence neighbours. In order to analyse the three-dimensional precision, virtual images were created from patient data sets and threedimensional ground truth catheter paths. The evaluation of the three-dimensional catheter pose reconstruction by means of our algorithm on 33 of such virtual image sets indicated a mean catheter pose error of 1.26 mm and a mean tip deviation of 3.28 mm. The tracking capability of the algorithm was evaluated on 10 patient data sets. In 94 % of all images our algorithm followed the catheter projections.

  2. A Detailed Study of FDIRC Prototype with Waveform Digitizing Electronics in Cosmic Ray Telescope Using 3D Tracks.

    SciTech Connect

    Nishimura, K

    2012-07-01

    We present a detailed study of a novel Cherenkov imaging detector called the Focusing DIRC (FDIRC) with waveform digitizing electronics. In this test study, the FDIRC prototype has been instrumented with seven Hamamatsu H-8500 MaPMTs. Waveforms from ~450 pixels are digitized with waveform sampling electronics based on the BLAB2 ASIC, operating at a sampling speed of ~2.5 GSa/s. The FDIRC prototype was tested in a large cosmic ray telescope (CRT) providing 3D muon tracks with ~1.5 mrad angular resolution and muon energy of Emuon greater than 1.6 GeV. In this study we provide a detailed analysis of the tails in the Cherenkov angle distribution as a function of various variables, compare experimental results with simulation, and identify the major contributions to the tails. We demonstrate that to see the full impact of these tails on the Cherenkov angle resolution, it is crucial to use 3D tracks, and have a full understanding of the role of ambiguities. These issues could not be fully explored in previous FDIRC studies where the beam was perpendicular to the quartz radiator bars. This work is relevant for the final FDIRC prototype of the PID detector at SuperB, which will be tested this year in the CRT setup.

  3. A Detailed Study of FDIRC Prototype with Waveform Digitizing Electronics in Cosmic Ray Telescope Using 3D Tracks

    SciTech Connect

    Nishimura, K.; Dey, B.; Aston, D.; Leith, D.W.G.S.; Ratcliff, B.; Roberts, D.; Ruckman, L.; Shtol, D.; Varner, G.S.; Va'vra, J.; Vavra, Jerry; /SLAC

    2012-07-30

    We present a detailed study of a novel Cherenkov imaging detector called the Focusing DIRC (FDIRC) with waveform digitizing electronics. In this test study, the FDIRC prototype has been instrumented with seven Hamamatsu H-8500 MaPMTs. Waveforms from {approx}450 pixels are digitized with waveform sampling electronics based on the BLAB2 ASIC, operating at a sampling speed of {approx}2.5 GSa/s. The FDIRC prototype was tested in a large cosmic ray telescope (CRT) providing 3D muon tracks with {approx}1.5 mrad angular resolution and muon energy of E{sub muon} > 1.6 GeV. In this study we provide a detailed analysis of the tails in the Cherenkov angle distribution as a function of various variables, compare experimental results with simulation, and identify the major contributions to the tails. We demonstrate that to see the full impact of these tails on the Cherenkov angle resolution, it is crucial to use 3D tracks, and have a full understanding of the role of ambiguities. These issues could not be fully explored in previous FDIRC studies where the beam was perpendicular to the quartz radiator bars. This work is relevant for the final FDIRC prototype of the PID detector at SuperB, which will be tested this year in the CRT setup.

  4. Fusion of current technologies with real-time 3D MEMS ladar for novel security and defense applications

    NASA Astrophysics Data System (ADS)

    Siepmann, James P.

    2006-05-01

    Through the utilization of scanning MEMS mirrors in ladar devices, a whole new range of potential military, Homeland Security, law enforcement, and civilian applications is now possible. Currently, ladar devices are typically large (>15,000 cc), heavy (>15 kg), and expensive (>$100,000) while current MEMS ladar designs are more than a magnitude less, opening up a myriad of potential new applications. One such application with current technology is a GPS integrated MEMS ladar unit, which could be used for real-time border monitoring or the creation of virtual 3D battlefields after being dropped or propelled into hostile territory. Another current technology that can be integrated into a MEMS ladar unit is digital video that can give high resolution and true color to a picture that is then enhanced with range information in a real-time display format that is easier for the user to understand and assimilate than typical gray-scale or false color images. The problem with using 2-axis MEMS mirrors in ladar devices is that in order to have a resonance frequency capable of practical real-time scanning, they must either be quite small and/or have a low maximum tilt angle. Typically, this value has been less than (< or = to 10 mg-mm2-kHz2)-degrees. We have been able to solve this problem by using angle amplification techniques that utilize a series of MEMS mirrors and/or a specialized set of optics to achieve a broad field of view. These techniques and some of their novel applications mentioned will be explained and discussed herein.

  5. A simple fuzzy logic real-time camera tracking system

    NASA Technical Reports Server (NTRS)

    Magee, Kevin N.; Cheatham, John B., Jr.

    1993-01-01

    A fuzzy logic control of camera pan and tilt has been implemented to provide real-time camera tracking of a moving object. The user clicks a mouse button to identify the object that is to be tracked. A rapid centroid estimation algorithm is used to estimate the location of the moving object, and based on simple fuzzy membership functions, fuzzy x and y values are input into a six-rule fuzzy logic rule base. The output of this system is de-fuzzified to provide pan and tilt velocities required to keep the image of the object approximately centered in the camera field of view.

  6. Ultra-high-speed 3D astigmatic particle tracking velocimetry: application to particle-laden supersonic impinging jets

    NASA Astrophysics Data System (ADS)

    Buchmann, N. A.; Cierpka, C.; Kähler, C. J.; Soria, J.

    2014-11-01

    The paper demonstrates ultra-high-speed three-component, three-dimensional (3C3D) velocity measurements of micron-sized particles suspended in a supersonic impinging jet flow. Understanding the dynamics of individual particles in such flows is important for the design of particle impactors for drug delivery or cold gas dynamic spray processing. The underexpanded jet flow is produced via a converging nozzle, and micron-sized particles ( d p = 110 μm) are introduced into the gas flow. The supersonic jet impinges onto a flat surface, and the particle impact velocity and particle impact angle are studied for a range of flow conditions and impingement distances. The imaging system consists of an ultra-high-speed digital camera (Shimadzu HPV-1) capable of recording rates of up to 1 Mfps. Astigmatism particle tracking velocimetry (APTV) is used to measure the 3D particle position (Cierpka et al., Meas Sci Technol 21(045401):13, 2010) by coding the particle depth location in the 2D images by adding a cylindrical lens to the high-speed imaging system. Based on the reconstructed 3D particle positions, the particle trajectories are obtained via a higher-order tracking scheme that takes advantage of the high temporal resolution to increase robustness and accuracy of the measurement. It is shown that the particle velocity and impingement angle are affected by the gas flow in a manner depending on the nozzle pressure ratio and stand-off distance where higher pressure ratios and stand-off distances lead to higher impact velocities and larger impact angles.

  7. Readily Accessible Multiplane Microscopy: 3D Tracking the HIV-1 Genome in Living Cells.

    PubMed

    Itano, Michelle S; Bleck, Marina; Johnson, Daniel S; Simon, Sanford M

    2016-02-01

    Human immunodeficiency virus (HIV)-1 infection and the associated disease AIDS are a major cause of human death worldwide with no vaccine or cure available. The trafficking of HIV-1 RNAs from sites of synthesis in the nucleus, through the cytoplasm, to sites of assembly at the plasma membrane are critical steps in HIV-1 viral replication, but are not well characterized. Here we present a broadly accessible microscopy method that captures multiple focal planes simultaneously, which allows us to image the trafficking of HIV-1 genomic RNAs with high precision. This method utilizes a customization of a commercial multichannel emission splitter that enables high-resolution 3D imaging with single-macromolecule sensitivity. We show with high temporal and spatial resolution that HIV-1 genomic RNAs are most mobile in the cytosol, and undergo confined mobility at sites along the nuclear envelope and in the nucleus and nucleolus. These provide important insights regarding the mechanism by which the HIV-1 RNA genome is transported to the sites of assembly of nascent virions. PMID:26567131

  8. Aref's chaotic orbits tracked by a general ellipsoid using 3D numerical simulations

    NASA Astrophysics Data System (ADS)

    Shui, Pei; Popinet, Stéphane; Govindarajan, Rama; Valluri, Prashant

    2015-11-01

    The motion of an ellipsoidal solid in an ideal fluid has been shown to be chaotic (Aref, 1993) under the limit of non-integrability of Kirchhoff's equations (Kozlov & Oniscenko, 1982). On the other hand, the particle could stop moving when the damping viscous force is strong enough. We present numerical evidence using our in-house immersed solid solver for 3D chaotic motion of a general ellipsoidal solid and suggest criteria for triggering such motion. Our immersed solid solver functions under the framework of the Gerris flow package of Popinet et al. (2003). This solver, the Gerris Immersed Solid Solver (GISS), resolves 6 degree-of-freedom motion of immersed solids with arbitrary geometry and number. We validate our results against the solution of Kirchhoff's equations. The study also shows that the translational/ rotational energy ratio plays the key role on the motion pattern, while the particle geometry and density ratio between the solid and fluid also have some influence on the chaotic behaviour. Along with several other benchmark cases for viscous flows, we propose prediction of chaotic Aref's orbits as a key benchmark test case for immersed boundary/solid solvers.

  9. Readily Accessible Multiplane Microscopy: 3D Tracking the HIV-1 Genome in Living Cells.

    PubMed

    Itano, Michelle S; Bleck, Marina; Johnson, Daniel S; Simon, Sanford M

    2016-02-01

    Human immunodeficiency virus (HIV)-1 infection and the associated disease AIDS are a major cause of human death worldwide with no vaccine or cure available. The trafficking of HIV-1 RNAs from sites of synthesis in the nucleus, through the cytoplasm, to sites of assembly at the plasma membrane are critical steps in HIV-1 viral replication, but are not well characterized. Here we present a broadly accessible microscopy method that captures multiple focal planes simultaneously, which allows us to image the trafficking of HIV-1 genomic RNAs with high precision. This method utilizes a customization of a commercial multichannel emission splitter that enables high-resolution 3D imaging with single-macromolecule sensitivity. We show with high temporal and spatial resolution that HIV-1 genomic RNAs are most mobile in the cytosol, and undergo confined mobility at sites along the nuclear envelope and in the nucleus and nucleolus. These provide important insights regarding the mechanism by which the HIV-1 RNA genome is transported to the sites of assembly of nascent virions.

  10. Combined kV and MV imaging for real-time tracking of implanted fiducial markers.

    PubMed

    Wiersma, R D; Mao, Weihua; Xing, L

    2008-04-01

    In the presence of intrafraction organ motion, target localization uncertainty can greatly hamper the advantage of highly conformal dose techniques such as intensity modulated radiation therapy (IMRT). To minimize the adverse dosimetric effect caused by tumor motion, a real-time knowledge of the tumor position is required throughout the beam delivery process. The recent integration of onboard kV diagnostic imaging together with MV electronic portal imaging devices on linear accelerators can allow for real-time three-dimensional (3D) tumor position monitoring during a treatment delivery. The aim of this study is to demonstrate a near real-time 3D internal fiducial tracking system based on the combined use of kV and MV imaging. A commercially available radiotherapy system equipped with both kV and MV imaging systems was used in this work. A hardware video frame grabber was used to capture both kV and MV video streams simultaneously through independent video channels at 30 frames per second. The fiducial locations were extracted from the kV and MV images using a software tool. The geometric tracking capabilities of the system were evaluated using a pelvic phantom with embedded fiducials placed on a moveable stage. The maximum tracking speed of the kV/MV system is approximately 9 Hz, which is primarily limited by the frame rate of the MV imager. The geometric accuracy of the system is found to be on the order of less than 1 mm in all three spatial dimensions. The technique requires minimal hardware modification and is potentially useful for image-guided radiation therapy systems.

  11. Particle tracking approach for transport in three-dimensional discrete fracture networks: Particle tracking in 3-D DFNs

    SciTech Connect

    Makedonska, Nataliia; Painter, Scott L.; Bui, Quan M.; Gable, Carl W.; Karra, Satish

    2015-09-16

    The discrete fracture network (DFN) model is a method to mimic discrete pathways for fluid flow through a fractured low-permeable rock mass, and may be combined with particle tracking simulations to address solute transport. However, experience has shown that it is challenging to obtain accurate transport results in three-dimensional DFNs because of the high computational burden and difficulty in constructing a high-quality unstructured computational mesh on simulated fractures. We present a new particle tracking capability, which is adapted to control volume (Voronoi polygons) flow solutions on unstructured grids (Delaunay triangulations) on three-dimensional DFNs. The locally mass-conserving finite-volume approach eliminates mass balance-related problems during particle tracking. The scalar fluxes calculated for each control volume face by the flow solver are used to reconstruct a Darcy velocity at each control volume centroid. The groundwater velocities can then be continuously interpolated to any point in the domain of interest. The control volumes at fracture intersections are split into four pieces, and the velocity is reconstructed independently on each piece, which results in multiple groundwater velocities at the intersection, one for each fracture on each side of the intersection line. This technique enables detailed particle transport representation through a complex DFN structure. Verified for small DFNs, the new simulation capability enables numerical experiments on advective transport in large DFNs to be performed. As a result, we demonstrate this particle transport approach on a DFN model using parameters similar to those of crystalline rock at a proposed geologic repository for spent nuclear fuel in Forsmark, Sweden.

  12. Particle tracking approach for transport in three-dimensional discrete fracture networks: Particle tracking in 3-D DFNs

    DOE PAGES

    Makedonska, Nataliia; Painter, Scott L.; Bui, Quan M.; Gable, Carl W.; Karra, Satish

    2015-09-16

    The discrete fracture network (DFN) model is a method to mimic discrete pathways for fluid flow through a fractured low-permeable rock mass, and may be combined with particle tracking simulations to address solute transport. However, experience has shown that it is challenging to obtain accurate transport results in three-dimensional DFNs because of the high computational burden and difficulty in constructing a high-quality unstructured computational mesh on simulated fractures. We present a new particle tracking capability, which is adapted to control volume (Voronoi polygons) flow solutions on unstructured grids (Delaunay triangulations) on three-dimensional DFNs. The locally mass-conserving finite-volume approach eliminates massmore » balance-related problems during particle tracking. The scalar fluxes calculated for each control volume face by the flow solver are used to reconstruct a Darcy velocity at each control volume centroid. The groundwater velocities can then be continuously interpolated to any point in the domain of interest. The control volumes at fracture intersections are split into four pieces, and the velocity is reconstructed independently on each piece, which results in multiple groundwater velocities at the intersection, one for each fracture on each side of the intersection line. This technique enables detailed particle transport representation through a complex DFN structure. Verified for small DFNs, the new simulation capability enables numerical experiments on advective transport in large DFNs to be performed. As a result, we demonstrate this particle transport approach on a DFN model using parameters similar to those of crystalline rock at a proposed geologic repository for spent nuclear fuel in Forsmark, Sweden.« less

  13. Helicopter Flight Test of a Compact, Real-Time 3-D Flash Lidar for Imaging Hazardous Terrain During Planetary Landing

    NASA Technical Reports Server (NTRS)

    Roback, VIncent E.; Amzajerdian, Farzin; Brewster, Paul F.; Barnes, Bruce W.; Kempton, Kevin S.; Reisse, Robert A.; Bulyshev, Alexander E.

    2013-01-01

    A second generation, compact, real-time, air-cooled 3-D imaging Flash Lidar sensor system, developed from a number of cutting-edge components from industry and NASA, is lab characterized and helicopter flight tested under the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project. The ALHAT project is seeking to develop a guidance, navigation, and control (GN&C) and sensing system based on lidar technology capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The Flash Lidar incorporates a 3-D imaging video camera based on Indium-Gallium-Arsenide Avalanche Photo Diode and novel micro-electronic technology for a 128 x 128 pixel array operating at a video rate of 20 Hz, a high pulse-energy 1.06 µm Neodymium-doped: Yttrium Aluminum Garnet (Nd:YAG) laser, a remote laser safety termination system, high performance transmitter and receiver optics with one and five degrees field-of-view (FOV), enhanced onboard thermal control, as well as a compact and self-contained suite of support electronics housed in a single box and built around a PC-104 architecture to enable autonomous operations. The Flash Lidar was developed and then characterized at two NASA-Langley Research Center (LaRC) outdoor laser test range facilities both statically and dynamically, integrated with other ALHAT GN&C subsystems from partner organizations, and installed onto a Bell UH-1H Iroquois "Huey" helicopter at LaRC. The integrated system was flight tested at the NASA-Kennedy Space Center (KSC) on simulated lunar approach to a custom hazard field consisting of rocks, craters, hazardous slopes, and safe-sites near the Shuttle Landing Facility runway starting at slant ranges of 750 m. In order to evaluate different methods of achieving hazard detection, the lidar, in conjunction with the ALHAT hazard detection and GN&C system, operates in both a narrow 1deg FOV raster

  14. Automated real-time search and analysis algorithms for a non-contact 3D profiling system

    NASA Astrophysics Data System (ADS)

    Haynes, Mark; Wu, Chih-Hang John; Beck, B. Terry; Peterman, Robert J.

    2013-04-01

    The purpose of this research is to develop a new means of identifying and extracting geometrical feature statistics from a non-contact precision-measurement 3D profilometer. Autonomous algorithms have been developed to search through large-scale Cartesian point clouds to identify and extract geometrical features. These algorithms are developed with the intent of providing real-time production quality control of cold-rolled steel wires. The steel wires in question are prestressing steel reinforcement wires for concrete members. The geometry of the wire is critical in the performance of the overall concrete structure. For this research a custom 3D non-contact profilometry system has been developed that utilizes laser displacement sensors for submicron resolution surface profiling. Optimizations in the control and sensory system allow for data points to be collected at up to an approximate 400,000 points per second. In order to achieve geometrical feature extraction and tolerancing with this large volume of data, the algorithms employed are optimized for parsing large data quantities. The methods used provide a unique means of maintaining high resolution data of the surface profiles while keeping algorithm running times within practical bounds for industrial application. By a combination of regional sampling, iterative search, spatial filtering, frequency filtering, spatial clustering, and template matching a robust feature identification method has been developed. These algorithms provide an autonomous means of verifying tolerances in geometrical features. The key method of identifying the features is through a combination of downhill simplex and geometrical feature templates. By performing downhill simplex through several procedural programming layers of different search and filtering techniques, very specific geometrical features can be identified within the point cloud and analyzed for proper tolerancing. Being able to perform this quality control in real time

  15. Method for dose-reduced 3D catheter tracking on a scanning-beam digital x-ray system using dynamic electronic collimation

    NASA Astrophysics Data System (ADS)

    Dunkerley, David A. P.; Funk, Tobias; Speidel, Michael A.

    2016-03-01

    Scanning-beam digital x-ray (SBDX) is an inverse geometry x-ray fluoroscopy system capable of tomosynthesis-based 3D catheter tracking. This work proposes a method of dose-reduced 3D tracking using dynamic electronic collimation (DEC) of the SBDX scanning x-ray tube. Positions in the 2D focal spot array are selectively activated to create a regionof- interest (ROI) x-ray field around the tracked catheter. The ROI position is updated for each frame based on a motion vector calculated from the two most recent 3D tracking results. The technique was evaluated with SBDX data acquired as a catheter tip inside a chest phantom was pulled along a 3D trajectory. DEC scans were retrospectively generated from the detector images stored for each focal spot position. DEC imaging of a catheter tip in a volume measuring 11.4 cm across at isocenter required 340 active focal spots per frame, versus 4473 spots in full-FOV mode. The dose-area-product (DAP) and peak skin dose (PSD) for DEC versus full field-of-view (FOV) scanning were calculated using an SBDX Monte Carlo simulation code. DAP was reduced to 7.4% to 8.4% of the full-FOV value, consistent with the relative number of active focal spots (7.6%). For image sequences with a moving catheter, PSD was 33.6% to 34.8% of the full-FOV value. The root-mean-squared-deviation between DEC-based 3D tracking coordinates and full-FOV 3D tracking coordinates was less than 0.1 mm. The 3D distance between the tracked tip and the sheath centerline averaged 0.75 mm. Dynamic electronic collimation can reduce dose with minimal change in tracking performance.

  16. Real-time analysis of integrin-mediated chemotactic migration of T lymphocytes within 3-D extracellular matrix-like gels.

    PubMed

    Franitza, S; Alon, R; Lider, O

    1999-05-27

    We have developed a novel 3-D gel reconstituted with major extracellular matrix (ECM) glycoproteins to follow the dynamics of migration of human T cells locomoting, in real-time, on gradients formed by representative chemoattractants: the C-C chemokine RANTES, and the pro-inflammatory cytokine IL-2. In the absence of chemoattractants, none of the T cells migrated directionally and the levels of random migration or cell polarization were low. However, major fractions of T cells placed in IL-2 and RANTES gradients in the gels polarized immediately after exposure to the chemoattractants. Shortly after polarization, 25% of the T cells migrated, in either a random or directional fashion, towards the sources of the chemoattractants; additional 5-10% of the cells remained polarized but stationary. The number of T cells migrating directionally towards RANTES or IL-2 peaked along with the formation of the chemotactic gradients. The directional migration of T cells was increased by a short pre-exposure to low doses of IL-2, which did not alter the level of expression of the beta1 integrins. The directional migration of T cells towards IL-2 and RANTES was mediated by IL-2R and pertussis toxin-sensitive receptors, respectively, and the directional, and to a lesser degree, the random locomotion of T cells induced by both chemoattractants required intact tyrosine kinase signaling and activities of the alpha4, alpha5, and, to a lesser degree, the alpha2 and alpha6 members the beta1 integrins. Our system enables the real-time tracking of individual locomoting lymphocytes and the analysis of their dynamic interactions with ECM components and cytokines. PMID:10365778

  17. Fast and accurate global multiphase arrival tracking: the irregular shortest-path method in a 3-D spherical earth model

    NASA Astrophysics Data System (ADS)

    Huang, Guo-Jiao; Bai, Chao-Ying; Greenhalgh, Stewart

    2013-09-01

    The traditional grid/cell-based wavefront expansion algorithms, such as the shortest path algorithm, can only find the first arrivals or multiply reflected (or mode converted) waves transmitted from subsurface interfaces, but cannot calculate the other later reflections/conversions having a minimax time path. In order to overcome the above limitations, we introduce the concept of a stationary minimax time path of Fermat's Principle into the multistage irregular shortest path method. Here we extend it from Cartesian coordinates for a flat earth model to global ray tracing of multiple phases in a 3-D complex spherical earth model. The ray tracing results for 49 different kinds of crustal, mantle and core phases show that the maximum absolute traveltime error is less than 0.12 s and the average absolute traveltime error is within 0.09 s when compared with the AK135 theoretical traveltime tables for a 1-D reference model. Numerical tests in terms of computational accuracy and CPU time consumption indicate that the new scheme is an accurate, efficient and a practical way to perform 3-D multiphase arrival tracking in regional or global traveltime tomography.

  18. A Real-Time Magnetoencephalography Brain-Computer Interface Using Interactive 3D Visualization and the Hadoop Ecosystem.

    PubMed

    McClay, Wilbert A; Yadav, Nancy; Ozbek, Yusuf; Haas, Andy; Attias, Hagaii T; Nagarajan, Srikantan S

    2015-09-30

    Ecumenically, the fastest growing segment of Big Data is human biology-related data and the annual data creation is on the order of zetabytes. The implications are global across industries, of which the treatment of brain related illnesses and trauma could see the most significant and immediate effects. The next generation of health care IT and sensory devices are acquiring and storing massive amounts of patient related data. An innovative Brain-Computer Interface (BCI) for interactive 3D visualization is presented utilizing the Hadoop Ecosystem for data analysis and storage. The BCI is an implementation of Bayesian factor analysis algorithms that can distinguish distinct thought actions using magneto encephalographic (MEG) brain signals. We have collected data on five subjects yielding 90% positive performance in MEG mid- and post-movement activity. We describe a driver that substitutes the actions of the BCI as mouse button presses for real-time use in visual simulations. This process has been added into a flight visualization demonstration. By thinking left or right, the user experiences the aircraft turning in the chosen direction. The driver components of the BCI can be compiled into any software and substitute a user's intent for specific keyboard strikes or mouse button presses. The BCI's data analytics OPEN ACCESS Brain. Sci. 2015, 5 420 of a subject's MEG brainwaves and flight visualization performance are stored and analyzed using the Hadoop Ecosystem as a quick retrieval data warehouse.

  19. Real-time microstructure imaging by Laue microdiffraction: A sample application in laser 3D printed Ni-based superalloys

    NASA Astrophysics Data System (ADS)

    Zhou, Guangni; Zhu, Wenxin; Shen, Hao; Li, Yao; Zhang, Anfeng; Tamura, Nobumichi; Chen, Kai

    2016-06-01

    Synchrotron-based Laue microdiffraction has been widely applied to characterize the local crystal structure, orientation, and defects of inhomogeneous polycrystalline solids by raster scanning them under a micro/nano focused polychromatic X-ray probe. In a typical experiment, a large number of Laue diffraction patterns are collected, requiring novel data reduction and analysis approaches, especially for researchers who do not have access to fast parallel computing capabilities. In this article, a novel approach is developed by plotting the distributions of the average recorded intensity and the average filtered intensity of the Laue patterns. Visualization of the characteristic microstructural features is realized in real time during data collection. As an example, this method is applied to image key features such as microcracks, carbides, heat affected zone, and dendrites in a laser assisted 3D printed Ni-based superalloy, at a speed much faster than data collection. Such analytical approach remains valid for a wide range of crystalline solids, and therefore extends the application range of the Laue microdiffraction technique to problems where real-time decision-making during experiment is crucial (for instance time-resolved non-reversible experiments).

  20. A Real-Time Magnetoencephalography Brain-Computer Interface Using Interactive 3D Visualization and the Hadoop Ecosystem.

    PubMed

    McClay, Wilbert A; Yadav, Nancy; Ozbek, Yusuf; Haas, Andy; Attias, Hagaii T; Nagarajan, Srikantan S

    2015-01-01

    Ecumenically, the fastest growing segment of Big Data is human biology-related data and the annual data creation is on the order of zetabytes. The implications are global across industries, of which the treatment of brain related illnesses and trauma could see the most significant and immediate effects. The next generation of health care IT and sensory devices are acquiring and storing massive amounts of patient related data. An innovative Brain-Computer Interface (BCI) for interactive 3D visualization is presented utilizing the Hadoop Ecosystem for data analysis and storage. The BCI is an implementation of Bayesian factor analysis algorithms that can distinguish distinct thought actions using magneto encephalographic (MEG) brain signals. We have collected data on five subjects yielding 90% positive performance in MEG mid- and post-movement activity. We describe a driver that substitutes the actions of the BCI as mouse button presses for real-time use in visual simulations. This process has been added into a flight visualization demonstration. By thinking left or right, the user experiences the aircraft turning in the chosen direction. The driver components of the BCI can be compiled into any software and substitute a user's intent for specific keyboard strikes or mouse button presses. The BCI's data analytics OPEN ACCESS Brain. Sci. 2015, 5 420 of a subject's MEG brainwaves and flight visualization performance are stored and analyzed using the Hadoop Ecosystem as a quick retrieval data warehouse. PMID:26437432

  1. Computational hologram synthesis and representation on spatial light modulators for real-time 3D holographic imaging

    NASA Astrophysics Data System (ADS)

    Reichelt, Stephan; Leister, Norbert

    2013-02-01

    In dynamic computer-generated holography that utilizes spatial light modulators, both hologram synthesis and hologram representation are essential in terms of fast computation and high reconstruction quality. For hologram synthesis, i.e. the computation step, Fresnel transform based or point-source based raytracing methods can be applied. In the encoding step, the complex wave-field has to be optimally represented by the SLM with its given modulation capability. For proper hologram reconstruction that implies a simultaneous and independent amplitude and phase modulation of the input wave-field by the SLM. In this paper, we discuss full complex hologram representation methods on SLMs by considering inherent SLM parameter such as modulation type and bit depth on their reconstruction performance such as diffraction efficiency and SNR. We review the three implementation schemes of Burckhardt amplitude-only representation, phase-only macro-pixel representation, and two-phase interference representation. Besides the optical performance we address their hardware complexity and required computational load. Finally, we experimentally demonstrate holographic reconstructions of different representation schemes as obtained by functional prototypes utilizing SeeReal's viewing-window holographic display technology. The proposed hardware implementations enable a fast encoding of complex-valued hologram data and thus will pave the way for commercial real-time holographic 3D imaging in the near future.

  2. Real-time microstructure imaging by Laue microdiffraction: A sample application in laser 3D printed Ni-based superalloys.

    PubMed

    Zhou, Guangni; Zhu, Wenxin; Shen, Hao; Li, Yao; Zhang, Anfeng; Tamura, Nobumichi; Chen, Kai

    2016-01-01

    Synchrotron-based Laue microdiffraction has been widely applied to characterize the local crystal structure, orientation, and defects of inhomogeneous polycrystalline solids by raster scanning them under a micro/nano focused polychromatic X-ray probe. In a typical experiment, a large number of Laue diffraction patterns are collected, requiring novel data reduction and analysis approaches, especially for researchers who do not have access to fast parallel computing capabilities. In this article, a novel approach is developed by plotting the distributions of the average recorded intensity and the average filtered intensity of the Laue patterns. Visualization of the characteristic microstructural features is realized in real time during data collection. As an example, this method is applied to image key features such as microcracks, carbides, heat affected zone, and dendrites in a laser assisted 3D printed Ni-based superalloy, at a speed much faster than data collection. Such analytical approach remains valid for a wide range of crystalline solids, and therefore extends the application range of the Laue microdiffraction technique to problems where real-time decision-making during experiment is crucial (for instance time-resolved non-reversible experiments). PMID:27302087

  3. Real-time microstructure imaging by Laue microdiffraction: A sample application in laser 3D printed Ni-based superalloys

    PubMed Central

    Zhou, Guangni; Zhu, Wenxin; Shen, Hao; Li, Yao; Zhang, Anfeng; Tamura, Nobumichi; Chen, Kai

    2016-01-01

    Synchrotron-based Laue microdiffraction has been widely applied to characterize the local crystal structure, orientation, and defects of inhomogeneous polycrystalline solids by raster scanning them under a micro/nano focused polychromatic X-ray probe. In a typical experiment, a large number of Laue diffraction patterns are collected, requiring novel data reduction and analysis approaches, especially for researchers who do not have access to fast parallel computing capabilities. In this article, a novel approach is developed by plotting the distributions of the average recorded intensity and the average filtered intensity of the Laue patterns. Visualization of the characteristic microstructural features is realized in real time during data collection. As an example, this method is applied to image key features such as microcracks, carbides, heat affected zone, and dendrites in a laser assisted 3D printed Ni-based superalloy, at a speed much faster than data collection. Such analytical approach remains valid for a wide range of crystalline solids, and therefore extends the application range of the Laue microdiffraction technique to problems where real-time decision-making during experiment is crucial (for instance time-resolved non-reversible experiments). PMID:27302087

  4. A Real-Time Magnetoencephalography Brain-Computer Interface Using Interactive 3D Visualization and the Hadoop Ecosystem

    PubMed Central

    McClay, Wilbert A.; Yadav, Nancy; Ozbek, Yusuf; Haas, Andy; Attias, Hagaii T.; Nagarajan, Srikantan S.

    2015-01-01

    Ecumenically, the fastest growing segment of Big Data is human biology-related data and the annual data creation is on the order of zetabytes. The implications are global across industries, of which the treatment of brain related illnesses and trauma could see the most significant and immediate effects. The next generation of health care IT and sensory devices are acquiring and storing massive amounts of patient related data. An innovative Brain-Computer Interface (BCI) for interactive 3D visualization is presented utilizing the Hadoop Ecosystem for data analysis and storage. The BCI is an implementation of Bayesian factor analysis algorithms that can distinguish distinct thought actions using magneto encephalographic (MEG) brain signals. We have collected data on five subjects yielding 90% positive performance in MEG mid- and post-movement activity. We describe a driver that substitutes the actions of the BCI as mouse button presses for real-time use in visual simulations. This process has been added into a flight visualization demonstration. By thinking left or right, the user experiences the aircraft turning in the chosen direction. The driver components of the BCI can be compiled into any software and substitute a user’s intent for specific keyboard strikes or mouse button presses. The BCI’s data analytics of a subject’s MEG brainwaves and flight visualization performance are stored and analyzed using the Hadoop Ecosystem as a quick retrieval data warehouse. PMID:26437432

  5. Real-time WAMI streaming target tracking in fog

    NASA Astrophysics Data System (ADS)

    Chen, Yu; Blasch, Erik; Chen, Ning; Deng, Anna; Ling, Haibin; Chen, Genshe

    2016-05-01

    Real-time information fusion based on WAMI (Wide-Area Motion Imagery), FMV (Full Motion Video), and Text data is highly desired for many mission critical emergency or security applications. Cloud Computing has been considered promising to achieve big data integration from multi-modal sources. In many mission critical tasks, however, powerful Cloud technology cannot satisfy the tight latency tolerance as the servers are allocated far from the sensing platform, actually there is no guaranteed connection in the emergency situations. Therefore, data processing, information fusion, and decision making are required to be executed on-site (i.e., near the data collection). Fog Computing, a recently proposed extension and complement for Cloud Computing, enables computing on-site without outsourcing jobs to a remote Cloud. In this work, we have investigated the feasibility of processing streaming WAMI in the Fog for real-time, online, uninterrupted target tracking. Using a single target tracking algorithm, we studied the performance of a Fog Computing prototype. The experimental results are very encouraging that validated the effectiveness of our Fog approach to achieve real-time frame rates.

  6. Real-time WAMI streaming target tracking in fog

    NASA Astrophysics Data System (ADS)

    Chen, Yu; Blasch, Erik; Chen, Ning; Deng, Anna; Ling, Haibin; Chen, Genshe

    2016-05-01

    Real-time information fusion based on WAMI (Wide-Area Motion Imagery), FMV (Full Motion Video), and Text data is highly desired for many mission critical emergency or security applications. Cloud Computing has been considered promising to achieve big data integration from multi-modal sources. In many mission critical tasks, however, powerful Cloud technology cannot satisfy the tight latency tolerance as the servers are allocated far from the sensing platform, actually there is no guaranteed connection in the emergency situations. Therefore, data processing, information fusion, and decision making are required to be executed on-site (i.e., near the data collection). Fog Computing, a recently proposed extension and complement for Cloud Computing, enables computing on-site without outsourcing jobs to a remote Cloud. In this work, we have investigated the feasibility of processing streaming WAMI in the Fog for real-time, online, uninterrupted target tracking. Using a single target tracking algorithm, we studied the performance of a Fog Computing prototype. The experimental results are very encouraging that validated the effectiveness of our Fog approach to achieve real-time frame rates.

  7. A quantitative study of 3D-scanning frequency and Δd of tracking points on the tooth surface

    PubMed Central

    Li, Hong; Lyu, Peijun; Sun, Yuchun; Wang, Yong; Liang, Xiaoyue

    2015-01-01

    Micro-movement of human jaws in the resting state might influence the accuracy of direct three-dimensional (3D) measurement. Providing a reference for sampling frequency settings of intraoral scanning systems to overcome this influence is important. In this study, we measured micro-movement, or change in distance (∆d), as the change in position of a single tracking point from one sampling time point to another in five human subjects. ∆d of tracking points on incisors at 7 sampling frequencies was judged against the clinical accuracy requirement to select proper sampling frequency settings. The curve equation was then fit quantitatively between ∆d median and the sampling frequency to predict the trend of ∆d with increasing f. The difference of ∆d among the subjects and the difference between upper and lower incisor feature points of the same subject were analyzed by a non-parametric test (α = 0.05). Significant differences of incisor feature points were noted among different subjects and between upper and lower jaws of the same subject (P < 0.01). Overall, ∆d decreased with increasing frequency. When the frequency was 60 Hz, ∆d nearly reached the clinical accuracy requirement. Frequencies higher than 60 Hz did not significantly decrease Δd further. PMID:26400112

  8. Tracking magmatic intrusions in real-time by means of free-shaped volcanic source modelling

    NASA Astrophysics Data System (ADS)

    Cannavo', Flavio; Camacho, Antonio G.; Scandura, Danila; González, Pablo J.; Mattia, Mario; Fernández, José

    2014-05-01

    Nowadays continuous measurements of geophysical parameters provide a general real-time view of current state of the volcano. Nonetheless, a current challenge is to localize and track in real-time the evolution of the magma source beneath the volcano. Here we present a new methodology to rapidly estimate magmatic sources from surface geodetic data and track their evolution in time without any a priori assumption about source geometry. Indeed, the proposed approach takes the advantages of fast calculation from the analytical models and adds the capability to model free-shape distributed sources. Assuming homogenous elastic conditions, the approach can determine general geometrical configurations of pressured and/or density source and/or sliding structures corresponding to prescribed values of anomalous density, pressure and slip. These source bodies are described as aggregation of elemental point sources for pressure, density and slip, and they fit the whole data (keeping some 3D regularity conditions). In this work we show an application of the methodology to model the real-time evolution of the volcanic source for 2008 eruption of Mount Etna (Italy). To this aim the High-Rate GPS data, coming from the Continuous GPS network, are processed in real-time to obtain sub-daily solutions for tracking the fast dynamics of the magma migration. In our test case we reproduced the real-time scenario of the eruption. Though the data of the test were processed after data collection, real-time operation was emulated. From the results, it is possible to extrapolate the dynamic of a deep and a shallow magma source and the dyke intrusion. In particular, results show at 5 am UTC a magma batch likely migrating towards the surface leaving behind a deflating volume at about 2 km bsl and a deep elongated body from 2 km bsl to 10 km bsl which runs along the High Vp Body and likely represents the deep conduit from where the magma rises up. We demonstrate that the proposed methodology is

  9. Real-time 3D image reconstruction of a 24×24 row-column addressing array: from raw data to image

    NASA Astrophysics Data System (ADS)

    Li, Chunyu; Yang, Jiali; Li, Xu; Zhong, Xiaoli; Song, Junjie; Ding, Mingyue; Yuchi, Ming

    2016-04-01

    This paper presents a work of real-time 3-D image reconstruction for a 7.5-MHz, 24×24 row-column addressing array transducer. The transducer works with a predesigned transmit/receive module. After the raw data are captured by the NI PXIe data acquisition (DAQ) module, the following processing procedures are performed: delay and sum (DAS), base-line calibration, envelope detection, logarithm compression, down-sampling, gray scale mapping and 3-D display. These procedures are optimized for obtaining real-time 3-D images. Fixed-point focusing scheme is applied in delay and sum (DAS) to obtain line data from channel data. Zero-phase high-pass filter is used to calibrate the base-line shift of echo. The classical Hilbert transformation is adopted to detect the envelopes of echo. Logarithm compression is implemented to enlarge the weak signals and narrow the gap from the strong ones. Down-sampling reduces the amount of data to improve the processing speed. Linear gray scale mapping is introduced that the weakest signal is mapped to 0 and the strongest signal 255. The real-time 3-D images are displayed with multi-planar mode, which shows three orthogonal sections (vertical section, coronal section, transverse section). A trigger signal is sent from the transmit/receive module to the DAQ module at the start of each volume data generation to ensure synchronization between these two modules. All procedures, include data acquisition (DAQ), signal processing and image display, are programmed on the platform of LabVIEW. 675MB raw echo data are acquired in one minute to generate 24×24×48, 27fps 3-D images. The experiment on the strong reflection object (aluminum slice) shows the feasibility of the whole process from raw data to real-time 3-D images.

  10. Breakup of Finite-Size Colloidal Aggregates in Turbulent Flow Investigated by Three-Dimensional (3D) Particle Tracking Velocimetry.

    PubMed

    Saha, Debashish; Babler, Matthaus U; Holzner, Markus; Soos, Miroslav; Lüthi, Beat; Liberzon, Alex; Kinzelbach, Wolfgang

    2016-01-12

    Aggregates grown in mild shear flow are released, one at a time, into homogeneous isotropic turbulence, where their motion and intermittent breakup is recorded by three-dimensional particle tracking velocimetry (3D-PTV). The aggregates have an open structure with a fractal dimension of ∼2.2, and their size is 1.4 ± 0.4 mm, which is large, compared to the Kolmogorov length scale (η = 0.15 mm). 3D-PTV of flow tracers allows for the simultaneous measurement of aggregate trajectories and the full velocity gradient tensor along their pathlines, which enables us to access the Lagrangian stress history of individual breakup events. From this data, we found no consistent pattern that relates breakup to the local flow properties at the point of breakup. Also, the correlation between the aggregate size and both shear stress and normal stress at the location of breakage is found to be weaker, when compared with the correlation between size and drag stress. The analysis suggests that the aggregates are mostly broken due to the accumulation of the drag stress over a time lag on the order of the Kolmogorov time scale. This finding is explained by the fact that the aggregates are large, which gives their motion inertia and increases the time for stress propagation inside the aggregate. Furthermore, it is found that the scaling of the largest fragment and the accumulated stress at breakup follows an earlier established power law, i.e., dfrag ∼ σ(-0.6) obtained from laminar nozzle experiments. This indicates that, despite the large size and the different type of hydrodynamic stress, the microscopic mechanism causing breakup is consistent over a wide range of aggregate size and stress magnitude. PMID:26646289

  11. Breakup of Finite-Size Colloidal Aggregates in Turbulent Flow Investigated by Three-Dimensional (3D) Particle Tracking Velocimetry.

    PubMed

    Saha, Debashish; Babler, Matthaus U; Holzner, Markus; Soos, Miroslav; Lüthi, Beat; Liberzon, Alex; Kinzelbach, Wolfgang

    2016-01-12

    Aggregates grown in mild shear flow are released, one at a time, into homogeneous isotropic turbulence, where their motion and intermittent breakup is recorded by three-dimensional particle tracking velocimetry (3D-PTV). The aggregates have an open structure with a fractal dimension of ∼2.2, and their size is 1.4 ± 0.4 mm, which is large, compared to the Kolmogorov length scale (η = 0.15 mm). 3D-PTV of flow tracers allows for the simultaneous measurement of aggregate trajectories and the full velocity gradient tensor along their pathlines, which enables us to access the Lagrangian stress history of individual breakup events. From this data, we found no consistent pattern that relates breakup to the local flow properties at the point of breakup. Also, the correlation between the aggregate size and both shear stress and normal stress at the location of breakage is found to be weaker, when compared with the correlation between size and drag stress. The analysis suggests that the aggregates are mostly broken due to the accumulation of the drag stress over a time lag on the order of the Kolmogorov time scale. This finding is explained by the fact that the aggregates are large, which gives their motion inertia and increases the time for stress propagation inside the aggregate. Furthermore, it is found that the scaling of the largest fragment and the accumulated stress at breakup follows an earlier established power law, i.e., dfrag ∼ σ(-0.6) obtained from laminar nozzle experiments. This indicates that, despite the large size and the different type of hydrodynamic stress, the microscopic mechanism causing breakup is consistent over a wide range of aggregate size and stress magnitude.

  12. Prospective motion correction of 3D echo-planar imaging data for functional MRI using optical tracking.

    PubMed

    Todd, Nick; Josephs, Oliver; Callaghan, Martina F; Lutti, Antoine; Weiskopf, Nikolaus

    2015-06-01

    We evaluated the performance of an optical camera based prospective motion correction (PMC) system in improving the quality of 3D echo-planar imaging functional MRI data. An optical camera and external marker were used to dynamically track the head movement of subjects during fMRI scanning. PMC was performed by using the motion information to dynamically update the sequence's RF excitation and gradient waveforms such that the field-of-view was realigned to match the subject's head movement. Task-free fMRI experiments on five healthy volunteers followed a 2 × 2 × 3 factorial design with the following factors: PMC on or off; 3.0mm or 1.5mm isotropic resolution; and no, slow, or fast head movements. Visual and motor fMRI experiments were additionally performed on one of the volunteers at 1.5mm resolution comparing PMC on vs PMC off for no and slow head movements. Metrics were developed to quantify the amount of motion as it occurred relative to k-space data acquisition. The motion quantification metric collapsed the very rich camera tracking data into one scalar value for each image volume that was strongly predictive of motion-induced artifacts. The PMC system did not introduce extraneous artifacts for the no motion conditions and improved the time series temporal signal-to-noise by 30% to 40% for all combinations of low/high resolution and slow/fast head movement relative to the standard acquisition with no prospective correction. The numbers of activated voxels (p<0.001, uncorrected) in both task-based experiments were comparable for the no motion cases and increased by 78% and 330%, respectively, for PMC on versus PMC off in the slow motion cases. The PMC system is a robust solution to decrease the motion sensitivity of multi-shot 3D EPI sequences and thereby overcome one of the main roadblocks to their widespread use in fMRI studies.

  13. Prospective motion correction of 3D echo-planar imaging data for functional MRI using optical tracking

    PubMed Central

    Todd, Nick; Josephs, Oliver; Callaghan, Martina F.; Lutti, Antoine; Weiskopf, Nikolaus

    2015-01-01

    We evaluated the performance of an optical camera based prospective motion correction (PMC) system in improving the quality of 3D echo-planar imaging functional MRI data. An optical camera and external marker were used to dynamically track the head movement of subjects during fMRI scanning. PMC was performed by using the motion information to dynamically update the sequence's RF excitation and gradient waveforms such that the field-of-view was realigned to match the subject's head movement. Task-free fMRI experiments on five healthy volunteers followed a 2 × 2 × 3 factorial design with the following factors: PMC on or off; 3.0 mm or 1.5 mm isotropic resolution; and no, slow, or fast head movements. Visual and motor fMRI experiments were additionally performed on one of the volunteers at 1.5 mm resolution comparing PMC on vs PMC off for no and slow head movements. Metrics were developed to quantify the amount of motion as it occurred relative to k-space data acquisition. The motion quantification metric collapsed the very rich camera tracking data into one scalar value for each image volume that was strongly predictive of motion-induced artifacts. The PMC system did not introduce extraneous artifacts for the no motion conditions and improved the time series temporal signal-to-noise by 30% to 40% for all combinations of low/high resolution and slow/fast head movement relative to the standard acquisition with no prospective correction. The numbers of activated voxels (p < 0.001, uncorrected) in both task-based experiments were comparable for the no motion cases and increased by 78% and 330%, respectively, for PMC on versus PMC off in the slow motion cases. The PMC system is a robust solution to decrease the motion sensitivity of multi-shot 3D EPI sequences and thereby overcome one of the main roadblocks to their widespread use in fMRI studies. PMID:25783205

  14. Quantification of Shunt Volume Through Ventricular Septal Defect by Real-Time 3-D Color Doppler Echocardiography: An in Vitro Study.

    PubMed

    Zhu, Meihua; Ashraf, Muhammad; Tam, Lydia; Streiff, Cole; Kimura, Sumito; Shimada, Eriko; Sahn, David J

    2016-05-01

    Quantification of shunt volume is important for ventricular septal defects (VSDs). The aim of the in vitro study described here was to test the feasibility of using real-time 3-D color Doppler echocardiography (RT3-D-CDE) to quantify shunt volume through a modeled VSD. Eight porcine heart phantoms with VSDs ranging in diameter from 3 to 25 mm were studied. Each phantom was passively driven at five different stroke volumes from 30 to 70 mL and two stroke rates, 60 and 120 strokes/min. RT3-D-CDE full volumes were obtained at color Doppler volume rates of 15, 20 and 27 volumes/s. Shunt flow derived from RT3-D-CDE was linearly correlated with pump-driven stroke volume (R = 0.982). RT3-D-CDE-derived shunt volumes from three color Doppler flow rate settings and two stroke rate acquisitions did not differ (p > 0.05). The use of RT3-D-CDE to determine shunt volume though VSDs is feasible. Different color volume rates/heart rates under clinically/physiologically relevant range have no effect on VSD 3-D shunt volume determination.

  15. Real-Time 3D Fluoroscopy-Guided Large Core Needle Biopsy of Renal Masses: A Critical Early Evaluation According to the IDEAL Recommendations

    SciTech Connect

    Kroeze, Stephanie G. C.; Huisman, Merel; Verkooijen, Helena M.; Diest, Paul J. van; Ruud Bosch, J. L. H.; Bosch, Maurice A. A. J. van den

    2012-06-15

    Introduction: Three-dimensional (3D) real-time fluoroscopy cone beam CT is a promising new technique for image-guided biopsy of solid tumors. We evaluated the technical feasibility, diagnostic accuracy, and complications of this technique for guidance of large-core needle biopsy in patients with suspicious renal masses. Methods: Thirteen patients with 13 suspicious renal masses underwent large-core needle biopsy under 3D real-time fluoroscopy cone beam CT guidance. Imaging acquisition and subsequent 3D reconstruction was done by a mobile flat-panel detector (FD) C-arm system to plan the needle path. Large-core needle biopsies were taken by the interventional radiologist. Technical success, accuracy, and safety were evaluated according to the Innovation, Development, Exploration, Assessment, Long-term study (IDEAL) recommendations. Results: Median tumor size was 2.6 (range, 1.0-14.0) cm. In ten (77%) patients, the histological diagnosis corresponded to the imaging findings: five were malignancies, five benign lesions. Technical feasibility was 77% (10/13); in three patients biopsy results were inconclusive. The lesion size of these three patients was <2.5 cm. One patient developed a minor complication. Median follow-up was 16.0 (range, 6.4-19.8) months. Conclusions: 3D real-time fluoroscopy cone beam CT-guided biopsy of renal masses is feasible and safe. However, these first results suggest that diagnostic accuracy may be limited in patients with renal masses <2.5 cm.

  16. A heterogeneous sensor network simulation system with integrated terrain data for real-time target detection in 3D space

    NASA Astrophysics Data System (ADS)

    Lin, Hong; Tanner, Steve; Rushing, John; Graves, Sara; Criswell, Evans

    2008-03-01

    Large scale sensor networks composed of many low-cost small sensors networked together with a small number of high fidelity position sensors can provide a robust, fast and accurate air defense and warning system. The team has been developing simulations of such large networks, and is now adding terrain data in an effort to provide more realistic analysis of the approach. This work, a heterogeneous sensor network simulation system with integrated terrain data for real-time target detection in a three-dimensional environment is presented. The sensor network can be composed of large numbers of low fidelity binary and bearing-only sensors, and small numbers of high fidelity position sensors, such as radars. The binary and bearing-only sensors are randomly distributed over a large geographic region; while the position sensors are distributed evenly. The elevations of the sensors are determined through the use of DTED Level 0 dataset. The targets are located through fusing measurement information from all types of sensors modeled by the simulation. The network simulation utilizes the same search-based optimization algorithm as in our previous two-dimensional sensor network simulation with some significant modifications. The fusion algorithm is parallelized using spatial decomposition approach: the entire surveillance area is divided into small regions and each region is assigned to one compute node. Each node processes sensor measurements and terrain data only for the assigned sub region. A master process combines the information from all the compute nodes to get the overall network state. The simulation results have indicated that the distributed fusion algorithm is efficient enough so that an optimal solution can be reached before the arrival of the next sensor data with a reasonable time interval, and real-time target detection can be achieved. The simulation was performed on a Linux cluster with communication between nodes facilitated by the Message Passing Interface

  17. Real-Time Tumor Tracking in the Lung Using an Electromagnetic Tracking System

    SciTech Connect

    Shah, Amish P.; Kupelian, Patrick A.; Waghorn, Benjamin J.; Willoughby, Twyla R.; Rineer, Justin M.; Mañon, Rafael R.; Vollenweider, Mark A.; Meeks, Sanford L.

    2013-07-01

    Purpose: To describe the first use of the commercially available Calypso 4D Localization System in the lung. Methods and Materials: Under an institutional review board-approved protocol and an investigational device exemption from the US Food and Drug Administration, the Calypso system was used with nonclinical methods to acquire real-time 4-dimensional lung tumor tracks for 7 lung cancer patients. The aims of the study were to investigate (1) the potential for bronchoscopic implantation; (2) the stability of smooth-surface beacon transponders (transponders) after implantation; and (3) the ability to acquire tracking information within the lung. Electromagnetic tracking was not used for any clinical decision making and could only be performed before any radiation delivery in a research setting. All motion tracks for each patient were reviewed, and values of the average displacement, amplitude of motion, period, and associated correlation to a sinusoidal model (R{sup 2}) were tabulated for all 42 tracks. Results: For all 7 patients at least 1 transponder was successfully implanted. To assist in securing the transponder at the tumor site, it was necessary to implant a secondary fiducial for most transponders owing to the transponder's smooth surface. For 3 patients, insertion into the lung proved difficult, with only 1 transponder remaining fixed during implantation. One patient developed a pneumothorax after implantation of the secondary fiducial. Once implanted, 13 of 14 transponders remained stable within the lung and were successfully tracked with the tracking system. Conclusions: Our initial experience with electromagnetic guidance within the lung demonstrates that transponder implantation and tracking is achievable though not clinically available. This research investigation proved that lung tumor motion exhibits large variations from fraction to fraction within a single patient and that improvements to both transponder and tracking system are still necessary

  18. Improvement of the size estimation of 3D tracked droplets using digital in-line holography with joint estimation reconstruction

    NASA Astrophysics Data System (ADS)

    Verrier, N.; Grosjean, N.; Dib, E.; Méès, L.; Fournier, C.; Marié, J.-L.

    2016-04-01

    Digital holography is a valuable tool for three-dimensional information extraction. Among existing configurations, the originally proposed set-up (i.e. Gabor, or in-line holography), is reasonably immune to variations in the experimental environment making it a method of choice for studies of fluid dynamics. Nevertheless, standard hologram reconstruction techniques, based on numerical light back-propagation are prone to artifacts such as twin images or aliases that limit both the quality and quantity of information extracted from the acquired holograms. To get round this issue, the hologram reconstruction as a parametric inverse problem has been shown to accurately estimate 3D positions and the size of seeding particles directly from the hologram. To push the bounds of accuracy on size estimation still further, we propose to fully exploit the information redundancy of a hologram video sequence using joint estimation reconstruction. Applying this approach in a bench-top experiment, we show that it led to a relative precision of 0.13% (for a 60 μm diameter droplet) for droplet size estimation, and a tracking precision of {σx}× {σy}× {σz}=0.15× 0.15× 1~\\text{pixels} .

  19. Real-time reconfigurable foveal target acquisition and tracking system

    NASA Astrophysics Data System (ADS)

    Stack, David J.; Bandera, Cesar; Wrigley, Christopher J.; Pain, Bedabrata

    1999-07-01

    This paper presents a target acquisition and tracking system based on the biomimetic concept of foveal vision. The system electronically reconfigures the resolution, sizes, shape, and focal plane position of visual acuity to meet time- varying operational requirements while maximizing the relevance of acquired video. A reconfigurable multiresolution active pixel CMOS imaging array is integrated in a closed-loop fashion with video processing and configuration control. Imager and algorithm configuration is updated frame-by-frame and reactively to target and scene conditions. By dynamically tailoring the visual acuity of the senor itself, the relevance and acquired visual information is maximized and a fast update rate is achieved with reduced communications bandwidth and processing requirements throughout the entire system. The system also features small size and less power consumption, and does not require a pointing mechanism. The distinguishing features of reconfigurable foveal machine vision are presented, and the hardware and software architecture of the target acquisition and tracking system is discussed. Real-time experimental result for automated target search, detection, interrogation, and tracking are then presented.

  20. Real-time skeleton tracking for embedded systems

    NASA Astrophysics Data System (ADS)

    Coleca, Foti; Klement, Sascha; Martinetz, Thomas; Barth, Erhardt

    2013-03-01

    Touch-free gesture technology is beginning to become more popular with consumers and may have a significant future impact on interfaces for digital photography. However, almost every commercial software framework for gesture and pose detection is aimed at either desktop PCs or high-powered GPUs, making mobile implementations for gesture recognition an attractive area for research and development. In this paper we present an algorithm for hand skeleton tracking and gesture recognition that runs on an ARM-based platform (Pandaboard ES, OMAP 4460 architecture). The algorithm uses self-organizing maps to fit a given topology (skeleton) into a 3D point cloud. This is a novel way of approaching the problem of pose recognition as it does not employ complex optimization techniques or data-based learning. After an initial background segmentation step, the algorithm is ran in parallel with heuristics, which detect and correct artifacts arising from insufficient or erroneous input data. We then optimize the algorithm for the ARM platform using fixed-point computation and the NEON SIMD architecture the OMAP4460 provides. We tested the algorithm with two different depth-sensing devices (Microsoft Kinect, PMD Camboard). For both input devices we were able to accurately track the skeleton at the native framerate of the cameras.

  1. Real-Time Bioluminescent Tracking of Cellular Population Dynamics

    SciTech Connect

    Close, Dan; Sayler, Gary Steven; Xu, Tingting; Ripp, Steven Anthony

    2014-01-01

    Cellular population dynamics are routinely monitored across many diverse fields for a variety of purposes. In general, these dynamics are assayed either through the direct counting of cellular aliquots followed by extrapolation to the total population size, or through the monitoring of signal intensity from any number of externally stimulated reporter proteins. While both viable methods, here we describe a novel technique that allows for the automated, non-destructive tracking of cellular population dynamics in real-time. This method, which relies on the detection of a continuous bioluminescent signal produced through expression of the bacterial luciferase gene cassette, provides a low cost, low time-intensive means for generating additional data compared to alternative methods.

  2. Optical eye tracking system for real-time noninvasive tumor localization in external beam radiotherapy

    SciTech Connect

    Via, Riccardo Fassi, Aurora; Fattori, Giovanni; Fontana, Giulia; Pella, Andrea; Tagaste, Barbara; Ciocca, Mario; Riboldi, Marco; Baroni, Guido; Orecchia, Roberto

    2015-05-15

    Purpose: External beam radiotherapy currently represents an important therapeutic strategy for the treatment of intraocular tumors. Accurate target localization and efficient compensation of involuntary eye movements are crucial to avoid deviations in dose distribution with respect to the treatment plan. This paper describes an eye tracking system (ETS) based on noninvasive infrared video imaging. The system was designed for capturing the tridimensional (3D) ocular motion and provides an on-line estimation of intraocular lesions position based on a priori knowledge coming from volumetric imaging. Methods: Eye tracking is performed by localizing cornea and pupil centers on stereo images captured by two calibrated video cameras, exploiting eye reflections produced by infrared illumination. Additionally, torsional eye movements are detected by template matching in the iris region of eye images. This information allows estimating the 3D position and orientation of the eye by means of an eye local reference system. By combining ETS measurements with volumetric imaging for treatment planning [computed tomography (CT) and magnetic resonance (MR)], one is able to map the position of the lesion to be treated in local eye coordinates, thus enabling real-time tumor referencing during treatment setup and irradiation. Experimental tests on an eye phantom and seven healthy subjects were performed to assess ETS tracking accuracy. Results: Measurements on phantom showed an overall median accuracy within 0.16 mm and 0.40° for translations and rotations, respectively. Torsional movements were affected by 0.28° median uncertainty. On healthy subjects, the gaze direction error ranged between 0.19° and 0.82° at a median working distance of 29 cm. The median processing time of the eye tracking algorithm was 18.60 ms, thus allowing eye monitoring up to 50 Hz. Conclusions: A noninvasive ETS prototype was designed to perform real-time target localization and eye movement monitoring

  3. Architecture of web services in the enhancement of real-time 3D video virtualization in cloud environment

    NASA Astrophysics Data System (ADS)

    Bada, Adedayo; Wang, Qi; Alcaraz-Calero, Jose M.; Grecos, Christos

    2016-04-01

    This paper proposes a new approach to improving the application of 3D video rendering and streaming by jointly exploring and optimizing both cloud-based virtualization and web-based delivery. The proposed web service architecture firstly establishes a software virtualization layer based on QEMU (Quick Emulator), an open-source virtualization software that has been able to virtualize system components except for 3D rendering, which is still in its infancy. The architecture then explores the cloud environment to boost the speed of the rendering at the QEMU software virtualization layer. The capabilities and inherent limitations of Virgil 3D, which is one of the most advanced 3D virtual Graphics Processing Unit (GPU) available, are analyzed through benchmarking experiments and integrated into the architecture to further speed up the rendering. Experimental results are reported and analyzed to demonstrate the benefits of the proposed approach.

  4. Bedside assistance in freehand ultrasonic diagnosis by real-time visual feedback of 3D scatter diagram of pulsatile tissue-motion

    NASA Astrophysics Data System (ADS)

    Fukuzawa, M.; Kawata, K.; Nakamori, N.; Kitsunezuka, Y.

    2011-03-01

    By real-time visual feedback of 3D scatter diagram of pulsatile tissue-motion, freehand ultrasonic diagnosis of neonatal ischemic diseases has been assisted at the bedside. The 2D ultrasonic movie was taken with a conventional ultrasonic apparatus (ATL HDI5000) and ultrasonic probes of 5-7 MHz with the compact tilt-sensor to measure the probe orientation. The real-time 3D visualization was realized by developing an extended version of the PC-based visualization system. The software was originally developed on the DirectX platform and optimized with the streaming SIMD extensions. The 3D scatter diagram of the latest pulsatile tissues has been continuously generated and visualized as projection image with the ultrasonic movie in the current section more than 15 fps. It revealed the 3D structure of pulsatile tissues such as middle and posterior cerebral arteries, Willis ring and cerebellar arteries, in which pediatricians have great interests in the blood flow because asphyxiated and/or low-birth-weight neonates have a high risk of ischemic diseases such as hypoxic-ischemic encephalopathy and periventricular leukomalacia. Since the pulsatile tissue-motion is due to local blood flow, it can be concluded that the system developed in this work is very useful to assist freehand ultrasonic diagnosis of ischemic diseases in the neonatal cranium.

  5. Crosstalk minimization in autostereoscopic multiveiw 3D display by eye tracking and fusion (overlapping) of viewing zones

    NASA Astrophysics Data System (ADS)

    Kim, Sung-Kyu; Yoon, Seon-Kyu; Yoon, Ki-Hyuk

    2012-06-01

    An autostereoscopic 3D display provides the binocular perception without eye glasses, but induces the low 3D effect and dizziness due to the crosstalk effect. The crosstalk related problems give the deterioration of 3D effect, clearness, and reality of 3D image. A novel method of reducing the crosstalk is designed and tested; the method is based on the fusion of viewing zones and the real time eye position. It is shown experimentally that the crosstalk is effectively reduced at any position around the optimal viewing distance.

  6. Technological advances in real-time tracking of cell death

    PubMed Central

    Skommer, Joanna; Darzynkiewicz, Zbigniew; Wlodkowic, Donald

    2010-01-01

    Cell population can be viewed as a quantum system, which like Schrödinger’s cat exists as a combination of survival- and death-allowing states. Tracking and understanding cell-to-cell variability in processes of high spatio-temporal complexity such as cell death is at the core of current systems biology approaches. As probabilistic modeling tools attempt to impute information inaccessible by current experimental approaches, advances in technologies for single-cell imaging and omics (proteomics, genomics, metabolomics) should go hand in hand with the computational efforts. Over the last few years we have made exciting technological advances that allow studies of cell death dynamically in real-time and with the unprecedented accuracy. These approaches are based on innovative fluorescent assays and recombinant proteins, bioelectrical properties of cells, and more recently also on state-of-the-art optical spectroscopy. Here, we review current status of the most innovative analytical technologies for dynamic tracking of cell death, and address the interdisciplinary promises and future challenges of these methods. PMID:20519963

  7. Direct measurement of particle size and 3D velocity of a gas-solid pipe flow with digital holographic particle tracking velocimetry.

    PubMed

    Wu, Yingchun; Wu, Xuecheng; Yao, Longchao; Gréhan, Gérard; Cen, Kefa

    2015-03-20

    The 3D measurement of the particles in a gas-solid pipe flow is of great interest, but remains challenging due to curved pipe walls in various engineering applications. Because of the astigmatism induced by the pipe, concentric ellipse fringes in the hologram of spherical particles are observed in the experiments. With a theoretical analysis of the particle holography by an ABCD matrix, the in-focus particle image can be reconstructed by the modified convolution method and fractional Fourier transform. Thereafter, the particle size, 3D position, and velocity are simultaneously measured by digital holographic particle tracking velocimetry (DHPTV). The successful application of DHPTV to the particle size and 3D velocity measurement in a glass pipe's flow can facilitate its 3D diagnostics.

  8. On the comparison of visual discomfort generated by S3D and 2D content based on eye-tracking features

    NASA Astrophysics Data System (ADS)

    Iatsun, Iana; Larabi, Mohamed-Chaker; Fernandez-Maloigne, Christine

    2014-03-01

    The changing of TV systems from 2D to 3D mode is the next expected step in the telecommunication world. Some works have already been done to perform this progress technically, but interaction of the third dimension with humans is not yet clear. Previously, it was found that any increased load of visual system can create visual fatigue, like prolonged TV watching, computer work or video gaming. But watching S3D can cause another nature of visual fatigue, since all S3D technologies creates illusion of the third dimension based on characteristics of binocular vision. In this work we propose to evaluate and compare the visual fatigue from watching 2D and S3D content. This work shows the difference in accumulation of visual fatigue and its assessment for two types of content. In order to perform this comparison eye-tracking experiments using six commercially available movies were conducted. Healthy naive participants took part into the test and gave their answers feeling the subjective evaluation. It was found that watching stereo 3D content induce stronger feeling of visual fatigue than conventional 2D, and the nature of video has an important effect on its increase. Visual characteristics obtained by using eye-tracking were investigated regarding their relation with visual fatigue.

  9. 3D Ultrafast Ultrasound Imaging In Vivo

    PubMed Central

    Provost, Jean; Papadacci, Clement; Arango, Juan Esteban; Imbault, Marion; Gennisson, Jean-Luc; Tanter, Mickael; Pernot, Mathieu

    2014-01-01

    Very high frame rate ultrasound imaging has recently allowed for the extension of the applications of echography to new fields of study such as the functional imaging of the brain, cardiac electrophysiology, and the quantitative real-time imaging of the intrinsic mechanical properties of tumors, to name a few, non-invasively and in real time. In this study, we present the first implementation of Ultrafast Ultrasound Imaging in three dimensions based on the use of either diverging or plane waves emanating from a sparse virtual array located behind the probe. It achieves high contrast and resolution while maintaining imaging rates of thousands of volumes per second. A customized portable ultrasound system was developed to sample 1024 independent channels and to drive a 32×32 matrix-array probe. Its capability to track in 3D transient phenomena occurring in the millisecond range within a single ultrafast acquisition was demonstrated for 3-D Shear-Wave Imaging, 3-D Ultrafast Doppler Imaging and finally 3D Ultrafast combined Tissue and Flow Doppler. The propagation of shear waves was tracked in a phantom and used to characterize its stiffness. 3-D Ultrafast Doppler was used to obtain 3-D maps of Pulsed Doppler, Color Doppler, and Power Doppler quantities in a single acquisition and revealed, for the first time, the complex 3-D flow patterns occurring in the ventricles of the human heart during an entire cardiac cycle, and the 3-D in vivo interaction of blood flow and wall motion during the pulse wave in the carotid at the bifurcation. This study demonstrates the potential of 3-D Ultrafast Ultrasound Imaging for the 3-D real-time mapping of stiffness, tissue motion, and flow in humans in vivo and promises new clinical applications of ultrasound with reduced intra- and inter-observer variability. PMID:25207828

  10. Capturing geometry in real-time using a tracked Microsoft Kinect

    NASA Astrophysics Data System (ADS)

    Tenedorio, Daniel; Fecho, Marlena; Schwartzhaupt, Jorge; Pardridge, Robert; Lue, James; Schulze, Jürgen P.

    2012-03-01

    We investigate the suitability of the Microsoft Kinect device for capturing real-world objects and places. Our new geometry scanning system permits the user to obtain detailed triangle models of non-moving objects with a tracked Kinect. The system generates a texture map for the triangle mesh using video frames from the Kinect's color camera and displays a continually-updated preview of the textured model in real-time, allowing the user to re-scan the scene from any direction to fill holes or increase the texture resolution. We also present filtering methods to maintain a high-quality model of reasonable size by removing overlapping or low-precision range scans. Our approach works well in the presence of degenerate geometry or when closing loops about the scanned subject. We demonstrate the ability of our system to acquire 3D models at human scale with a prototype implementation in the StarCAVE, a virtual reality environment at the University of California, San Diego. We designed the capturing algorithm to support the scanning of large areas, provided that accurate tracking is available.

  11. HSA: integrating multi-track Hi-C data for genome-scale reconstruction of 3D chromatin structure.

    PubMed

    Zou, Chenchen; Zhang, Yuping; Ouyang, Zhengqing

    2016-03-02

    Genome-wide 3C technologies (Hi-C) are being increasingly employed to study three-dimensional (3D) genome conformations. Existing computational approaches are unable to integrate accumulating data to facilitate studying 3D chromatin structure and function. We present HSA ( http://ouyanglab.jax.org/hsa/ ), a flexible tool that jointly analyzes multiple contact maps to infer 3D chromatin structure at the genome scale. HSA globally searches the latent structure underlying different cleavage footprints. Its robustness and accuracy outperform or rival existing tools on extensive simulations and orthogonal experiment validations. Applying HSA to recent in situ Hi-C data, we found the 3D chromatin structures are highly conserved across various human cell types.

  12. Unstructured grids in 3D and 4D for a time-dependent interface in front tracking with improved accuracy

    SciTech Connect

    Glimm, J.; Grove, J. W.; Li, X. L.; Li, Y.; Xu, Z.

    2002-01-01

    Front tracking traces the dynamic evolution of an interface separating differnt materials or fluid components. In this paper, they describe three types of the grid generation methods used in the front tracking method. One is the unstructured surface grid. The second is a structured grid-based reconstruction method. The third is a time-space grid, also grid based, for a conservative tracking algorithm with improved accuracy.

  13. Combined kV and MV imaging for real-time tracking of implanted fiducial markers1

    PubMed Central

    Wiersma, R. D.; Mao, Weihua; Xing, L.

    2008-01-01

    In the presence of intrafraction organ motion, target localization uncertainty can greatly hamper the advantage of highly conformal dose techniques such as intensity modulated radiation therapy (IMRT). To minimize the adverse dosimetric effect caused by tumor motion, a real-time knowledge of the tumor position is required throughout the beam delivery process. The recent integration of onboard kV diagnostic imaging together with MV electronic portal imaging devices on linear accelerators can allow for real-time three-dimensional (3D) tumor position monitoring during a treatment delivery. The aim of this study is to demonstrate a near real-time 3D internal fiducial tracking system based on the combined use of kV and MV imaging. A commercially available radiotherapy system equipped with both kV and MV imaging systems was used in this work. A hardware video frame grabber was used to capture both kV and MV video streams simultaneously through independent video channels at 30 frames per second. The fiducial locations were extracted from the kV and MV images using a software tool. The geometric tracking capabilities of the system were evaluated using a pelvic phantom with embedded fiducials placed on a moveable stage. The maximum tracking speed of the kV∕MV system is approximately 9 Hz, which is primarily limited by the frame rate of the MV imager. The geometric accuracy of the system is found to be on the order of less than 1 mm in all three spatial dimensions. The technique requires minimal hardware modification and is potentially useful for image-guided radiation therapy systems. PMID:18491510

  14. Real-time processor for 3-D information extraction from image sequences by a moving area sensor

    NASA Astrophysics Data System (ADS)

    Hattori, Tetsuo; Nakada, Makoto; Kubo, Katsumi

    1990-11-01

    This paper presents a real time image processor for obtaining threedimensional( 3-D) distance information from image sequence caused by a moving area sensor. The processor has been developed for an automated visual inspection robot system (pilot system) with an autonomous vehicle which moves around avoiding obstacles in a power plant and checks whether there are defects or abnormal phenomena such as steam leakage from valves. The processor detects the distance between objects in the input image and the area sensor deciding corresponding points(pixels) between the first input image and the last one by tracing the loci of edges through the sequence of sixteen images. The hardware which plays an important role is two kinds of boards: mapping boards which can transform X-coordinate (horizontal direction) and Y-coordinate (vertical direction) for each horizontal row of images and a regional labelling board which extracts the connected loci of edges through image sequence. This paper also shows the whole processing flow of the distance detection algorithm. Since the processor can continuously process images ( 512x512x8 [pixels*bits per frame] ) at the NTSC video rate it takes about O. 7[sec] to measure the 3D distance by sixteen input images. The error rate of the measurement is maximum 10 percent when the area sensor laterally moves the range of 20 [centimeters] and when the measured scene including complicated background is at a distance of 4 [meters] from

  15. Real-time 3D millimeter wave imaging based FMCW using GGD focal plane array as detectors

    NASA Astrophysics Data System (ADS)

    Levanon, Assaf; Rozban, Daniel; Kopeika, Natan S.; Yitzhaky, Yitzhak; Abramovich, Amir

    2014-03-01

    Millimeter wave (MMW) imaging systems are required for applications in medicine, communications, homeland security, and space technology. This is because there is no known ionization hazard for biological tissue, and atmospheric attenuation in this range of the spectrum is relatively low. The lack of inexpensive room temperature imaging systems makes it difficult to give a suitable MMW system for many of the above applications. 3D MMW imaging system based on chirp radar was studied previously using a scanning imaging system of a single detector. The system presented here proposes to employ a chirp radar method with a Glow Discharge Detector (GDD) Focal Plane Array (FPA) of plasma based detectors. Each point on the object corresponds to a point in the image and includes the distance information. This will enable 3D MMW imaging. The radar system requires that the millimeter wave detector (GDD) will be able to operate as a heterodyne detector. Since the source of radiation is a frequency modulated continuous wave (FMCW), the detected signal as a result of heterodyne detection gives the object's depth information according to value of difference frequency, in addition to the reflectance of the image. In this work we experimentally demonstrate the feasibility of implementing an imaging system based on radar principles and FPA of GDD devices. This imaging system is shown to be capable of imaging objects from distances of at least 10 meters.

  16. C-ME: A 3D Community-Based, Real-Time Collaboration Tool for Scientific Research and Training

    PubMed Central

    Kolatkar, Anand; Kennedy, Kevin; Halabuk, Dan; Kunken, Josh; Marrinucci, Dena; Bethel, Kelly; Guzman, Rodney; Huckaby, Tim; Kuhn, Peter

    2008-01-01

    The need for effective collaboration tools is growing as multidisciplinary proteome-wide projects and distributed research teams become more common. The resulting data is often quite disparate, stored in separate locations, and not contextually related. Collaborative Molecular Modeling Environment (C-ME) is an interactive community-based collaboration system that allows researchers to organize information, visualize data on a two-dimensional (2-D) or three-dimensional (3-D) basis, and share and manage that information with collaborators in real time. C-ME stores the information in industry-standard databases that are immediately accessible by appropriate permission within the computer network directory service or anonymously across the internet through the C-ME application or through a web browser. The system addresses two important aspects of collaboration: context and information management. C-ME allows a researcher to use a 3-D atomic structure model or a 2-D image as a contextual basis on which to attach and share annotations to specific atoms or molecules or to specific regions of a 2-D image. These annotations provide additional information about the atomic structure or image data that can then be evaluated, amended or added to by other project members. PMID:18286178

  17. Accuracy and precision of a custom camera-based system for 2D and 3D motion tracking during speech and nonspeech motor tasks

    PubMed Central

    Feng, Yongqiang; Max, Ludo

    2014-01-01

    Purpose Studying normal or disordered motor control requires accurate motion tracking of the effectors (e.g., orofacial structures). The cost of electromagnetic, optoelectronic, and ultrasound systems is prohibitive for many laboratories, and limits clinical applications. For external movements (lips, jaw), video-based systems may be a viable alternative, provided that they offer high temporal resolution and sub-millimeter accuracy. Method We examined the accuracy and precision of 2D and 3D data recorded with a system that combines consumer-grade digital cameras capturing 60, 120, or 240 frames per second (fps), retro-reflective markers, commercially-available computer software (APAS, Ariel Dynamics), and a custom calibration device. Results Overall mean error (RMSE) across tests was 0.15 mm for static tracking and 0.26 mm for dynamic tracking, with corresponding precision (SD) values of 0.11 and 0.19 mm, respectively. The effect of frame rate varied across conditions, but, generally, accuracy was reduced at 240 fps. The effect of marker size (3 vs. 6 mm diameter) was negligible at all frame rates for both 2D and 3D data. Conclusion Motion tracking with consumer-grade digital cameras and the APAS software can achieve sub-millimeter accuracy at frame rates that are appropriate for kinematic analyses of lip/jaw movements for both research and clinical purposes. PMID:24686484

  18. Towards real-time 3D US to CT bone image registration using phase and curvature feature based GMM matching.

    PubMed

    Brounstein, Anna; Hacihaliloglu, Ilker; Guy, Pierre; Hodgson, Antony; Abugharbieh, Rafeef

    2011-01-01

    In order to use pre-operatively acquired computed tomography (CT) scans to guide surgical tool movements in orthopaedic surgery, the CT scan must first be registered to the patient's anatomy. Three-dimensional (3D) ultrasound (US) could potentially be used for this purpose if the registration process could be made sufficiently automatic, fast and accurate, but existing methods have difficulties meeting one or more of these criteria. We propose a near-real-time US-to-CT registration method that matches point clouds extracted from local phase images with points selected in part on the basis of local curvature. The point clouds are represented as Gaussian Mixture Models (GMM) and registration is achieved by minimizing the statistical dissimilarity between the GMMs using an L2 distance metric. We present quantitative and qualitative results on both phantom and clinical pelvis data and show a mean registration time of 2.11 s with a mean accuracy of 0.49 mm.

  19. A GPU-based framework for modeling real-time 3D lung tumor conformal dosimetry with subject-specific lung tumor motion

    NASA Astrophysics Data System (ADS)

    Min, Yugang; Santhanam, Anand; Neelakkantan, Harini; Ruddy, Bari H.; Meeks, Sanford L.; Kupelian, Patrick A.

    2010-09-01

    In this paper, we present a graphics processing unit (GPU)-based simulation framework to calculate the delivered dose to a 3D moving lung tumor and its surrounding normal tissues, which are undergoing subject-specific lung deformations. The GPU-based simulation framework models the motion of the 3D volumetric lung tumor and its surrounding tissues, simulates the dose delivery using the dose extracted from a treatment plan using Pinnacle Treatment Planning System, Phillips, for one of the 3DCTs of the 4DCT and predicts the amount and location of radiation doses deposited inside the lung. The 4DCT lung datasets were registered with each other using a modified optical flow algorithm. The motion of the tumor and the motion of the surrounding tissues were simulated by measuring the changes in lung volume during the radiotherapy treatment using spirometry. The real-time dose delivered to the tumor for each beam is generated by summing the dose delivered to the target volume at each increase in lung volume during the beam delivery time period. The simulation results showed the real-time capability of the framework at 20 discrete tumor motion steps per breath, which is higher than the number of 4DCT steps (approximately 12) reconstructed during multiple breathing cycles.

  20. Towards real-time 3D US-CT registration on the beating heart for guidance of minimally invasive cardiac interventions

    NASA Astrophysics Data System (ADS)

    Li, Feng; Lang, Pencilla; Rajchl, Martin; Chen, Elvis C. S.; Guiraudon, Gerard; Peters, Terry M.

    2012-02-01

    Compared to conventional open-heart surgeries, minimally invasive cardiac interventions cause less trauma and sideeffects to patients. However, the direct view of surgical targets and tools is usually not available in minimally invasive procedures, which makes image-guided navigation systems essential. The choice of imaging modalities used in the navigation systems must consider the capability of imaging soft tissues, spatial and temporal resolution, compatibility and flexibility in the OR, and financial cost. In this paper, we propose a new means of guidance for minimally invasive cardiac interventions using 3D real-time ultrasound images to show the intra-operative heart motion together with preoperative CT image(s) employed to demonstrate high-quality 3D anatomical context. We also develop a method to register intra-operative ultrasound and pre-operative CT images in close to real-time. The registration method has two stages. In the first, anatomical features are segmented from the first frame of ultrasound images and the CT image(s). A feature based registration is used to align those features. The result of this is used as an initialization in the second stage, in which a mutual information based registration is used to register every ultrasound frame to the CT image(s). A GPU based implementation is used to accelerate the registration.

  1. [Measurement of left atrial and ventricular volumes in real-time 3D echocardiography. Validation by nuclear magnetic resonance

    NASA Technical Reports Server (NTRS)

    Bauer, F.; Shiota, T.; Qin, J. X.; White, R. D.; Thomas, J. D.

    2001-01-01

    The measurement of the left ventricular ejection fraction is important for the evaluation of cardiomyopathy and depends on the measurement of left ventricular volumes. There are no existing conventional echocardiographic means of measuring the true left atrial and ventricular volumes without mathematical approximations. The aim of this study was to test anew real time 3-dimensional echocardiographic system of calculating left atrial and ventricular volumes in 40 patients after in vitro validation. The volumes of the left atrium and ventricle acquired from real time 3-D echocardiography in the apical view, were calculated in 7 sections parallel to the surface of the probe and compared with atrial (10 patients) and ventricular (30 patients) volumes calculated by nuclear magnetic resonance with the simpson method and with volumes of water in balloons placed in a cistern. Linear regression analysis showed an excellent correlation between the real volume of water in the balloons and volumes given in real time 3-dimensional echocardiography (y = 0.94x + 5.5, r = 0.99, p < 0.001, D = -10 +/- 4.5 ml). A good correlation was observed between real time 3-dimensional echocardiography and nuclear magnetic resonance for the measurement of left atrial and ventricular volumes (y = 0.95x - 10, r = 0.91, p < 0.001, D = -14.8 +/- 19.5 ml and y = 0.87x + 10, r = 0.98, P < 0.001, D = -8.3 +/- 18.7 ml, respectively. The authors conclude that real time three-dimensional echocardiography allows accurate measurement of left heart volumes underlying the clinical potential of this new 3-D method.

  2. A real-time skin dose tracking system for biplane neuro-interventional procedures

    NASA Astrophysics Data System (ADS)

    Rana, Vijay K.; Rudin, Stephen R.; Bednarek, Daniel R.

    2015-03-01

    A biplane dose-tracking system (Biplane-DTS) that provides a real-time display of the skin-dose distribution on a 3D-patient graphic during neuro-interventional fluoroscopic procedures was developed. Biplane-DTS calculates patient skin dose using geometry and exposure information for the two gantries of the imaging system acquired from the digital system bus. The dose is calculated for individual points on the patient graphic surface for each exposure pulse and cumulative dose for both x-ray tubes is displayed as color maps on a split screen showing frontal and lateral projections of a 3D-humanoid graphic. Overall peak skin dose (PSD), FOV-PSD and current dose rates for the two gantries are also displayed. Biplane- TS uses calibration files of mR/mAs for the frontal and lateral tubes measured with and without the table in the beam at the entrance surface of a 20 cm thick PMMA phantom placed 15 cm tube-side of the isocenter. For neuro-imaging, conversion factors are applied as a function of entrance field area to scale the calculated dose to that measured with a Phantom Laboratory head phantom which contains a human skull to account for differences in backscatter between PMMA and the human head. The software incorporates inverse-square correction to each point on the skin and corrects for angulation of the beam through the table. Dose calculated by Biplane DTS and values measured by a 6-cc ionization chamber placed on the head phantom at multiple points agree within a range of -3% to +7% with a standard deviation for all points of less than 3%.

  3. Creation of 3D digital anthropomorphic phantoms which model actual patient non-rigid body motion as determined from MRI and position tracking studies of volunteers

    NASA Astrophysics Data System (ADS)

    Connolly, C. M.; Konik, A.; Dasari, P. K. R.; Segars, P.; Zheng, S.; Johnson, K. L.; Dey, J.; King, M. A.

    2011-03-01

    Patient motion can cause artifacts, which can lead to difficulty in interpretation. The purpose of this study is to create 3D digital anthropomorphic phantoms which model the location of the structures of the chest and upper abdomen of human volunteers undergoing a series of clinically relevant motions. The 3D anatomy is modeled using the XCAT phantom and based on MRI studies. The NURBS surfaces of the XCAT are interactively adapted to fit the MRI studies. A detailed XCAT phantom is first developed from an EKG triggered Navigator acquisition composed of sagittal slices with a 3 x 3 x 3 mm voxel dimension. Rigid body motion states are then acquired at breath-hold as sagittal slices partially covering the thorax, centered on the heart, with 9 mm gaps between them. For non-rigid body motion requiring greater sampling, modified Navigator sequences covering the entire thorax with 3 mm gaps between slices are obtained. The structures of the initial XCAT are then adapted to fit these different motion states. Simultaneous to MRI imaging the positions of multiple reflective markers on stretchy bands about the volunteer's chest and abdomen are optically tracked in 3D via stereo imaging. These phantoms with combined position tracking will be used to investigate both imaging-data-driven and motion-tracking strategies to estimate and correct for patient motion. Our initial application will be to cardiacperfusion SPECT imaging where the XCAT phantoms will be used to create patient activity and attenuation distributions for each volunteer with corresponding motion tracking data from the markers on the body-surface. Monte Carlo methods will then be used to simulate SPECT acquisitions, which will be used to evaluate various motion estimation and correction strategies.

  4. Using virtual reality technology and hand tracking technology to create software for training surgical skills in 3D game

    NASA Astrophysics Data System (ADS)

    Zakirova, A. A.; Ganiev, B. A.; Mullin, R. I.

    2015-11-01

    The lack of visible and approachable ways of training surgical skills is one of the main problems in medical education. Existing simulation training devices are not designed to teach students, and are not available due to the high cost of the equipment. Using modern technologies such as virtual reality and hands movements fixation technology we want to create innovative method of learning the technics of conducting operations in 3D game format, which can make education process interesting and effective. Creating of 3D format virtual simulator will allow to solve several conceptual problems at once: opportunity of practical skills improvement unlimited by the time without the risk for patient, high realism of environment in operational and anatomic body structures, using of game mechanics for information perception relief and memorization of methods acceleration, accessibility of this program.

  5. Longitudinal, label-free, quantitative tracking of cell death and viability in a 3D tumor model with OCT

    NASA Astrophysics Data System (ADS)

    Jung, Yookyung; Klein, Oliver J.; Wang, Hequn; Evans, Conor L.

    2016-06-01

    Three-dimensional in vitro tumor models are highly useful tools for studying tumor growth and treatment response of malignancies such as ovarian cancer. Existing viability and treatment assessment assays, however, face shortcomings when applied to these large, complex, and heterogeneous culture systems. Optical coherence tomography (OCT) is a noninvasive, label-free, optical imaging technique that can visualize live cells and tissues over time with subcellular resolution and millimeters of optical penetration depth. Here, we show that OCT is capable of carrying out high-content, longitudinal assays of 3D culture treatment response. We demonstrate the usage and capability of OCT for the dynamic monitoring of individual and combination therapeutic regimens in vitro, including both chemotherapy drugs and photodynamic therapy (PDT) for ovarian cancer. OCT was validated against the standard LIVE/DEAD Viability/Cytotoxicity Assay in small tumor spheroid cultures, showing excellent correlation with existing standards. Importantly, OCT was shown to be capable of evaluating 3D spheroid treatment response even when traditional viability assays failed. OCT 3D viability imaging revealed synergy between PDT and the standard-of-care chemotherapeutic carboplatin that evolved over time. We believe the efficacy and accuracy of OCT in vitro drug screening will greatly contribute to the field of cancer treatment and therapy evaluation.

  6. Longitudinal, label-free, quantitative tracking of cell death and viability in a 3D tumor model with OCT

    PubMed Central

    Jung, Yookyung; Klein, Oliver J.; Wang, Hequn; Evans, Conor L.

    2016-01-01

    Three-dimensional in vitro tumor models are highly useful tools for studying tumor growth and treatment response of malignancies such as ovarian cancer. Existing viability and treatment assessment assays, however, face shortcomings when applied to these large, complex, and heterogeneous culture systems. Optical coherence tomography (OCT) is a noninvasive, label-free, optical imaging technique that can visualize live cells and tissues over time with subcellular resolution and millimeters of optical penetration depth. Here, we show that OCT is capable of carrying out high-content, longitudinal assays of 3D culture treatment response. We demonstrate the usage and capability of OCT for the dynamic monitoring of individual and combination therapeutic regimens in vitro, including both chemotherapy drugs and photodynamic therapy (PDT) for ovarian cancer. OCT was validated against the standard LIVE/DEAD Viability/Cytotoxicity Assay in small tumor spheroid cultures, showing excellent correlation with existing standards. Importantly, OCT was shown to be capable of evaluating 3D spheroid treatment response even when traditional viability assays failed. OCT 3D viability imaging revealed synergy between PDT and the standard-of-care chemotherapeutic carboplatin that evolved over time. We believe the efficacy and accuracy of OCT in vitro drug screening will greatly contribute to the field of cancer treatment and therapy evaluation. PMID:27248849

  7. Novel System for Real-Time Integration of 3-D Echocardiography and Fluoroscopy for Image-Guided Cardiac Interventions: Preclinical Validation and Clinical Feasibility Evaluation

    PubMed Central

    Housden, R. James; Ma, Yingliang; Rajani, Ronak; Gao, Gang; Nijhof, Niels; Cathier, Pascal; Bullens, Roland; Gijsbers, Geert; Parish, Victoria; Kapetanakis, Stamatis; Hancock, Jane; Rinaldi, C. Aldo; Cooklin, Michael; Gill, Jaswinder; Thomas, Martyn; O'neill, Mark D.; Razavi, Reza; Rhode, Kawal S.

    2014-01-01

    Real-time imaging is required to guide minimally invasive catheter-based cardiac interventions. While transesophageal echocardiography allows for high-quality visualization of cardiac anatomy, X-ray fluoroscopy provides excellent visualization of devices. We have developed a novel image fusion system that allows real-time integration of 3-D echocardiography and the X-ray fluoroscopy. The system was validated in the following two stages: 1) preclinical to determine function and validate accuracy; and 2) in the clinical setting to assess clinical workflow feasibility and determine overall system accuracy. In the preclinical phase, the system was assessed using both phantom and porcine experimental studies. Median 2-D projection errors of 4.5 and 3.3 mm were found for the phantom and porcine studies, respectively. The clinical phase focused on extending the use of the system to interventions in patients undergoing either atrial fibrillation catheter ablation (CA) or transcatheter aortic valve implantation (TAVI). Eleven patients were studied with nine in the CA group and two in the TAVI group. Successful real-time view synchronization was achieved in all cases with a calculated median distance error of 2.2 mm in the CA group and 3.4 mm in the TAVI group. A standard clinical workflow was established using the image fusion system. These pilot data confirm the technical feasibility of accurate real-time echo-fluoroscopic image overlay in clinical practice, which may be a useful adjunct for real-time guidance during interventional cardiac procedures. PMID:27170872

  8. Quantification of Coupled Stiffness and Fiber Orientation Remodeling in Hypertensive Rat Right-Ventricular Myocardium Using 3D Ultrasound Speckle Tracking with Biaxial Testing

    PubMed Central

    Park, Dae Woo; Sebastiani, Andrea; Yap, Choon Hwai; Simon, Marc A.; Kim, Kang

    2016-01-01

    Mechanical and structural changes of right ventricular (RV) in response to pulmonary hypertension (PH) are inadequately understood. While current standard biaxial testing provides information on the mechanical behavior of RV tissues using surface markers, it is unable to fully assess structural and mechanical properties across the full tissue thickness. In this study, the mechanical and structural properties of normotensive and pulmonary hypertension right ventricular (PHRV) myocardium through its full thickness were examined using mechanical testing combined with 3D ultrasound speckle tracking (3D-UST). RV pressure overload was induced in Sprague–Dawley rats by pulmonary artery (PA) banding. The second Piola–Kirchhoff stress tensors and Green-Lagrangian strain tensors were computed in the RV myocardium using the biaxial testing combined with 3D-UST. A previously established non-linear curve-fitting algorithm was applied to fit experimental data to a Strain Energy Function (SEF) for computation of myofiber orientation. The fiber orientations obtained by the biaxial testing with 3D-UST compared well with the fiber orientations computed from the histology. In addition, the re-orientation of myofiber in the right ventricular free wall (RVFW) along longitudinal direction (apex-to-outflow-tract direction) was noticeable in response to PH. For normotensive RVFW samples, the average fiber orientation angles obtained by 3D-UST with biaxial test spiraled from 20° at the endo-cardium to -42° at the epi-cardium (Δ = 62°). For PHRV samples, the average fiber orientation angles obtained by 3D-UST with biaxial test had much less spiral across tissue thickness: 3° at endo-cardium to -7° at epi-cardium (Δ = 10°, P<0.005 compared to normotensive). PMID:27780271

  9. A real-time monitoring/emergency response workstation using a 3-D numerical model initialized with SODAR

    SciTech Connect

    Lawver, B.S.; Sullivan, T.J.; Baskett, R.L.

    1993-05-10

    Many workstation based emergency response dispersion modeling systems provide simple Gaussian models driven by single meteorological tower inputs to estimate the downwind consequences from accidental spills or stack releases. Complex meteorological or terrain settings demand more sophisticated resolution of the three-dimensional structure of the atmosphere to reliably calculate plume dispersion. Mountain valleys and sea breeze flows are two common examples of such settings. To address these complexities, we have implemented the three-dimensional-diagnostic MATHEW mass-adjusted wind field and ADPIC particle-in-cell dispersion models on a workstation for use in real-time emergency response modeling. Both MATHEW and ADPIC have shown their utility in a variety of complex settings over the last 15 years within the Department of Energy`s Atmospheric Release Advisory Capability project.

  10. FIRE: an open-software suite for real-time 2D/3D image registration for image guided radiotherapy research

    NASA Astrophysics Data System (ADS)

    Furtado, H.; Gendrin, C.; Spoerk, J.; Steiner, E.; Underwood, T.; Kuenzler, T.; Georg, D.; Birkfellner, W.

    2016-03-01

    Radiotherapy treatments have changed at a tremendously rapid pace. Dose delivered to the tumor has escalated while organs at risk (OARs) are better spared. The impact of moving tumors during dose delivery has become higher due to very steep dose gradients. Intra-fractional tumor motion has to be managed adequately to reduce errors in dose delivery. For tumors with large motion such as tumors in the lung, tracking is an approach that can reduce position uncertainty. Tumor tracking approaches range from purely image intensity based techniques to motion estimation based on surrogate tracking. Research efforts are often based on custom designed software platforms which take too much time and effort to develop. To address this challenge we have developed an open software platform especially focusing on tumor motion management. FLIRT is a freely available open-source software platform. The core method for tumor tracking is purely intensity based 2D/3D registration. The platform is written in C++ using the Qt framework for the user interface. The performance critical methods are implemented on the graphics processor using the CUDA extension. One registration can be as fast as 90ms (11Hz). This is suitable to track tumors moving due to respiration (~0.3Hz) or heartbeat (~1Hz). Apart from focusing on high performance, the platform is designed to be flexible and easy to use. Current use cases range from tracking feasibility studies, patient positioning and method validation. Such a framework has the potential of enabling the research community to rapidly perform patient studies or try new methods.

  11. VR-Planets : a 3D immersive application for real-time flythrough images of planetary surfaces

    NASA Astrophysics Data System (ADS)

    Civet, François; Le Mouélic, Stéphane

    2015-04-01

    During the last two decades, a fleet of planetary probes has acquired several hundred gigabytes of images of planetary surfaces. Mars has been particularly well covered thanks to the Mars Global Surveyor, Mars Express and Mars Reconnaissance Orbiter spacecrafts. HRSC, CTX, HiRISE instruments allowed the computation of Digital Elevation Models with a resolution from hundreds of meters up to 1 meter per pixel, and corresponding orthoimages with a resolution from few hundred of meters up to 25 centimeters per pixel. The integration of such huge data sets into a system allowing user-friendly manipulation either for scientific investigation or for public outreach can represent a real challenge. We are investigating how innovative tools can be used to freely fly over reconstructed landscapes in real time, using technologies derived from the game industry and virtual reality. We have developed an application based on a game engine, using planetary data, to immerse users in real martian landscapes. The user can freely navigate in each scene at full spatial resolution using a game controller. The actual rendering is compatible with several visualization devices such as 3D active screen, virtual reality headsets (Oculus Rift), and android devices.

  12. Towards real-time 3D US to CT bone image registration using phase and curvature feature based GMM matching.

    PubMed

    Brounstein, Anna; Hacihaliloglu, Ilker; Guy, Pierre; Hodgson, Antony; Abugharbieh, Rafeef

    2011-01-01

    In order to use pre-operatively acquired computed tomography (CT) scans to guide surgical tool movements in orthopaedic surgery, the CT scan must first be registered to the patient's anatomy. Three-dimensional (3D) ultrasound (US) could potentially be used for this purpose if the registration process could be made sufficiently automatic, fast and accurate, but existing methods have difficulties meeting one or more of these criteria. We propose a near-real-time US-to-CT registration method that matches point clouds extracted from local phase images with points selected in part on the basis of local curvature. The point clouds are represented as Gaussian Mixture Models (GMM) and registration is achieved by minimizing the statistical dissimilarity between the GMMs using an L2 distance metric. We present quantitative and qualitative results on both phantom and clinical pelvis data and show a mean registration time of 2.11 s with a mean accuracy of 0.49 mm. PMID:22003622

  13. Accuracy of a Mitral Valve Segmentation Method Using J-Splines for Real-Time 3D Echocardiography Data

    PubMed Central

    Siefert, Andrew W.; Icenogle, David A.; Rabbah, Jean-Pierre; Saikrishnan, Neelakantan; Rossignac, Jarek; Lerakis, Stamatios; Yoganathan, Ajit P.

    2013-01-01

    Patient-specific models of the heart’s mitral valve (MV) exhibit potential for surgical planning. While advances in 3D echocardiography (3DE) have provided adequate resolution to extract MV leaflet geometry, no study has quantitatively assessed the accuracy of their modeled leaflets versus a ground-truth standard for temporal frames beyond systolic closure or for differing valvular dysfunctions. The accuracy of a 3DE-based segmentation methodology based on J-splines was assessed for porcine MVs with known 4D leaflet coordinates within a pulsatile simulator during closure, peak closure, and opening for a control, prolapsed, and billowing MV model. For all time points, the mean distance error between the segmented models and ground-truth data were 0.40±0.32 mm, 0.52±0.51 mm, and 0.74±0.69 mm for the control, flail, and billowing models. For all models and temporal frames, 95% of the distance errors were below 1.64 mm. When applied to a patient data set, segmentation was able to confirm a regurgitant orifice and post-operative improvements in coaptation. This study provides an experimental platform for assessing the accuracy of an MV segmentation methodology at phases beyond systolic closure and for differing MV dysfunctions. Results demonstrate the accuracy of a MV segmentation methodology for the development of future surgical planning tools. PMID:23460042

  14. Tumor-tracking radiotherapy of moving targets; verification using 3D polymer gel, 2D ion-chamber array and biplanar diode array

    NASA Astrophysics Data System (ADS)

    Ceberg, Sofie; Falk, Marianne; Rosenschöld, Per Munck Af; Cattell, Herbert; Gustafsson, Helen; Keall, Paul; Korreman, Stine S.; Medin, Joakim; Nordström, Fredrik; Persson, Gitte; Sawant, Amit; Svatos, Michelle; Zimmerman, Jens; Bäck, Sven ÅJ

    2010-11-01

    The aim of this study was to carry out a dosimetric verification of a dynamic multileaf collimator (DMLC)-based tumor-tracking delivery during respiratory-like motion. The advantage of tumor-tracking radiation delivery is the ability to allow a tighter margin around the target by continuously following and adapting the dose delivery to its motion. However, there are geometric and dosimetric uncertainties associated with beam delivery system constraints and output variations, and several investigations have to be accomplished before a clinical integration of this tracking technique. Two types of delivery were investigated in this study I) a single beam perpendicular to a target with a one dimensional motion parallel to the MLC moving direction, and II) an intensity modulated arc delivery (RapidArc®) with a target motion diagonal to the MLC moving direction. The feasibility study (I) was made using an 2D ionisation chamber array and a true 3D polymer gel. The arc delivery (II) was verified using polymer gel and a biplanar diode array. Good agreement in absorbed dose was found between delivery to a static target and to a moving target with DMLC tracking using all three detector systems. However, due to the limited spatial resolution of the 2D array a detailed comparison was not possible. The RapidArc® plan delivery was successfully verified using the biplanar diode array and true 3D polymer gel, and both detector systems could verify that the DMLC-based tumor-tracking delivery system has a very good ability to account for respiratory target motion.

  15. Real-time self-calibration of a tracked augmented reality display

    NASA Astrophysics Data System (ADS)

    Baum, Zachary; Lasso, Andras; Ungi, Tamas; Fichtinger, Gabor

    2016-03-01

    PURPOSE: Augmented reality systems have been proposed for image-guided needle interventions but they have not become widely used in clinical practice due to restrictions such as limited portability, low display refresh rates, and tedious calibration procedures. We propose a handheld tablet-based self-calibrating image overlay system. METHODS: A modular handheld augmented reality viewbox was constructed from a tablet computer and a semi-transparent mirror. A consistent and precise self-calibration method, without the use of any temporary markers, was designed to achieve an accurate calibration of the system. Markers attached to the viewbox and patient are simultaneously tracked using an optical pose tracker to report the position of the patient with respect to a displayed image plane that is visualized in real-time. The software was built using the open-source 3D Slicer application platform's SlicerIGT extension and the PLUS toolkit. RESULTS: The accuracy of the image overlay with image-guided needle interventions yielded a mean absolute position error of 0.99 mm (95th percentile 1.93 mm) in-plane of the overlay and a mean absolute position error of 0.61 mm (95th percentile 1.19 mm) out-of-plane. This accuracy is clinically acceptable for tool guidance during various procedures, such as musculoskeletal injections. CONCLUSION: A self-calibration method was developed and evaluated for a tracked augmented reality display. The results show potential for the use of handheld image overlays in clinical studies with image-guided needle interventions.

  16. [Recent echocardiographic examination of the left ventricle – from M-mode to 3D speckle-tracking imaging].

    PubMed

    Nemes, Attila; Forster, Tamás

    2015-10-25

    The left ventricle has a vital role in maintaining circulation of the body, therefore, its non-invasive assessment is essential. The aim of the present review is to demonstrate clinical relevance of different echocardiographic methods in the evaluation of left ventricle emphasizing the importance of the most recent three-dimensional (and) speckle-tracking methodologies.

  17. Tracking naturally occurring indoor features in 2-D and 3-D with lidar range/amplitude data

    SciTech Connect

    Adams, M.D.; Kerstens, A.

    1998-09-01

    Sensor-data processing for the interpretation of a mobile robot`s indoor environment, and the manipulation of this data for reliable localization, are still some of the most important issues in robotics. This article presents algorithms that determine the true position of a mobile robot, based on real 2-D and 3-D optical range and intensity data. The authors start with the physics of the particular type of sensor used, so that the extraction of reliable and repeatable information (namely, edge coordinates) can be determined, taking into account the noise associated with each range sample and the possibility of optical multiple-path effects. Again, applying the physical model of the sensor, the estimated positions of the mobile robot and the uncertainty in these positions are determined. They demonstrate real experiments using 2-D and 3-D scan data taken in indoor environments. To update the robot`s position reliably, the authors address the problem of matching the information recorded in a scan to, first, an a priori map, and second, to information recorded in previous scans, eliminating the need for an a priori map.

  18. Knowledge-based 3D segmentation of the brain in MR images for quantitative multiple sclerosis lesion tracking

    NASA Astrophysics Data System (ADS)

    Fisher, Elizabeth; Cothren, Robert M., Jr.; Tkach, Jean A.; Masaryk, Thomas J.; Cornhill, J. Fredrick

    1997-04-01

    Brain segmentation in magnetic resonance (MR) images is an important step in quantitative analysis applications, including the characterization of multiple sclerosis (MS) lesions over time. Our approach is based on a priori knowledge of the intensity and three-dimensional (3D) spatial relationships of structures in MR images of the head. Optimal thresholding and connected-components analysis are used to generate a starting point for segmentation. A 3D radial search is then performed to locate probable locations of the intra-cranial cavity (ICC). Missing portions of the ICC surface are interpolated in order to exclude connected structures. Partial volume effects and inter-slice intensity variations in the image are accounted for automatically. Several studies were conducted to validate the segmentation. Accuracy was tested by calculating the segmented volume and comparing to known volumes of a standard MR phantom. Reliability was tested by comparing calculated volumes of individual segmentation results from multiple images of the same subject. The segmentation results were also compared to manual tracings. The average error in volume measurements for the phantom was 1.5% and the average coefficient of variation of brain volume measurements of the same subject was 1.2%. Since the new algorithm requires minimal user interaction, variability introduced by manual tracing and interactive threshold or region selection was eliminated. Overall, the new algorithm was shown to produce a more accurate and reliable brain segmentation than existing manual and semi-automated techniques.

  19. Generation of efficient 2D templates from 3D multisensor data for correlation-based target tracking

    NASA Astrophysics Data System (ADS)

    Witte, Carmen; Armbruster, Walter; Jäger, Klaus; Hebel, Marcus

    2008-04-01

    The general demand for the prevention of collateral damages in military operations requires methods of robust automatic identification of target objects like vehicles especially during target approach. This requires the development of sophisticated techniques for automatic and semi-automatic interpretation of sensor data. In particular the automatic pre-analysis of reconnaissance data is important for the human observer as well as for autonomous systems. In the phase of target approach fully automatic methods are needed for the recognition of predefined objects. For this purpose appropriate sensors are used like imaging IR sensors suitable for day/night operation and laser radar supplying 3D information of the scenario. Classical methods for target recognition based on comparison with synthetic IR object models imply certain shortcomings, e.g. unknown weather conditions and the engine status of vehicles. We propose a concept of generating efficient 2D templates for IR target signatures based on the evaluation of a precise 3D model of the target generated from real multisensor data. This model is created from near-term laser range and IR data gathered by reconnaissance in advance to gain realistic and up-to-date target signatures. It consists of the visible part of the object surface textured with measured infrared values. This enables recognition from slightly differing viewing angles. Our test bed is realized by a helicopter equipped with a multisensor suite (laser radar, imaging IR, GPS, and IMU). Results are demonstrated by the analysis of a complex scenario with different vehicles.

  20. Real-time tracking of objects for space applications using a laser range scanner

    NASA Technical Reports Server (NTRS)

    Blais, F.; Couvillon, R. A.; Rioux, M.; Maclean, S. G.

    1994-01-01

    Real-time tracking of multiple targets and three dimensional object features was demonstrated using a laser range scanner. The prototype was immune to ambient illumination and sun interference. Tracking error feedback was simultaneously obtained from individual targets, global predicted target position, and the human operator. A more complete study of calibration parameters and temperature variations on the scanner is needed to determine the exact performance of the sensor. Lissajous patterns used in three-dimensional real-time tracking prove helpful given their high resolution. The photogrammetry-based Advanced Space Vision System (ASVS) is discussed in combination with the laser range scanner.

  1. Real-time object tracking for moving target auto-focus in digital camera

    NASA Astrophysics Data System (ADS)

    Guan, Haike; Niinami, Norikatsu; Liu, Tong

    2015-02-01

    Focusing at a moving object accurately is difficult and important to take photo of the target successfully in a digital camera. Because the object often moves randomly and changes its shape frequently, position and distance of the target should be estimated at real-time so as to focus at the objet precisely. We propose a new method of real-time object tracking to do auto-focus for moving target in digital camera. Video stream in the camera is used for the moving target tracking. Particle filter is used to deal with problem of the target object's random movement and shape change. Color and edge features are used as measurement of the object's states. Parallel processing algorithm is developed to realize real-time particle filter object tracking easily in hardware environment of the digital camera. Movement prediction algorithm is also proposed to remove focus error caused by difference between tracking result and target object's real position when the photo is taken. Simulation and experiment results in digital camera demonstrate effectiveness of the proposed method. We embedded real-time object tracking algorithm in the digital camera. Position and distance of the moving target is obtained accurately by object tracking from the video stream. SIMD processor is applied to enforce parallel real-time processing. Processing time less than 60ms for each frame is obtained in the digital camera with its CPU of only 162MHz.

  2. Applications of 3D hydrodynamic and particle tracking models in the San Francisco bay-delta estuary

    USGS Publications Warehouse

    Smith, P.E.; Donovan, J.M.; Wong, H.F.N.

    2005-01-01

    Three applications of three-dimensional hydrodynamic and particle-tracking models are currently underway by the United States Geological Survey in the San Francisco Bay-Delta Estuary. The first application is to the San Francisco Bay and a portion of the coastal ocean. The second application is to an important, gated control channel called the Delta Cross Channel, located within the northern portion of the Sacramento-San Joaquin River Delta. The third application is to a reach of the San Joaquin River near Stockton, California where a significant dissolved oxygen problem exists due, in part, to conditions associated with the deep-water ship channel for the Port of Stockton, California. This paper briefly discusses the hydrodynamic and particle tracking models being used and the three applications. Copyright ASCE 2005.

  3. Tracking Accuracy of a Real-Time Fiducial Tracking System for Patient Positioning and Monitoring in Radiation Therapy

    SciTech Connect

    Shchory, Tal; Schifter, Dan; Lichtman, Rinat; Neustadter, David; Corn, Benjamin W.

    2010-11-15

    Purpose: In radiation therapy there is a need to accurately know the location of the target in real time. A novel radioactive tracking technology has been developed to answer this need. The technology consists of a radioactive implanted fiducial marker designed to minimize migration and a linac mounted tracking device. This study measured the static and dynamic accuracy of the new tracking technology in a clinical radiation therapy environment. Methods and Materials: The tracking device was installed on the linac gantry. The radioactive marker was located in a tissue equivalent phantom. Marker location was measured simultaneously by the radioactive tracking system and by a Microscribe G2 coordinate measuring machine (certified spatial accuracy of 0.38 mm). Localization consistency throughout a volume and absolute accuracy in the Fixed coordinate system were measured at multiple gantry angles over volumes of at least 10 cm in diameter centered at isocenter. Dynamic accuracy was measured with the marker located inside a breathing phantom. Results: The mean consistency for the static source was 0.58 mm throughout the tested region at all measured gantry angles. The mean absolute position error in the Fixed coordinate system for all gantry angles was 0.97 mm. The mean real-time tracking error for the dynamic source within the breathing phantom was less than 1 mm. Conclusions: This novel radioactive tracking technology has the potential to be useful in accurate target localization and real-time monitoring for radiation therapy.

  4. Real-time x-ray fluoroscopy-based catheter detection and tracking for cardiac electrophysiology interventions

    SciTech Connect

    Ma Yingliang; Housden, R. James; Razavi, Reza; Rhode, Kawal S.; Gogin, Nicolas; Cathier, Pascal; Gijsbers, Geert; Cooklin, Michael; O'Neill, Mark; Gill, Jaswinder; Rinaldi, C. Aldo

    2013-07-15

    Purpose: X-ray fluoroscopically guided cardiac electrophysiology (EP) procedures are commonly carried out to treat patients with arrhythmias. X-ray images have poor soft tissue contrast and, for this reason, overlay of a three-dimensional (3D) roadmap derived from preprocedural volumetric images can be used to add anatomical information. It is useful to know the position of the catheter electrodes relative to the cardiac anatomy, for example, to record ablation therapy locations during atrial fibrillation therapy. Also, the electrode positions of the coronary sinus (CS) catheter or lasso catheter can be used for road map motion correction.Methods: In this paper, the authors present a novel unified computational framework for image-based catheter detection and tracking without any user interaction. The proposed framework includes fast blob detection, shape-constrained searching and model-based detection. In addition, catheter tracking methods were designed based on the customized catheter models input from the detection method. Three real-time detection and tracking methods are derived from the computational framework to detect or track the three most common types of catheters in EP procedures: the ablation catheter, the CS catheter, and the lasso catheter. Since the proposed methods use the same blob detection method to extract key information from x-ray images, the ablation, CS, and lasso catheters can be detected and tracked simultaneously in real-time.Results: The catheter detection methods were tested on 105 different clinical fluoroscopy sequences taken from 31 clinical procedures. Two-dimensional (2D) detection errors of 0.50 {+-} 0.29, 0.92 {+-} 0.61, and 0.63 {+-} 0.45 mm as well as success rates of 99.4%, 97.2%, and 88.9% were achieved for the CS catheter, ablation catheter, and lasso catheter, respectively. With the tracking method, accuracies were increased to 0.45 {+-} 0.28, 0.64 {+-} 0.37, and 0.53 {+-} 0.38 mm and success rates increased to 100%, 99

  5. Nanoelectronic three-dimensional (3D) nanotip sensing array for real-time, sensitive, label-free sequence specific detection of nucleic acids

    PubMed Central

    Yang, Lu; koochak, Zahra; Harris, James S.; Davis, Ronald W.

    2016-01-01

    The improvements in our ability to sequence and genotype DNA have opened up numerous avenues in the understanding of human biology and medicine with various applications, especially in medical diagnostics. But the realization of a label free, real time, high-throughput and low cost biosensing platforms to detect molecular interactions with a high level of sensitivity has been yet stunted due to two factors: one, slow binding kinetics caused by the lack of probe molecules on the sensors and two, limited mass transport due to the planar structure (two-dimensional) of the current biosensors. Here we present a novel three-dimensional (3D), highly sensitive, real-time, inexpensive and label-free nanotip array as a rapid and direct platform to sequence-specific DNA screening. Our nanotip sensors are designed to have a nano sized thin film as their sensing area (~ 20 nm), sandwiched between two sensing electrodes. The tip is then conjugated to a DNA oligonucleotide complementary to the sequence of interest, which is electrochemically detected in real-time via impedance changes upon the formation of a double-stranded helix at the sensor interface. This 3D configuration is specifically designed to improve the biomolecular hit rate and the detection speed. We demonstrate that our nanotip array effectively detects oligonucleotides in a sequence-specific and highly sensitive manner, yielding concentration-dependent impedance change measurements with a target concentration as low as 10 pM and discrimination against even a single mismatch. Notably, our nanotip sensors achieve this accurate, sensitive detection without relying on signal indicators or enhancing molecules like fluorophores. It can also easily be scaled for highly multiplxed detection with up to 5000 sensors/square centimeter, and integrated into microfluidic devices. The versatile, rapid, and sensitive performance of the nanotip array makes it an excellent candidate for point-of-care diagnostics, and high

  6. Left-ventricle segmentation in real-time 3D echocardiography using a hybrid active shape model and optimal graph search approach

    NASA Astrophysics Data System (ADS)

    Zhang, Honghai; Abiose, Ademola K.; Campbell, Dwayne N.; Sonka, Milan; Martins, James B.; Wahle, Andreas

    2010-03-01

    Quantitative analysis of the left ventricular shape and motion patterns associated with left ventricular mechanical dyssynchrony (LVMD) is essential for diagnosis and treatment planning in congestive heart failure. Real-time 3D echocardiography (RT3DE) used for LVMD analysis is frequently limited by heavy speckle noise or partially incomplete data, thus a segmentation method utilizing learned global shape knowledge is beneficial. In this study, the endocardial surface of the left ventricle (LV) is segmented using a hybrid approach combining active shape model (ASM) with optimal graph search. The latter is used to achieve landmark refinement in the ASM framework. Optimal graph search translates the 3D segmentation into the detection of a minimum-cost closed set in a graph and can produce a globally optimal result. Various information-gradient, intensity distributions, and regional-property terms-are used to define the costs for the graph search. The developed method was tested on 44 RT3DE datasets acquired from 26 LVMD patients. The segmentation accuracy was assessed by surface positioning error and volume overlap measured for the whole LV as well as 16 standard LV regions. The segmentation produced very good results that were not achievable using ASM or graph search alone.

  7. NASA's "Eyes On The Solar System:" A Real-time, 3D-Interactive Tool to Teach the Wonder of Planetary Science

    NASA Astrophysics Data System (ADS)

    Hussey, K.

    2014-12-01

    NASA's Jet Propulsion Laboratory is using video game technology to immerse students, the general public and mission personnel in our solar system and beyond. "Eyes on the Solar System," a cross-platform, real-time, 3D-interactive application that can run on-line or as a stand-alone "video game," is of particular interest to educators looking for inviting tools to capture students interest in a format they like and understand. (eyes.nasa.gov). It gives users an extraordinary view of our solar system by virtually transporting them across space and time to make first-person observations of spacecraft, planetary bodies and NASA/ESA missions in action. Key scientific results illustrated with video presentations, supporting imagery and web links are imbedded contextually into the solar system. Educators who want an interactive, game-based approach to engage students in learning Planetary Science will see how "Eyes" can be effectively used to teach its principles to grades 3 through 14.The presentation will include a detailed demonstration of the software along with a description/demonstration of how this technology is being adapted for education. There will also be a preview of coming attractions. This work is being conducted by the Visualization Technology Applications and Development Group at NASA's Jet Propulsion Laboratory, the same team responsible for "Eyes on the Earth 3D," and "Eyes on Exoplanets," which can be viewed at eyes.nasa.gov/earth and eyes.nasa.gov/exoplanets.

  8. Registration of fast cine cardiac MR slices to 3D preprocedural images: toward real-time registration for MRI-guided procedures

    NASA Astrophysics Data System (ADS)

    Smolikova, Renata; Wachowiak, Mark P.; Drangova, Maria

    2004-05-01

    Interventional cardiac magnetic resonance (MR) procedures are the subject of an increasing number of research studies. Typically, during the procedure only two-dimensional images of oblique slices can be presented to the interventionalist in real time. There is a clear benefit to being able to register the real-time 2D slices to a previously acquired 3D computed tomography (CT) or MR image of the heart. Results from a study of the accuracy of registration of 2D cardiac images of an anesthetized pig to a 3D volume obtained in diastole are presented. Fast cine MR images representing twenty phases of the cardiac cycle were obtained of a 2D slice in a known oblique orientation. The 2D images were initially mis-oriented at distances ranging from 2 to 20 mm, and rotations of +/-10 degrees about all three axes. Images from all 20 cardiac phases were registered to examine the effect of timing between the 2D image and the 3D pre-procedural image. Linear registration using mutual information computed with 64 histogram bins yielded the highest accuracy. For the diastolic phases, mean translation and rotation errors ranged between 0.91 and 1.32 mm and between 1.73 and 2.10 degrees. Scans acquired at other phases also had high accuracy. These results are promising for the use of real time MR in image-guided cardiac interventions, and demonstrate the feasibility of registering 2D oblique MR slices to previously acquired single-phase volumes without preprocessing.

  9. From 1D to 2D via 3D: dynamics of surface motion segmentation for ocular tracking in primates.

    PubMed

    Masson, Guillaume S

    2004-01-01

    In primates, tracking eye movements help vision by stabilising onto the retinas the images of a moving object of interest. This sensorimotor transformation involves several stages of motion processing, from the local measurement of one-dimensional luminance changes up to the integration of first and higher-order local motion cues into a global two-dimensional motion immune to antagonistic motions arising from the surrounding. The dynamics of this surface motion segmentation is reflected into the various components of the tracking responses and its underlying neural mechanisms can be correlated with behaviour at both single-cell and population levels. I review a series of behavioural studies which demonstrate that the neural representation driving eye movements evolves over time from a fast vector average of the outputs of linear and non-linear spatio-temporal filtering to a progressive and slower accurate solution for global motion. Because of the sensitivity of earliest ocular following to binocular disparity, antagonistic visual motion from surfaces located at different depths are filtered out. Thus, global motion integration is restricted within the depth plane of the object to be tracked. Similar dynamics were found at the level of monkey extra-striate areas MT and MST and I suggest that several parallel pathways along the motion stream are involved albeit with different latencies to build-up this accurate surface motion representation. After 200-300 ms, most of the computational problems of early motion processing (aperture problem, motion integration, motion segmentation) are solved and the eye velocity matches the global object velocity to maintain a clear and steady retinal image. PMID:15477021

  10. 3D tracking of single nanoparticles and quantum dots in living cells by out-of-focus imaging with diffraction pattern recognition

    PubMed Central

    Gardini, Lucia; Capitanio, Marco; Pavone, Francesco S.

    2015-01-01

    Live cells are three-dimensional environments where biological molecules move to find their targets and accomplish their functions. However, up to now, most single molecule investigations have been limited to bi-dimensional studies owing to the complexity of 3d-tracking techniques. Here, we present a novel method for three-dimensional localization of single nano-emitters based on automatic recognition of out-of-focus diffraction patterns. Our technique can be applied to track the movements of single molecules in living cells using a conventional epifluorescence microscope. We first demonstrate three-dimensional localization of fluorescent nanobeads over 4 microns depth with accuracy below 2 nm in vitro. Remarkably, we also establish three-dimensional tracking of Quantum Dots, overcoming their anisotropic emission, by adopting a ligation strategy that allows rotational freedom of the emitter combined with proper pattern recognition. We localize commercially available Quantum Dots in living cells with accuracy better than 7 nm over 2 microns depth. We validate our technique by tracking the three-dimensional movements of single protein-conjugated Quantum Dots in living cell. Moreover, we find that important localization errors can occur in off-focus imaging when improperly calibrated and we give indications to avoid them. Finally, we share a Matlab script that allows readily application of our technique by other laboratories. PMID:26526410

  11. 3D tracking of single nanoparticles and quantum dots in living cells by out-of-focus imaging with diffraction pattern recognition.

    PubMed

    Gardini, Lucia; Capitanio, Marco; Pavone, Francesco S

    2015-01-01

    Live cells are three-dimensional environments where biological molecules move to find their targets and accomplish their functions. However, up to now, most single molecule investigations have been limited to bi-dimensional studies owing to the complexity of 3d-tracking techniques. Here, we present a novel method for three-dimensional localization of single nano-emitters based on automatic recognition of out-of-focus diffraction patterns. Our technique can be applied to track the movements of single molecules in living cells using a conventional epifluorescence microscope. We first demonstrate three-dimensional localization of fluorescent nanobeads over 4 microns depth with accuracy below 2 nm in vitro. Remarkably, we also establish three-dimensional tracking of Quantum Dots, overcoming their anisotropic emission, by adopting a ligation strategy that allows rotational freedom of the emitter combined with proper pattern recognition. We localize commercially available Quantum Dots in living cells with accuracy better than 7 nm over 2 microns depth. We validate our technique by tracking the three-dimensional movements of single protein-conjugated Quantum Dots in living cell. Moreover, we find that important localization errors can occur in off-focus imaging when improperly calibrated and we give indications to avoid them. Finally, we share a Matlab script that allows readily application of our technique by other laboratories.

  12. Applying IR Tomo PIV and 3D Organism Tracking to Study Turbulence Effects on Oceanic Predator-Prey Interactions

    NASA Astrophysics Data System (ADS)

    Adhikari, Deepak; Hallberg, Michael; Gemmell, Brad; Longmire, Ellen; Buskey, Edward

    2012-11-01

    The behavorial response of aquatic predators and prey depends strongly on the surrounding fluid motion. We present a facility and non-intrusive instrumentation system designed to quantify the motions associated with interactions between small coral reef fish (blennies) and evasive zooplankton prey (copepod) subject to various flow disturbances. A recirculating water channel facility is driven by a paddlewheel to prevent damaging the zooplankton located throughout the channel. Fluid velocity vectors surrounding both species are determined by time-resolved infrared tomographic PIV, while a circular Hough transform and PTV technique is used to track the fish eye in three-dimensional space. Simultaneously, zooplankton motions are detected and tracked using two additional high-speed cameras with IR filters. For capturing larger scales, a measurement volume of 80 x 40 x 18 mm is used with spatial resolution of 3.5 mm. For capturing smaller scales, particularly for observing flow near the mouth of the fish during feeding, the measurement volume is reduced to 20 × 18 × 18 mm with spatial resolution of 1.5 mm. Results will be presented for both freshwater and seawater species. Supported by NSF IDBR grant #0852875.

  13. Terrestrial laser scanning point clouds time series for the monitoring of slope movements: displacement measurement using image correlation and 3D feature tracking

    NASA Astrophysics Data System (ADS)

    Bornemann, Pierrick; Jean-Philippe, Malet; André, Stumpf; Anne, Puissant; Julien, Travelletti

    2016-04-01

    Dense multi-temporal point clouds acquired with terrestrial laser scanning (TLS) have proved useful for the study of structure and kinematics of slope movements. Most of the existing deformation analysis methods rely on the use of interpolated data. Approaches that use multiscale image correlation provide a precise and robust estimation of the observed movements; however, for non-rigid motion patterns, these methods tend to underestimate all the components of the movement. Further, for rugged surface topography, interpolated data introduce a bias and a loss of information in some local places where the point cloud information is not sufficiently dense. Those limits can be overcome by using deformation analysis exploiting directly the original 3D point clouds assuming some hypotheses on the deformation (e.g. the classic ICP algorithm requires an initial guess by the user of the expected displacement patterns). The objective of this work is therefore to propose a deformation analysis method applied to a series of 20 3D point clouds covering the period October 2007 - October 2015 at the Super-Sauze landslide (South East French Alps). The dense point clouds have been acquired with a terrestrial long-range Optech ILRIS-3D laser scanning device from the same base station. The time series are analyzed using two approaches: 1) a method of correlation of gradient images, and 2) a method of feature tracking in the raw 3D point clouds. The estimated surface displacements are then compared with GNSS surveys on reference targets. Preliminary results tend to show that the image correlation method provides a good estimation of the displacement fields at first order, but shows limitations such as the inability to track some deformation patterns, and the use of a perspective projection that does not maintain original angles and distances in the correlated images. Results obtained with 3D point clouds comparison algorithms (C2C, ICP, M3C2) bring additional information on the

  14. Innovative radar products for the 3D, high-resolution and real-time monitoring of the convective activity in the airspace around airports

    NASA Astrophysics Data System (ADS)

    Tabary, P.; Bousquet, O.; Sénési, S.; Josse, P.

    2009-09-01

    Airports are recognized to become critical areas in the future given the expected doubling in air traffic by 2020. The increased density of aircrafts in the airport airspaces calls for improved systems and products to monitor in real-time potential hazards and thus meet the airport objectives in terms of safety and throughput. Among all meteorological hazards, convection is certainly the most impacting one. We describe here some innovative radar products that have recently been developed and tested at Météo France around the Paris airports. Those products rely on the French Doppler radar network consisting today of 24 elements with some of them being polarimetric. Reflectivity and Doppler volumetric data are concentrated from all 24 radar sites in real-time at the central level (Toulouse) where 3D Cartesian mosaics covering the entire French territory (i.e. a typical 1,000 by 1,000 km² area) are elaborated. The innovation with respect to what has been done previously is that the three components of the wind are retrieved by operational combination of the radial velocities. The final product, available in real-time every 15 minutes with a spatial resolution of 2.5 km horizontally and 500 m vertically, is a 3D grid giving the interpolated reflectivity and wind field (u, v and w) values. The 2.5 km resolution, arising from the fact that the retrieval is carried out every 15 minutes from radars typically spaced apart by 150 km, is not sufficient for airport airspace monitoring but is valuable for en-route monitoring. Its extension to the entire European space is foreseen. To address the specific needs in the airport areas, a downscaling technique has been proposed to merge the above-mentioned low-resolution 3D wind and reflectivity fields with the high resolution (5 minutes and 1 km²) 2D imagery of the Trappes radar that is the one that covers the Paris airports. The merging approach is based on the assumption that the Vertical Profile of Reflectivity (i.e. the

  15. FFT integration of instantaneous 3D pressure gradient fields measured by Lagrangian particle tracking in turbulent flows

    NASA Astrophysics Data System (ADS)

    Huhn, F.; Schanz, D.; Gesemann, S.; Schröder, A.

    2016-09-01

    Pressure gradient fields in unsteady flows can be estimated through flow measurements of the material acceleration in the fluid and the assumption of the governing momentum equation. In order to derive pressure from its gradient, almost exclusively two numerical methods have been used to spatially integrate the pressure gradient until now: first, direct path integration in the spatial domain, and second, the solution of the Poisson equation for pressure. Instead, we propose an alternative third method that integrates the pressure gradient field in Fourier space. Using a FFT function, the method is fast and easy to implement in programming languages for scientific computing. We demonstrate the accuracy of the integration scheme on a synthetic pressure field and apply it to an experimental example based on time-resolved material acceleration data from high-resolution Lagrangian particle tracking with the Shake-The-Box method.

  16. Development of the 3-D Track Imager for Medium and High-Energy Gamma-Ray Telescopes

    NASA Technical Reports Server (NTRS)

    Hunter, Stanley D.

    2006-01-01

    The Advanced Compton Telescope (ACT) and Advanced Pair Telescope (APT) are envisioned as the next medium (0.3 ^ 50 MeV) and high-energy (30 MeV - greater than 100 GeV) gamma-ray missions. These missions will address many research focus areas of the Structure and Evolution of the Universe Roadmap. These areas include: element formation, matter, energy, & magnetic field interactions in galaxies, AGN & GRB emission, and behavior of matter in extreme environments of black holes & pulsars. Achieving these science goals requires a substantial increases in telescope sensitivity and angular resolution. This talk will discuss how these goals can be met with the three-dimensional track imager (3-DTI), a large volume, low density, time projection chamber with two-dimensional micro-well detector readout and report on our development of a 10 cm x 10 cm x 30 prototype instrument.

  17. Incorporating system latency associated with real-time target tracking radiotherapy in the dose prediction step

    NASA Astrophysics Data System (ADS)

    Roland, Teboh; Mavroidis, Panayiotis; Shi, Chengyu; Papanikolaou, Nikos

    2010-05-01

    System latency introduces geometric errors in the course of real-time target tracking radiotherapy. This effect can be minimized, for example by the use of predictive filters, but cannot be completely avoided. In this work, we present a convolution technique that can incorporate the effect as part of the treatment planning process. The method can be applied independently or in conjunction with the predictive filters to compensate for residual latency effects. The implementation was performed on TrackBeam (Initia Ltd, Israel), a prototype real-time target tracking system assembled and evaluated at our Cancer Institute. For the experimental system settings examined, a Gaussian distribution attributable to the TrackBeam latency was derived with σ = 3.7 mm. The TrackBeam latency, expressed as an average response time, was deduced to be 172 ms. Phantom investigations were further performed to verify the convolution technique. In addition, patient studies involving 4DCT volumes of previously treated lung cancer patients were performed to incorporate the latency effect in the dose prediction step. This also enabled us to effectively quantify the dosimetric and radiobiological impact of the TrackBeam and other higher latency effects on the clinical outcome of a real-time target tracking delivery.

  18. Feasibility of 3D tracking of surgical tools using 2D single plane x-ray projections

    NASA Astrophysics Data System (ADS)

    Seslija, Petar; Habets, Damiaan F.; Peters, Terry M.; Holdsworth, David W.

    2008-03-01

    Fluoroscopy is widely used for intra-procedure image guidance, however its planar images provide limited information about the location of the surgical tools or targets in three-dimensional space. An iterative method based on the projection-Procrustes technique can determine the three-dimensional positions and orientations of known sparse objects from a single, perspective projection. We assess the feasibility of applying this technique to track surgical tools by measuring its accuracy and precision through in vitro experiments. Two phantoms were fabricated to perform this assessment: a grid plate phantom with numerous point-targets at regular distances from each other; and a sparse object used as a surgical tool phantom. Two-dimensional projections of the phantoms were acquired using an image intensifier-based C-arm x-ray unit. The locations of the markers projected onto the images were identified and measured using an automated algorithm. The three-dimensional location of the phantom tool tip was identified from these images using the projection-Procrustes technique. The accuracy and precision of the tip localization were used to assess our technique. The average three-dimensional root-mean-square target registration error of the phantom tool tip was 1.8 mm. The average three-dimensional root-mean-square precision of localizing the tool tip was 0.5 mm.

  19. Tracking Down the Causes of Recent Induced and Natural Intraplate Earthquakes with 3D Seismological Analyses in Northwest Germany

    NASA Astrophysics Data System (ADS)

    Uta, P.; Brandes, C.; Boennemann, C.; Plenefisch, T.; Winsemann, J.

    2015-12-01

    Northwest Germany is a typical low strain intraplate region with a low seismic activity. Nevertheless, 58 well documented earthquakes with magnitudes of 0.5 - 4.3 affected the area in the last 40 years. Most of the epicenters were located in the vicinity of active natural gas fields and some inside. Accordingly, the earthquakes were interpreted as a consequence of hydrocarbon recovery (e.g. Dahm et al. 2007, Bischoff et al. 2013) and classified as induced events in the bulletins of the Federal Institute for Geosciences and Natural Resources (BGR). The two major ones have magnitudes of 4.3 and 4.0. They are the strongest earthquakes ever recorded in Northern Germany. Consequently, these events raise the question whether the ongoing extraction itself can cause them or if other natural tectonic processes like glacial isostatic adjustment may considerably contribute to their initiation. Recent studies of Brandes et al. (2012) imply that lithospheric stress changes due to post glacial isostatic adjustment might be also a potential natural cause for earthquakes in Central Europe. In order to better analyse the earthquakes and to test this latter hypothesis we performed a relocalization of the events with the NonLinLoc (Lomax et al. 2000) program package and two differently scaled 3D P-wave velocity models. Depending on the station coverage for a distinct event, either a fine gridded local model (88 x 73 x 15 km, WEG-model, made available by the industry) or a coarse regional model (1600 x 1600 x 45 km, data from CRUST1.0, Laske et al. 2013) and for some cases a combination of both models was used for the relocalization. The results confirm the trend of the older routine analysis: The majority of the events are located at the margins of the natural gas fields, some of them are now located closer to them. Focal depths mostly vary between 3.5 km and 10 km. However, for some of the events, especially for the older events with relatively bad station coverage, the error bars

  20. A low cost real-time motion tracking approach using webcam technology.

    PubMed

    Krishnan, Chandramouli; Washabaugh, Edward P; Seetharaman, Yogesh

    2015-02-01

    Physical therapy is an important component of gait recovery for individuals with locomotor dysfunction. There is a growing body of evidence that suggests that incorporating a motor learning task through visual feedback of movement trajectory is a useful approach to facilitate therapeutic outcomes. Visual feedback is typically provided by recording the subject's limb movement patterns using a three-dimensional motion capture system and displaying it in real-time using customized software. However, this approach can seldom be used in the clinic because of the technical expertise required to operate this device and the cost involved in procuring a three-dimensional motion capture system. In this paper, we describe a low cost two-dimensional real-time motion tracking approach using a simple webcam and an image processing algorithm in LabVIEW Vision Assistant. We also evaluated the accuracy of this approach using a high precision robotic device (Lokomat) across various walking speeds. Further, the reliability and feasibility of real-time motion-tracking were evaluated in healthy human participants. The results indicated that the measurements from the webcam tracking approach were reliable and accurate. Experiments on human subjects also showed that participants could utilize the real-time kinematic feedback generated from this device to successfully perform a motor learning task while walking on a treadmill. These findings suggest that the webcam motion tracking approach is a feasible low cost solution to perform real-time movement analysis and training. PMID:25555306

  1. A low cost real-time motion tracking approach using webcam technology.

    PubMed

    Krishnan, Chandramouli; Washabaugh, Edward P; Seetharaman, Yogesh

    2015-02-01

    Physical therapy is an important component of gait recovery for individuals with locomotor dysfunction. There is a growing body of evidence that suggests that incorporating a motor learning task through visual feedback of movement trajectory is a useful approach to facilitate therapeutic outcomes. Visual feedback is typically provided by recording the subject's limb movement patterns using a three-dimensional motion capture system and displaying it in real-time using customized software. However, this approach can seldom be used in the clinic because of the technical expertise required to operate this device and the cost involved in procuring a three-dimensional motion capture system. In this paper, we describe a low cost two-dimensional real-time motion tracking approach using a simple webcam and an image processing algorithm in LabVIEW Vision Assistant. We also evaluated the accuracy of this approach using a high precision robotic device (Lokomat) across various walking speeds. Further, the reliability and feasibility of real-time motion-tracking were evaluated in healthy human participants. The results indicated that the measurements from the webcam tracking approach were reliable and accurate. Experiments on human subjects also showed that participants could utilize the real-time kinematic feedback generated from this device to successfully perform a motor learning task while walking on a treadmill. These findings suggest that the webcam motion tracking approach is a feasible low cost solution to perform real-time movement analysis and training.

  2. Optical coherence tomography for ultrahigh-resolution 3D imaging of cell development and real-time guiding for photodynamic therapy

    NASA Astrophysics Data System (ADS)

    Wang, Tianshi; Zhen, Jinggao; Wang, Bo; Xue, Ping

    2009-11-01

    Optical coherence tomography is a new emerging technique for cross-sectional imaging with high spatial resolution of micrometer scale. It enables in vivo and non-invasive imaging with no need to contact the sample and is widely used in biological and clinic application. In this paper optical coherence tomography is demonstrated for both biological and clinic applications. For biological application, a white-light interference microscope is developed for ultrahigh-resolution full-field optical coherence tomography (full-field OCT) to implement 3D imaging of biological tissue. Spatial resolution of 0.9μm×1.1μm (transverse×axial) is achieved A system sensitivity of 85 dB is obtained at an acquisition time of 5s per image. The development of a mouse embryo is studied layer by layer with our ultrahigh-resolution full-filed OCT. For clinic application, a handheld optical coherence tomography system is designed for real-time and in situ imaging of the port wine stains (PWS) patient and supplying surgery guidance for photodynamic therapy (PDT) treatment. The light source with center wavelength of 1310nm, -3 dB wavelength range of 90 nm and optical power of 9mw is utilized. Lateral resolution of 8 μm and axial resolution of 7μm at a rate of 2 frames per second and with 102dB sensitivity are achieved in biological tissue. It is shown that OCT images distinguish very well the normal and PWS tissues in clinic and are good to serve as a valuable diagnosis tool for PDT treatment.

  3. Real-Time Visual Tracking through Fusion Features.

    PubMed

    Ruan, Yang; Wei, Zhenzhong

    2016-01-01

    Due to their high-speed, correlation filters for object tracking have begun to receive increasing attention. Traditional object trackers based on correlation filters typically use a single type of feature. In this paper, we attempt to integrate multiple feature types to improve the performance, and we propose a new DD-HOG fusion feature that consists of discriminative descriptors (DDs) and histograms of oriented gradients (HOG). However, fusion features as multi-vector descriptors cannot be directly used in prior correlation filters. To overcome this difficulty, we propose a multi-vector correlation filter (MVCF) that can directly convolve with a multi-vector descriptor to obtain a single-channel response that indicates the location of an object. Experiments on the CVPR2013 tracking benchmark with the evaluation of state-of-the-art trackers show the effectiveness and speed of the proposed method. Moreover, we show that our MVCF tracker, which uses the DD-HOG descriptor, outperforms the structure-preserving object tracker (SPOT) in multi-object tracking because of its high-speed and ability to address heavy occlusion. PMID:27347951

  4. Real-Time Visual Tracking through Fusion Features

    PubMed Central

    Ruan, Yang; Wei, Zhenzhong

    2016-01-01

    Due to their high-speed, correlation filters for object tracking have begun to receive increasing attention. Traditional object trackers based on correlation filters typically use a single type of feature. In this paper, we attempt to integrate multiple feature types to improve the performance, and we propose a new DD-HOG fusion feature that consists of discriminative descriptors (DDs) and histograms of oriented gradients (HOG). However, fusion features as multi-vector descriptors cannot be directly used in prior correlation filters. To overcome this difficulty, we propose a multi-vector correlation filter (MVCF) that can directly convolve with a multi-vector descriptor to obtain a single-channel response that indicates the location of an object. Experiments on the CVPR2013 tracking benchmark with the evaluation of state-of-the-art trackers show the effectiveness and speed of the proposed method. Moreover, we show that our MVCF tracker, which uses the DD-HOG descriptor, outperforms the structure-preserving object tracker (SPOT) in multi-object tracking because of its high-speed and ability to address heavy occlusion. PMID:27347951

  5. Real-time passive tracking for multi-touch medical modeling and simulation.

    PubMed

    Guerra, Christopher J; Hackett, Matthew; Carrola, John T; Couvillion, Warren C; Chambers, David R; Desai, Sapna A

    2014-01-01

    The military medical community expects to minimize use of live tissue and cadavers for training purposes. This research demonstrates an innovative use of synthetic tissue and passive tracking computer vision to create a real-time, interactive environment for training medical staff. PMID:24732495

  6. Real-time surface tracking system using common-path spectral domain optical coherence tomography

    NASA Astrophysics Data System (ADS)

    Kim, Keo-Sik; Park, Hyoung-Jun; Kang, Hyun Seo; Kang, Jin U.; Song, Chul-Gyu

    2012-11-01

    An enhanced surface tracking system based on optical coherence tomography (OCT) modality has been developed and tested for use in a surgical guidance system. A surface detection algorithm based on a Savitzky-Golay filter of A-scan data and thresholding was applied to real-time depth tracking. The algorithm output controlled a motorized stage to adjust the probe position according to the sample's topological variance in real-time. As a result, the root mean square error (RMSE: 4.2 μm) of our algorithm was relatively lower than the conventional method (RMSE: 16.6 μm). Also, OCT images obtained using the algorithm showed a significantly extended imaging range and active surface tracking in real time. Consequently, the devised method demonstrated potential for use in systems for guiding surgical robots and endoscopic OCT.

  7. Real-time tracking of deformable objects based on combined matching-and-tracking

    NASA Astrophysics Data System (ADS)

    Yan, Junhua; Wang, Zhigang; Wang, Shunfei

    2016-03-01

    Visual tracking is very challenging due to the existence of several sources of variations, such as partial occlusion, deformation, scale variation, rotation, and background clutter. A model-free tracking method based on fusing accelerated features using fast explicit diffusion in nonlinear scale spaces (AKAZE) and KLT features is presented. First, matching-keypoints are generated by finding corresponding keypoints from the consecutive frames and the object template, then tracking-keypoints are generated using the forward-backward flow tracking method, and at last, credible keypoints are obtained by AKAZE-KLT tracking (AKT) algorithm. To avoid the instability of a statistical method, the median method is adopted to compute the object's location, scale, and rotation in each frame. The experimental results show that the AKT algorithm has strong robustness and can achieve accurate tracking especially under conditions of partial occlusion, scale variation, rotation, and deformation. The tracking performance shows higher robustness and accuracy in a variety of datasets and the average frame rate reaches 78 fps, showing good performance in real time.

  8. Real-time prediction and gating of respiratory motion in 3D space using extended Kalman filters and Gaussian process regression network.

    PubMed

    Bukhari, W; Hong, S-M

    2016-03-01

    The prediction as well as the gating of respiratory motion have received much attention over the last two decades for reducing the targeting error of the radiation treatment beam due to respiratory motion. In this article, we present a real-time algorithm for predicting respiratory motion in 3D space and realizing a gating function without pre-specifying a particular phase of the patient's breathing cycle. The algorithm, named EKF-GPRN(+) , first employs an extended Kalman filter (EKF) independently along each coordinate to predict the respiratory motion and then uses a Gaussian process regression network (GPRN) to correct the prediction error of the EKF in 3D space. The GPRN is a nonparametric Bayesian algorithm for modeling input-dependent correlations between the output variables in multi-output regression. Inference in GPRN is intractable and we employ variational inference with mean field approximation to compute an approximate predictive mean and predictive covariance matrix. The approximate predictive mean is used to correct the prediction error of the EKF. The trace of the approximate predictive covariance matrix is utilized to capture the uncertainty in EKF-GPRN(+) prediction error and systematically identify breathing points with a higher probability of large prediction error in advance. This identification enables us to pause the treatment beam over such instances. EKF-GPRN(+) implements a gating function by using simple calculations based on the trace of the predictive covariance matrix. Extensive numerical experiments are performed based on a large database of 304 respiratory motion traces to evaluate EKF-GPRN(+) . The experimental results show that the EKF-GPRN(+) algorithm reduces the patient-wise prediction error to 38%, 40% and 40% in root-mean-square, compared to no prediction, at lookahead lengths of 192 ms, 384 ms and 576 ms, respectively. The EKF-GPRN(+) algorithm can further reduce the prediction error by employing the gating

  9. Real-time tracking of respiratory-induced tumor motion by dose-rate regulation

    NASA Astrophysics Data System (ADS)

    Han-Oh, Yeonju Sarah

    We have developed a novel real-time tumor-tracking technology, called Dose-Rate-Regulated Tracking (DRRT), to compensate for tumor motion caused by breathing. Unlike other previously proposed tumor-tracking methods, this new method uses a preprogrammed dynamic multileaf collimator (MLC) sequence in combination with real-time dose-rate control. This new scheme circumvents the technical challenge in MLC-based tumor tracking, that is to control the MLC motion in real time, based on real-time detected tumor motion. The preprogrammed MLC sequence describes the movement of the tumor, as a function of breathing phase, amplitude, or tidal volume. The irregularity of tumor motion during treatment is handled by real-time regulation of the dose rate, which effectively speeds up or slows down the delivery of radiation as needed. This method is based on the fact that all of the parameters in dynamic radiation delivery, including MLC motion, are enslaved to the cumulative dose, which, in turn, can be accelerated or decelerated by varying the dose rate. Because commercially available MLC systems do not allow the MLC delivery sequence to be modified in real time based on the patient's breathing signal, previously proposed tumor-tracking techniques using a MLC cannot be readily implemented in the clinic today. By using a preprogrammed MLC sequence to handle the required motion, the task for real-time control is greatly simplified. We have developed and tested the pre- programmed MLC sequence and the dose-rate regulation algorithm using lung-cancer patients breathing signals. It has been shown that DRRT can track the tumor with an accuracy of less than 2 mm for a latency of the DRRT system of less than 0.35 s. We also have evaluated the usefulness of guided breathing for DRRT. Since DRRT by its very nature can compensate for breathing-period changes, guided breathing was shown to be unnecessary for real-time tracking when using DRRT. Finally, DRRT uses the existing dose-rate control

  10. Study on Sensor Design Technique for Real-Time Robotic Welding Tracking System

    NASA Astrophysics Data System (ADS)

    Liu, C. J.; Li, Y. B.; Zhu, J. G.; Ye, S. H.

    2006-10-01

    Based on visual measurement techniques, the real-time robotic welding tracking system achieves real-time adjustment for robotic welding according to the position and shape changes of a workpiece. In system design, the sensor design technique is so important that its performance directly affects the precision and stability of the tracking system. Through initiative visual measurement technology, a camera unit for real-time sampling is built with multiple-strip structured light and a high-performance CMOS image sensor including 1.3 million pixels; to realize real-time data process and transmission, an image process unit is built with FPGA and DSP. Experiments show that the precision of this sensor reaches 0.3mm, and band rate comes up to 10Mbps, which effectively improves robot welding quality.With the development of advanced manufacturing technology, it becomes an inexorable trend to realize the automatic, flexible and intelligent welding product manufacture. With the advantage of interchangeability and reliability, robotic welding can boost productivity, improve work condition, stabilize and guarantee weld quality, and realize welding automation of the short run products [1]. At present, robotic welding has already become the application trend of automatic welding technology. Traditional welding robots are play-back ones, which cannot adapt environment and weld distortion. Especially in the more and more extensive arc-welding course, the deficiency and limitation of play-back welding technology becomes more prominent because of changeable welding condition. It becomes one of the key technology influencing the development of modern robotic welding technology to eliminate or decrease uncertain influence on quality of welding such as changing welding condition etc [2]. Based on visual measuring principle, this text adopts active visual measuring technology, cooperated with high-speed image process and transmission technology to structure a tracking sensor, to realize

  11. Tracking the dynamic seroma cavity using fiducial markers in patients treated with accelerated partial breast irradiation using 3D conformal radiotherapy

    SciTech Connect

    Yue, Ning J.; Haffty, Bruce G.; Goyal, Sharad

    2013-02-15

    Purpose: The purpose of the present study was to perform an analysis of the changes in the dynamic seroma cavity based on fiducial markers in early stage breast cancer patients treated with accelerated partial breast irradiation (APBI) using three-dimensional conformal external beam radiotherapy (3D-CRT). Methods: A prospective, single arm trial was designed to investigate the utility of gold fiducial markers in image guided APBI using 3D-CRT. At the time of lumpectomy, four to six suture-type gold fiducial markers were sutured to the walls of the cavity. Patients were treated with a fractionation scheme consisting of 15 fractions with a fractional dose of 333 cGy. Treatment design and planning followed NSABP/RTOG B-39 guidelines. During radiation treatment, daily kV imaging was performed and the markers were localized and tracked. The change in distance between fiducial markers was analyzed based on the planning CT and daily kV images. Results: Thirty-four patients were simulated at an average of 28 days after surgery, and started the treatment on an average of 39 days after surgery. The average intermarker distance (AiMD) between fiducial markers was strongly correlated to seroma volume. The average reduction in AiMD was 19.1% (range 0.0%-41.4%) and 10.8% (range 0.0%-35.6%) for all the patients between simulation and completion of radiotherapy, and between simulation and beginning of radiotherapy, respectively. The change of AiMD fits an exponential function with a half-life of seroma shrinkage. The average half-life for seroma shrinkage was 15 days. After accounting for the reduction which started to occur after surgery through CT simulation and treatment, radiation was found to have minimal impact on the distance change over the treatment course. Conclusions: Using the marker distance change as a surrogate for seroma volume, it appears that the seroma cavity experiences an exponential reduction in size. The change in seroma size has implications in the size of

  12. WE-A-17A-10: Fast, Automatic and Accurate Catheter Reconstruction in HDR Brachytherapy Using An Electromagnetic 3D Tracking System

    SciTech Connect

    Poulin, E; Racine, E; Beaulieu, L; Binnekamp, D

    2014-06-15

    Purpose: In high dose rate brachytherapy (HDR-B), actual catheter reconstruction protocols are slow and errors prompt. The purpose of this study was to evaluate the accuracy and robustness of an electromagnetic (EM) tracking system for improved catheter reconstruction in HDR-B protocols. Methods: For this proof-of-principle, a total of 10 catheters were inserted in gelatin phantoms with different trajectories. Catheters were reconstructed using a Philips-design 18G biopsy needle (used as an EM stylet) and the second generation Aurora Planar Field Generator from Northern Digital Inc. The Aurora EM system exploits alternating current technology and generates 3D points at 40 Hz. Phantoms were also scanned using a μCT (GE Healthcare) and Philips Big Bore clinical CT system with a resolution of 0.089 mm and 2 mm, respectively. Reconstructions using the EM stylet were compared to μCT and CT. To assess the robustness of the EM reconstruction, 5 catheters were reconstructed twice and compared. Results: Reconstruction time for one catheter was 10 seconds or less. This would imply that for a typical clinical implant of 17 catheters, the total reconstruction time would be less than 3 minutes. When compared to the μCT, the mean EM tip identification error was 0.69 ± 0.29 mm while the CT error was 1.08 ± 0.67 mm. The mean 3D distance error was found to be 0.92 ± 0.37 mm and 1.74 ± 1.39 mm for the EM and CT, respectively. EM 3D catheter trajectories were found to be significantly more accurate (unpaired t-test, p < 0.05). A mean difference of less than 0.5 mm was found between successive EM reconstructions. Conclusion: The EM reconstruction was found to be faster, more accurate and more robust than the conventional methods used for catheter reconstruction in HDR-B. This approach can be applied to any type of catheters and applicators. We would like to disclose that the equipments, used in this study, is coming from a collaboration with Philips Medical.

  13. A Target Model Construction Algorithm for Robust Real-Time Mean-Shift Tracking

    PubMed Central

    Choi, Yoo-Joo; Kim, Yong-Goo

    2014-01-01

    Mean-shift tracking has gained more interests, nowadays, aided by its feasibility of real-time and reliable tracker implementation. In order to reduce background clutter interference to mean-shift object tracking, this paper proposes a novel indicator function generation method. The proposed method takes advantage of two ‘a priori’ knowledge elements, which are inherent to a kernel support for initializing a target model. Based on the assured background labels, a gradient-based label propagation is performed, resulting in a number of objects differentiated from the background. Then the proposed region growing scheme picks up one largest target object near the center of the kernel support. The grown object region constitutes the proposed indicator function and this allows an exact target model construction for robust mean-shift tracking. Simulation results demonstrate the proposed exact target model could significantly enhance the robustness as well as the accuracy of mean-shift object tracking. PMID:25372619

  14. SU-E-J-240: Development of a Novel 4D MRI Sequence for Real-Time Liver Tumor Tracking During Radiotherapy

    SciTech Connect

    Zhuang, L; Burmeister, J; Ye, Y

    2015-06-15

    Purpose: To develop a Novel 4D MRI Technique that is feasible for realtime liver tumor tracking during radiotherapy. Methods: A volunteer underwent an abdominal 2D fast EPI coronal scan on a 3.0T MRI scanner (Siemens Inc., Germany). An optimal set of parameters was determined based on image quality and scan time. A total of 23 slices were scanned to cover the whole liver in the test scan. For each scan position, the 2D images were retrospectively sorted into multiple phases based on breathing signal extracted from the images. Consequently the 2D slices with same phase numbers were stacked to form one 3D image. Multiple phases of 3D images formed the 4D MRI sequence representing one breathing cycle. Results: The optimal set of scan parameters were: TR= 57ms, TE= 19ms, FOV read= 320mm and flip angle= 30°, which resulted in a total scan time of 14s for 200 frames (FMs) per slice and image resolution of (2.5mm,2.5mm,5.0mm) in three directions. Ten phases of 3D images were generated, each of which had 23 slices. Based on our test scan, only 100FMs were necessary for the phase sorting process which may lower the scan time to 7s/100FMs/slice. For example, only 5 slices/35s are necessary for a 4D MRI scan to cover liver tumor size ≤ 2cm leading to the possibility of tumor trajectory tracking every 35s during treatment. Conclusion: The novel 4D MRI technique we developed can reconstruct a 4D liver MRI sequence representing one breathing cycle (7s/ slice) without an external monitor. This technique can potentially be used for real-time liver tumor tracking during radiotherapy.

  15. Feedback strategy on real-time multiple target tracking in cognitive vision system

    NASA Astrophysics Data System (ADS)

    Shao, Jie; Jia, Zhen; Li, Zhipeng; Liu, Fuqiang; Zhao, Jianwei; Peng, Pei-Yuan

    2011-10-01

    Under pedestrian and vehicle mixed traffic conditions, the potential accident rate is high due to a complex traffic environment. In order to solve this problem, we present a real-time cognitive vision system. In the scene-capture level, foreground objects are extracted based on the combination of spatial and temporal information. Then, a coarse-to-fine algorithm is employed in tracking. After filtering-based normal tracking, problems of the target blob missing, merging, and splitting are resolved by the adaptive tracking modification method in fine tracking. For greater robustness, the key idea of our approach is adaptively adjusting the classification sensibility of each pixel by employing tracking results as feedback cues for target detection in the next frame. On the basis of the target trajectories, behavior models are evaluated according to a decision logic table in the behavior-evaluation level. The decision logic table is set based on rules of real scenes. The resulting system interprets different kinds of traffic behavior and warns in advance. Experiments show robust and accurate results of abnormality detection and forewarning under different conditions. All the experimental results run at real-time frame rates (>=25 fps) on standard hardware. Therefore, the system is suitable for actual Intelligent Traffic System applications.

  16. A low-cost test-bed for real-time landmark tracking

    NASA Astrophysics Data System (ADS)

    Csaszar, Ambrus; Hanan, Jay C.; Moreels, Pierre; Assad, Christopher

    2007-04-01

    A low-cost vehicle test-bed system was developed to iteratively test, refine and demonstrate navigation algorithms before attempting to transfer the algorithms to more advanced rover prototypes. The platform used here was a modified radio controlled (RC) car. A microcontroller board and onboard laptop computer allow for either autonomous or remote operation via a computer workstation. The sensors onboard the vehicle represent the types currently used on NASA-JPL rover prototypes. For dead-reckoning navigation, optical wheel encoders, a single axis gyroscope, and 2-axis accelerometer were used. An ultrasound ranger is available to calculate distance as a substitute for the stereo vision systems presently used on rovers. The prototype also carries a small laptop computer with a USB camera and wireless transmitter to send real time video to an off-board computer. A real-time user interface was implemented that combines an automatic image feature selector, tracking parameter controls, streaming video viewer, and user generated or autonomous driving commands. Using the test-bed, real-time landmark tracking was demonstrated by autonomously driving the vehicle through the JPL Mars yard. The algorithms tracked rocks as waypoints. This generated coordinates calculating relative motion and visually servoing to science targets. A limitation for the current system is serial computing-each additional landmark is tracked in order-but since each landmark is tracked independently, if transferred to appropriate parallel hardware, adding targets would not significantly diminish system speed.

  17. DspaceOgreTerrain 3D Terrain Visualization Tool

    NASA Technical Reports Server (NTRS)

    Myint, Steven; Jain, Abhinandan; Pomerantz, Marc I.

    2012-01-01

    DspaceOgreTerrain is an extension to the DspaceOgre 3D visualization tool that supports real-time visualization of various terrain types, including digital elevation maps, planets, and meshes. DspaceOgreTerrain supports creating 3D representations of terrains and placing them in a scene graph. The 3D representations allow for a continuous level of detail, GPU-based rendering, and overlaying graphics like wheel tracks and shadows. It supports reading data from the SimScape terrain- modeling library. DspaceOgreTerrain solves the problem of displaying the results of simulations that involve very large terrains. In the past, it has been used to visualize simulations of vehicle traverses on Lunar and Martian terrains. These terrains were made up of billions of vertices and would not have been renderable in real-time without using a continuous level of detail rendering technique.

  18. Real-time tracking of neuronal network structure using data assimilation

    NASA Astrophysics Data System (ADS)

    Hamilton, Franz; Berry, Tyrus; Peixoto, Nathalia; Sauer, Timothy

    2013-11-01

    A nonlinear data assimilation technique is applied to determine and track effective connections between ensembles of cultured spinal cord neurons measured with multielectrode arrays. The method is statistical, depending only on confidence intervals, and requiring no form of arbitrary thresholding. In addition, the method updates connection strengths sequentially, enabling real-time tracking of nonstationary networks. The ensemble Kalman filter is used with a generic spiking neuron model to estimate connection strengths as well as other system parameters to deal with model mismatch. The method is validated on noisy synthetic data from Hodgkin-Huxley model neurons before being used to find network connections in the neural culture recordings.

  19. Tracking Efficiency And Charge Sharing of 3D Silicon Sensors at Different Angles in a 1.4T Magnetic Field

    SciTech Connect

    Gjersdal, H.; Bolle, E.; Borri, M.; Da Via, C.; Dorholt, O.; Fazio, S.; Grenier, P.; Grinstein, S. Hansson, P.; Hasi, J.; Hugging, F.; Jackson, P.; Kenney, C.; Kocian, M.; La Rosa, A.; Mastroberardino, A.; Nordahl, P.; Rivero, F.; Rohne, O.; Sandaker, H.; Sjobaek, K.; /Oslo U. /Prague, Tech. U. /SLAC /Bonn U. /SUNY, Stony Brook /Bonn U. /SLAC

    2012-05-07

    A 3D silicon sensor fabricated at Stanford with electrodes penetrating throughout the entire silicon wafer and with active edges was tested in a 1.4 T magnetic field with a 180 GeV/c pion beam at the CERN SPS in May 2009. The device under test was bump-bonded to the ATLAS pixel FE-I3 readout electronics chip. Three readout electrodes were used to cover the 400 {micro}m long pixel side, this resulting in a p-n inter-electrode distance of {approx} 71 {micro}m. Its behavior was confronted with a planar sensor of the type presently installed in the ATLAS inner tracker. Time over threshold, charge sharing and tracking efficiency data were collected at zero and 15{sup o} angles with and without magnetic field. The latest is the angular configuration expected for the modules of the Insertable B-Layer (IBL) currently under study for the LHC phase 1 upgrade expected in 2014.

  20. On the local acceleration and flow trajectory of jet flows from circular and semi-circular pipes via 3D particle tracking velocimetry

    NASA Astrophysics Data System (ADS)

    Kim, Jin-Tae; Liberzon, Alex; Chamorro, Leonardo P.

    2015-11-01

    The distinctive differences between two jet flows that share the same hydraulic diameter dh = 0.01 m and Re ~ 6000, but different (nozzle) shape are explored via 3D Particle Tracking Velocimetry using OpenPTV (http://www.openptv.net). The two jets are formed from circular and semicircular pipes and released in a quiescent water tank of 40 dh height, 40 dh wide, and 200 dh long. The recirculating system is seeded with 100 μm particles, where flow measurements are performed in the intermediate flow field (14.5 < x /dh <18.5) at 550Hz for a total of ~ 30,000 frames. Analysis is focused on the spatial distribution of the local flow acceleration and curvature of the Lagrangian trajectories. The velocity and acceleration of particles are estimated by low-pass filtering their position with a moving cubic spline fitting, while the curvature is obtained from the Frenet-Serret equations. Probability density functions (p.d.f.) of these quantities are obtained at various sub-volumes containing a given streamwise velocity range, and compared between the two cases to evaluate the memory effects in the intermediate flow field.

  1. Eye-tracking and EMG supported 3D Virtual Reality - an integrated tool for perceptual and motor development of children with severe physical disabilities: a research concept.

    PubMed

    Pulay, Márk Ágoston

    2015-01-01

    Letting children with severe physical disabilities (like Tetraparesis spastica) to get relevant motional experiences of appropriate quality and quantity is now the greatest challenge for us in the field of neurorehabilitation. These motional experiences may establish many cognitive processes, but may also cause additional secondary cognitive dysfunctions such as disorders in body image, figure invariance, visual perception, auditory differentiation, concentration, analytic and synthetic ways of thinking, visual memory etc. Virtual Reality is a technology that provides a sense of presence in a real environment with the help of 3D pictures and animations formed in a computer environment and enable the person to interact with the objects in that environment. One of our biggest challenges is to find a well suited input device (hardware) to let the children with severe physical disabilities to interact with the computer. Based on our own experiences and a thorough literature review we have come to the conclusion that an effective combination of eye-tracking and EMG devices should work well.

  2. A real-time multiple-cell tracking platform for dielectrophoresis (DEP)-based cellular analysis

    NASA Astrophysics Data System (ADS)

    Prasad, Brinda; Du, Shan; Badawy, Wael; Kaler, Karan V. I. S.

    2005-04-01

    There is an increasing demand from biosciences to develop new and efficient techniques to assist in the preparation and analysis of biological samples such as cells in suspension. A dielectrophoresis (DEP)-based characterization and measurement technique on biological cells opens up a broader perspective for early diagnosis of diseases. An efficient real-time multiple-cell tracking platform coupled with DEP to capture and quantify the dynamics of cell motion and obtain cell viability information is presented. The procedure for tracking a single DEP-levitated Canola plant protoplast, using the motion-based segmentation algorithm hierarchical adaptive merge split mesh-based technique (HAMSM) for cell identification, has been enhanced for identifying and tracking multiple cells. The tracking technique relies on the deformation of mesh topology that is generated according to the movement of biological cells in a sequence of images that allows the simultaneous extraction of the biological cell from the image and the associated motion characteristics. Preliminary tests were conducted with yeast cells and then applied to a cancerous cell line subjected to DEP fields. Characteristics, such as cell count, velocity and size, were individually extracted from the tracked results of the cell sample. Tests were limited to eight yeast cells and two cancer cells. A performance analysis to assess tracking accuracy, computational effort and processing time was also conducted. The tracking technique employed on model intact cells in DEP fields proved to be accurate, reliable and robust.

  3. Vision-based real-time obstacle detection and tracking for autonomous vehicle guidance

    NASA Astrophysics Data System (ADS)

    Yang, Ming; Yu, Qian; Wang, Hong; Zhang, Bo

    2002-03-01

    The ability of obstacles detection and tracking is essential for safe visual guidance of autonomous vehicles, especially in urban environments. In this paper, we first overview different plane projective transformation (PPT) based obstacle detection approaches under the planar ground assumption. Then, we give a simple proof of this approach with relative affine, a unified framework that includes the Euclidean, projective and affine frameworks by generalization and specialization. Next, we present a real-time hybrid obstacle detection method, which combined the PPT based method with the region segmentation based method to provide more accurate locations of obstacles. At last, with the vehicle's position information, a Kalman Filter is applied to track obstacles from frame to frame. This method has been tested on THMR-V (Tsinghua Mobile Robot V). Through various experiments we successfully demonstrate its real-time performance, high accuracy, and high robustness.

  4. A Kinect-based real-time compressive tracking prototype system for amphibious spherical robots.

    PubMed

    Pan, Shaowu; Shi, Liwei; Guo, Shuxiang

    2015-04-08

    A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT), which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V) tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

  5. A Kinect-based real-time compressive tracking prototype system for amphibious spherical robots.

    PubMed

    Pan, Shaowu; Shi, Liwei; Guo, Shuxiang

    2015-01-01

    A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT), which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V) tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system. PMID:25856331

  6. A Kinect-Based Real-Time Compressive Tracking Prototype System for Amphibious Spherical Robots

    PubMed Central

    Pan, Shaowu; Shi, Liwei; Guo, Shuxiang

    2015-01-01

    A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT), which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V) tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system. PMID:25856331

  7. Real-time circumferential mapping catheter tracking for motion compensation in atrial fibrillation ablation procedures

    NASA Astrophysics Data System (ADS)

    Brost, Alexander; Bourier, Felix; Wimmer, Andreas; Koch, Martin; Kiraly, Atilla; Liao, Rui; Kurzidim, Klaus; Hornegger, Joachim; Strobel, Norbert

    2012-02-01

    Atrial fibrillation (AFib) has been identified as a major cause of stroke. Radiofrequency catheter ablation has become an increasingly important treatment option, especially when drug therapy fails. Navigation under X-ray can be enhanced by using augmented fluoroscopy. It renders overlay images from pre-operative 3-D data sets which are then fused with X-ray images to provide more details about the underlying soft-tissue anatomy. Unfortunately, these fluoroscopic overlay images are compromised by respiratory and cardiac motion. Various methods to deal with motion have been proposed. To meet clinical demands, they have to be fast. Methods providing a processing frame rate of 3 frames-per-second (fps) are considered suitable for interventional electrophysiology catheter procedures if an acquisition frame rate of 2 fps is used. Unfortunately, when working at a processing rate of 3 fps, the delay until the actual motion compensated image can be displayed is about 300 ms. More recent algorithms can achieve frame rates of up to 20 fps, which reduces the lag to 50 ms. By using a novel approach involving a 3-D catheter model, catheter segmentation and a distance transform, we can speed up motion compensation to 25 fps which results in a display delay of only 40 ms on a standard workstation for medical applications. Our method uses a constrained 2-D/3-D registration to perform catheter tracking, and it obtained a 2-D tracking error of 0.61 mm.

  8. Real-time optical imaging and tracking of micron-sized particles

    NASA Astrophysics Data System (ADS)

    Qian, Feng; Song, Qi; Tien, En-kuang; Kalyoncu, Salih K.; Boyraz, Ozdal

    2009-12-01

    We report real-time imaging and dynamics monitoring of micrometer predefined and random sized particles by time-space-wavelength mapping technology using a single-detector. Experimentally, we demonstrate real-time line imaging of a 5 μm polystyrene microsphere, glass powder particles and patterns such as fingerprints with up to 5 μm resolution at 1 line/50 ns capture rate. By using the same setup, real-time displacement tracking of micrometer-size glass particles with 50 ns temporal resolution and up to 5 μm spatial resolution is achieved. We also show that existing correlation spectroscopy algorithms can be adopted to extract dynamic information in a complex environment.

  9. Real-time visual tracking system modelling in MPSoC using platform based design

    NASA Astrophysics Data System (ADS)

    Jia, Zai Jian; Bautista, Tomás; Núñez, Antonio; Guerra, Cayetano; Hernández, Mario

    2009-02-01

    In this paper, we present the modelling of a real-time tracking system on a Multi-Processor System on Chip (MPSoC). Our final goal is to build a more complex computer vision system (CVS) by integrating several applications in a modular way, which performs different kind of data processing issues but sharing a common platform, and this way, a solution for a set of applications using the same architecture is offered and not just for one application. In our current work, a visual tracking system with real-time behaviour (25 frames/sec) is used like a reference application, and also, guidelines for our future CVS applications development. Our algorithm written in C++ is based on correlation technique and the threshold dynamic update approach. After an initial computational complexity analysis, a task-graph was generated from this tracking algorithm. Concurrently with this functionality correctness analysis, a generic model of multi-processor platform was developed. Finally, the tracking system performance mapped onto the proposed architecture and shared resource usage were analyzed to determine the real architecture capacity, and also to find out possible bottlenecks in order to propose new solutions which allow more applications to be mapped on the platform template in the future.

  10. Image projection clues for improved real-time vehicle tracking in tunnels

    NASA Astrophysics Data System (ADS)

    Jelaca, Vedran; Niño Castaneda, Jorge Oswaldo; Pizurica, Aleksandra; Philips, Wilfried

    2012-01-01

    Vehicle tracking is of great importance for tunnel safety. To detect incidents or disturbances in traffic flow it is necessary to reliably track vehicles in real-time. The tracking is a challenging task due to poor lighting conditions in tunnels and frequent light reflections from tunnel walls, the road and the vehicles themselves. In this paper we propose a multi-clue tracking approach combining foreground blobs, optical flow of Shi-Tomasi features and image projection profiles in a Kalman filter with a constant velocity model. The main novelty of our approach lies in using vertical and horizontal image projection profiles (so-called vehicle signatures) as additional measurements to overcome the problems of inconsistent foreground and optical flow clues in cases of severe lighting changes. These signatures consist of Radon-transform like projections along each image column and row. We compare the signatures from two successive video frames to align them and to correct the predicted vehicle position and size. We tested our approach on a real tunnel video sequence. The results show an improvement in the accuracy of the tracker and less target losses when image projection clues are used. Furthermore, calculation and comparison of image projections is computationally efficient so the tracker keeps real-time performance (25 fps, on a single 1.86 GHz processor).

  11. MR-guided cholecystostomy: Assessment of biplanar, real-time needle tracking in three pigs

    SciTech Connect

    Goehde, Susanne C.; Pfammatter, Thomas; Steiner, Paul; Erhart, Peter; Romanowski, Benjamin J.; Debatin, Joerg F.

    1997-07-15

    Purpose. To demonstrate the feasibility of magnetic resonance (MR)-guided cholecystostomy using active, real-time, biplanar MR tracking in animal experiments. Methods. Experiments were performed on three fully anesthetized pigs in an interventional MR system (GE open). The gallbladder was displayed in two orthogonal planes using a heavily T2-weighted fast spin-echo sequence. These 'cholangio roadmaps' were displayed on LCD monitors positioned in front of the interventionalist. A special coaxial MR-tracking needle, equipped with a small receive-only coil at its tip, was inserted percutaneously into the gallbladder under continuous, biplanar MR guidance. The MR-tracking sequence allowed sampling of the coil (needle tip) position every 120 msec. The position of the coil was projected onto the two orthogonal 'cholangio roadmap' images. Results. Successful insertion of the needle was confirmed by aspiration of bile from the gallbladder. The process of aspiration and subsequent instillation of Gd-DTPA into the gallbladder was documented with fast gradient-recalled echo imaging. Conclusion. Biplanar, active, real-time MR tracking in combination with 'cholangio roadmaps' allows for cholecystostomies in an interventional MRI environment.

  12. Real-time model-based vision system for object acquisition and tracking

    NASA Technical Reports Server (NTRS)

    Wilcox, Brian; Gennery, Donald B.; Bon, Bruce; Litwin, Todd

    1987-01-01

    A machine vision system is described which is designed to acquire and track polyhedral objects moving and rotating in space by means of two or more cameras, programmable image-processing hardware, and a general-purpose computer for high-level functions. The image-processing hardware is capable of performing a large variety of operations on images and on image-like arrays of data. Acquisition utilizes image locations and velocities of the features extracted by the image-processing hardware to determine the three-dimensional position, orientation, velocity, and angular velocity of the object. Tracking correlates edges detected in the current image with edge locations predicted from an internal model of the object and its motion, continually updating velocity information to predict where edges should appear in future frames. With some 10 frames processed per second, real-time tracking is possible.

  13. Accuracy of a Real-Time, Computerized, Binocular, Three-Dimensional Trajectory-Tracking Device for Recording Functional Mandibular Movements

    PubMed Central

    Zhao, Tian; Yang, Huifang; Sui, Huaxin; Salvi, Satyajeet Sudhir; Wang, Yong; Sun, Yuchun

    2016-01-01

    Objective Developments in digital technology have permitted researchers to study mandibular movements. Here, the accuracy of a real-time, computerized, binocular, three-dimensional (3D) trajectory-tracking device for recording functional mandibular movements was evaluated. Methods An occlusal splint without the occlusal region was created based on a plaster cast of the lower dentition. The splint was rigidly connected with a target on its labial side and seated on the cast. The cast was then rigidly attached to the stage of a high-precision triaxial electronic translator, which was used to move the target-cast-stage complex. Half-circular movements (5.00-mm radius) in three planes (XOY, XOZ, YOZ) and linear movements along the x-axis were performed at 5.00 mm/s. All trajectory points were recorded with the binocular 3D trajectory-tracking device and fitted to arcs or lines, respectively, with the Imageware software. To analyze the accuracy of the trajectory-tracking device, the mean distances between the trajectory points and the fitted arcs or lines were measured, and the mean differences between the lengths of the fitted arcs’ radii and a set value (5.00 mm) were then calculated. A one-way analysis of variance was used to evaluate the spatial consistency of the recording accuracy in three different planes. Results The mean distances between the trajectory points and fitted arcs or lines were 0.076 ± 0.033 mm or 0.089 ± 0.014 mm. The mean difference between the lengths of the fitted arcs’ radii and the set value (5.00 mm) was 0.025 ± 0.071 mm. A one-way ANOVA showed that the recording errors in three different planes were not statistically significant. Conclusion These results suggest that the device can record certain movements at 5.00 mm/s, which is similar to the speed of functional mandibular movements. In addition, the recordings had an error of <0.1 mm and good spatial consistency. Thus, the device meets some of the requirements necessary for

  14. Quantitative Evaluation of 3D Mouse Behaviors and Motor Function in the Open-Field after Spinal Cord Injury Using Markerless Motion Tracking

    PubMed Central

    Sheets, Alison L.; Lai, Po-Lun; Fisher, Lesley C.; Basso, D. Michele

    2013-01-01

    Thousands of scientists strive to identify cellular mechanisms that could lead to breakthroughs in developing ameliorative treatments for debilitating neural and muscular conditions such as spinal cord injury (SCI). Most studies use rodent models to test hypotheses, and these are all limited by the methods available to evaluate animal motor function. This study’s goal was to develop a behavioral and locomotor assessment system in a murine model of SCI that enables quantitative kinematic measurements to be made automatically in the open-field by applying markerless motion tracking approaches. Three-dimensional movements of eight naïve, five mild, five moderate, and four severe SCI mice were recorded using 10 cameras (100 Hz). Background subtraction was used in each video frame to identify the animal’s silhouette, and the 3D shape at each time was reconstructed using shape-from-silhouette. The reconstructed volume was divided into front and back halves using k-means clustering. The animal’s front Center of Volume (CoV) height and whole-body CoV speed were calculated and used to automatically classify animal behaviors including directed locomotion, exploratory locomotion, meandering, standing, and rearing. More detailed analyses of CoV height, speed, and lateral deviation during directed locomotion revealed behavioral differences and functional impairments in animals with mild, moderate, and severe SCI when compared with naïve animals. Naïve animals displayed the widest variety of behaviors including rearing and crossing the center of the open-field, the fastest speeds, and tallest rear CoV heights. SCI reduced the range of behaviors, and decreased speed (r = .70 p<.005) and rear CoV height (r = .65 p<.01) were significantly correlated with greater lesion size. This markerless tracking approach is a first step toward fundamentally changing how rodent movement studies are conducted. By providing scientists with sensitive, quantitative measurement

  15. Self consistent particles dynamics in/out of the cusp region by using back tracking technics; a global 3D PIC simulation approach

    NASA Astrophysics Data System (ADS)

    Esmaeili, A.; Cai, D.; Lembege, B.; Nishikawa, K.

    2013-12-01

    Large scale three dimensionbal PIC (particle in cell) simulations are presently used in order to analyze the global solar wind-terrestrial magnetosphere intreraction within a full self-consistent approach, and where both electrons and ions are treated as an assembly of individual particles. This 3D kinetic approach allows us to analyze in particular the dynamics and the fine structures of the cusp region when including self consistently not only its whole neighborhood (in the terrestrial magnetosphere) but also the impact of the solar wind and the interplanetary field (IMF) features. Herein, we focuss our attention on the cusp region and in particular on the acceleration and precipitation of particles (both ions and electrons) within the cusp. In present simulations, the IMF is chosen northward, (i.e. where the X -reconnection region is just above the cusp, in the meridian plane). Back-trackings of self-consistent particles are analyzed in details in order to determine (i) which particles (just above the cusp) are precipitated deeply into the cusp, (ii) which populations are injected from the cusp into the nearby tail, (iii) where the particles suffer the largest energisation along their self-consistent trajectories, (iv) where these populations accumulate, and (v) where the most energetic particles are originally coming from. This approach allows to make a traking of particles within the scenario "solar wind-magnetosheath- cusp -nearbytail"; moreover it strongly differs from the standard test particles technics and allows to provide informations not accessible when using full MHD approach. Keywords: Tracing Particles, Particle In Cell (PIC) simulation, double cusp, test particles method, IMF, Solar wind, Magnetosphere

  16. Practical Method of Adaptive Radiotherapy for Prostate Cancer Using Real-Time Electromagnetic Tracking

    SciTech Connect

    Olsen, Jeffrey R.; Noel, Camille E.; Baker, Kenneth; Santanam, Lakshmi; Michalski, Jeff M.; Parikh, Parag J.

    2012-04-01

    Purpose: We have created an automated process using real-time tracking data to evaluate the adequacy of planning target volume (PTV) margins in prostate cancer, allowing a process of adaptive radiotherapy with minimal physician workload. We present an analysis of PTV adequacy and a proposed adaptive process. Methods and Materials: Tracking data were analyzed for 15 patients who underwent step-and-shoot multi-leaf collimation (SMLC) intensity-modulated radiation therapy (IMRT) with uniform 5-mm PTV margins for prostate cancer using the Calypso Registered-Sign Localization System. Additional plans were generated with 0- and 3-mm margins. A custom software application using the planned dose distribution and structure location from computed tomography (CT) simulation was developed to evaluate the dosimetric impact to the target due to motion. The dose delivered to the prostate was calculated for the initial three, five, and 10 fractions, and for the entire treatment. Treatment was accepted as adequate if the minimum delivered prostate dose (D{sub min}) was at least 98% of the planned D{sub min}. Results: For 0-, 3-, and 5-mm PTV margins, adequate treatment was obtained in 3 of 15, 12 of 15, and 15 of 15 patients, and the delivered D{sub min} ranged from 78% to 99%, 96% to 100%, and 99% to 100% of the planned D{sub min}. Changes in D{sub min} did not correlate with magnitude of prostate motion. Treatment adequacy during the first 10 fractions predicted sufficient dose delivery for the entire treatment for all patients and margins. Conclusions: Our adaptive process successfully used real-time tracking data to predict the need for PTV modifications, without the added burden of physician contouring and image analysis. Our methods are applicable to other uses of real-time tracking, including hypofractionated treatment.

  17. Real-time automatic fiducial marker tracking in low contrast cine-MV images

    SciTech Connect

    Lin, Wei-Yang; Lin, Shu-Fang; Yang, Sheng-Chang; Liou, Shu-Cheng; Nath, Ravinder; Liu Wu

    2013-01-15

    Purpose: To develop a real-time automatic method for tracking implanted radiographic markers in low-contrast cine-MV patient images used in image-guided radiation therapy (IGRT). Methods: Intrafraction motion tracking using radiotherapy beam-line MV images have gained some attention recently in IGRT because no additional imaging dose is introduced. However, MV images have much lower contrast than kV images, therefore a robust and automatic algorithm for marker detection in MV images is a prerequisite. Previous marker detection methods are all based on template matching or its derivatives. Template matching needs to match object shape that changes significantly for different implantation and projection angle. While these methods require a large number of templates to cover various situations, they are often forced to use a smaller number of templates to reduce the computation load because their methods all require exhaustive search in the region of interest. The authors solve this problem by synergetic use of modern but well-tested computer vision and artificial intelligence techniques; specifically the authors detect implanted markers utilizing discriminant analysis for initialization and use mean-shift feature space analysis for sequential tracking. This novel approach avoids exhaustive search by exploiting the temporal correlation between consecutive frames and makes it possible to perform more sophisticated detection at the beginning to improve the accuracy, followed by ultrafast sequential tracking after the initialization. The method was evaluated and validated using 1149 cine-MV images from two prostate IGRT patients and compared with manual marker detection results from six researchers. The average of the manual detection results is considered as the ground truth for comparisons. Results: The average root-mean-square errors of our real-time automatic tracking method from the ground truth are 1.9 and 2.1 pixels for the two patients (0.26 mm/pixel). The

  18. Ground-based real-time tracking and traverse recovery of China's first lunar rover

    NASA Astrophysics Data System (ADS)

    Zhou, Huan; Li, Haitao; Xu, Dezhen; Dong, Guangliang

    2016-02-01

    The Chang'E-3 unmanned lunar exploration mission forms an important stage in China's Lunar Exploration Program. China's first lunar rover "Yutu" is a sub-probe of the Chang'E-3 mission. Its main science objectives cover the investigations of the lunar soil and crust structure, explorations of mineral resources, and analyses of matter compositions. Some of these tasks require accurate real-time and continuous position tracking of the rover. To achieve these goals with the scale-limited Chinese observation network, this study proposed a ground-based real-time very long baseline interferometry phase referencing tracking method. We choose the Chang'E-3 lander as the phase reference source, and the accurate location of the rover is updated every 10 s using its radio-image sequences with the help of a priori information. The detailed movements of the Yutu rover have been captured with a sensitivity of several centimeters, and its traverse across the lunar surface during the first few days after its separation from the Chang'E-3 lander has been recovered. Comparisons and analysis show that the position tracking accuracy reaches a 1-m level.

  19. Real-Time Tracking Method for a Magnetic Target Using Total Geomagnetic Field Intensity

    NASA Astrophysics Data System (ADS)

    Fan, Liming; Kang, Chong; Zhang, Xiaojun; Wan, Shengwei

    2016-06-01

    We propose an efficient and effective method for real-time tracking a long-range magnetic target using total geomagnetic field intensity. This method is based on a scalar magnetometer sensor array and an improved particle swarm optimization algorithm. Due to the effect of the geomagnetic field variations, the detection distance range of the method based on the gradient tensor is short. To increase the detection range, the geomagnetic field variations must be eliminated in the method. In this paper, the geomagnetic quasi-gradient calculated from total geomagnetic field intensity in the sensor array is used. We design a sensor array with five magnetometers and use the geomagnetic quasi-gradient to eliminate the geomagnetic field variations. The improved particle swarm optimization (IPSO) algorithm, which minimizes the errors of total geomagnetic field values between measurements and calculations, is applied in this real-time tracking method to track a long-range magnetic target position. The detailed principle of the method and the steps of the IPSO algorithm are described in detail. The method is validated with a numerical simulation. The results show that the average relative error of position is less than 2 % and the execution time is less than 1.5 s.

  20. A new method for real-time co-registration of 3D coronary angiography and intravascular ultrasound or optical coherence tomography.

    PubMed

    Carlier, Stéphane; Didday, Rich; Slots, Tristan; Kayaert, Peter; Sonck, Jeroen; El-Mourad, Mike; Preumont, Nicolas; Schoors, Dany; Van Camp, Guy

    2014-06-01

    We present a new clinically practical method for online co-registration of 3D quantitative coronary angiography (QCA) and intravascular ultrasound (IVUS) or optical coherence tomography (OCT). The workflow is based on two modified commercially available software packages. Reconstruction steps are explained and compared to previously available methods. The feasibility for different clinical scenarios is illustrated. The co-registration appears accurate, robust and induced a minimal delay on the normal cath lab activities. This new method is based on the 3D angiographic reconstruction of the catheter path and does not require operator's identification of landmarks to establish the image synchronization.

  1. Development of a scintillation-fiber detector for real-time particle tracking

    NASA Astrophysics Data System (ADS)

    Lo Presti, D.; Bonanno, D. L.; Longhitano, F.; Pugliatti, C.; Russo, G. V.; Aiello, S.; Cirrone, G. A. P.; Giordano, V.; Leonora, E.; Randazzo, N.; Romano, F.; Russo, M.; Sipala, V.; Stancampiano, C.; Reito, S.

    2013-04-01

    The prototype of the OFFSET (Optical Fiber Folded Scintillating Extended Tracker) tracker is presented. It exploits a novel system for particle tracking, designed to achieve real-time imaging, large detection areas, and a high spatial resolution especially suitable for use in medical diagnostics. The main results regarding the system architecture have been used as a demonstration of the technique which has been patented by the Istituto Nazionale di Fisica Nucleare (INFN). The prototype of this tracker, presented in this paper, has a 20 × 20 cm2 sensitive area, consisting of two crossed ribbons of 500 micron square scintillating fibers. The track position information is extracted in real time in an innovative way, using a reduced number of read-out channels to obtain very large detection area with moderate enough costs and complexity. The performance of the tracker was investigated using beta sources, cosmic rays, and a 62 MeV proton beam.

  2. A Real-Time Optical Tracking and Measurement Processing System for Flying Targets

    PubMed Central

    Guo, Pengyu; Ding, Shaowen; Zhang, Hongliang; Zhang, Xiaohu

    2014-01-01

    Optical tracking and measurement for flying targets is unlike the close range photography under a controllable observation environment, which brings extreme conditions like diverse target changes as a result of high maneuver ability and long cruising range. This paper first designed and realized a distributed image interpretation and measurement processing system to achieve resource centralized management, multisite simultaneous interpretation and adaptive estimation algorithm selection; then proposed a real-time interpretation method which contains automatic foreground detection, online target tracking, multiple features location, and human guidance. An experiment is carried out at performance and efficiency evaluation of the method by semisynthetic video. The system can be used in the field of aerospace tests like target analysis including dynamic parameter, transient states, and optical physics characteristics, with security control. PMID:24987748

  3. A real-time optical tracking and measurement processing system for flying targets.

    PubMed

    Guo, Pengyu; Ding, Shaowen; Zhang, Hongliang; Zhang, Xiaohu

    2014-01-01

    Optical tracking and measurement for flying targets is unlike the close range photography under a controllable observation environment, which brings extreme conditions like diverse target changes as a result of high maneuver ability and long cruising range. This paper first designed and realized a distributed image interpretation and measurement processing system to achieve resource centralized management, multisite simultaneous interpretation and adaptive estimation algorithm selection; then proposed a real-time interpretation method which contains automatic foreground detection, online target tracking, multiple features location, and human guidance. An experiment is carried out at performance and efficiency evaluation of the method by semisynthetic video. The system can be used in the field of aerospace tests like target analysis including dynamic parameter, transient states, and optical physics characteristics, with security control.

  4. Assessment of MLC tracking performance during hypofractionated prostate radiotherapy using real-time dose reconstruction.

    PubMed

    Fast, M F; Kamerling, C P; Ziegenhein, P; Menten, M J; Bedford, J L; Nill, S; Oelfke, U

    2016-02-21

    By adapting to the actual patient anatomy during treatment, tracked multi-leaf collimator (MLC) treatment deliveries offer an opportunity for margin reduction and healthy tissue sparing. This is assumed to be especially relevant for hypofractionated protocols in which intrafractional motion does not easily average out. In order to confidently deliver tracked treatments with potentially reduced margins, it is necessary to monitor not only the patient anatomy but also the actually delivered dose during irradiation. In this study, we present a novel real-time online dose reconstruction tool which calculates actually delivered dose based on pre-calculated dose influence data in less than 10 ms at a rate of 25 Hz. Using this tool we investigate the impact of clinical target volume (CTV) to planning target volume (PTV) margins on CTV coverage and organ-at-risk dose. On our research linear accelerator, a set of four different CTV-to-PTV margins were tested for three patient cases subject to four different motion conditions. Based on this data, we can conclude that tracking eliminates dose cold spots which can occur in the CTV during conventional deliveries even for the smallest CTV-to-PTV margin of 1 mm. Changes of organ-at-risk dose do occur frequently during MLC tracking and are not negligible in some cases. Intrafractional dose reconstruction is expected to become an important element in any attempt of re-planning the treatment plan during the delivery based on the observed anatomy of the day.

  5. Assessment of MLC tracking performance during hypofractionated prostate radiotherapy using real-time dose reconstruction

    NASA Astrophysics Data System (ADS)

    Fast, M. F.; Kamerling, C. P.; Ziegenhein, P.; Menten, M. J.; Bedford, J. L.; Nill, S.; Oelfke, U.

    2016-02-01

    By adapting to the actual patient anatomy during treatment, tracked multi-leaf collimator (MLC) treatment deliveries offer an opportunity for margin reduction and healthy tissue sparing. This is assumed to be especially relevant for hypofractionated protocols in which intrafractional motion does not easily average out. In order to confidently deliver tracked treatments with potentially reduced margins, it is necessary to monitor not only the patient anatomy but also the actually delivered dose during irradiation. In this study, we present a novel real-time online dose reconstruction tool which calculates actually delivered dose based on pre-calculated dose influence data in less than 10 ms at a rate of 25 Hz. Using this tool we investigate the impact of clinical target volume (CTV) to planning target volume (PTV) margins on CTV coverage and organ-at-risk dose. On our research linear accelerator, a set of four different CTV-to-PTV margins were tested for three patient cases subject to four different motion conditions. Based on this data, we can conclude that tracking eliminates dose cold spots which can occur in the CTV during conventional deliveries even for the smallest CTV-to-PTV margin of 1 mm. Changes of organ-at-risk dose do occur frequently during MLC tracking and are not negligible in some cases. Intrafractional dose reconstruction is expected to become an important element in any attempt of re-planning the treatment plan during the delivery based on the observed anatomy of the day.

  6. Effective real-time vehicle tracking using discriminative sparse coding on local patches

    NASA Astrophysics Data System (ADS)

    Chen, XiangJun; Ye, Feiyue; Ruan, Yaduan; Chen, Qimei

    2016-01-01

    A visual tracking framework that provides an object detector and tracker, which focuses on effective and efficient visual tracking in surveillance of real-world intelligent transport system applications, is proposed. The framework casts the tracking task as problems of object detection, feature representation, and classification, which is different from appearance model-matching approaches. Through a feature representation of discriminative sparse coding on local patches called DSCLP, which trains a dictionary on local clustered patches sampled from both positive and negative datasets, the discriminative power and robustness has been improved remarkably, which makes our method more robust to a complex realistic setting with all kinds of degraded image quality. Moreover, by catching objects through one-time background subtraction, along with offline dictionary training, computation time is dramatically reduced, which enables our framework to achieve real-time tracking performance even in a high-definition sequence with heavy traffic. Experiment results show that our work outperforms some state-of-the-art methods in terms of speed, accuracy, and robustness and exhibits increased robustness in a complex real-world scenario with degraded image quality caused by vehicle occlusion, image blur of rain or fog, and change in viewpoint or scale.

  7. Real-Time Motion Capture Toolbox (RTMocap): an open-source code for recording 3-D motion kinematics to study action-effect anticipations during motor and social interactions.

    PubMed

    Lewkowicz, Daniel; Delevoye-Turrell, Yvonne

    2016-03-01

    We present here a toolbox for the real-time motion capture of biological movements that runs in the cross-platform MATLAB environment (The MathWorks, Inc., Natick, MA). It provides instantaneous processing of the 3-D movement coordinates of up to 20 markers at a single instant. Available functions include (1) the setting of reference positions, areas, and trajectories of interest; (2) recording of the 3-D coordinates for each marker over the trial duration; and (3) the detection of events to use as triggers for external reinforcers (e.g., lights, sounds, or odors). Through fast online communication between the hardware controller and RTMocap, automatic trial selection is possible by means of either a preset or an adaptive criterion. Rapid preprocessing of signals is also provided, which includes artifact rejection, filtering, spline interpolation, and averaging. A key example is detailed, and three typical variations are developed (1) to provide a clear understanding of the importance of real-time control for 3-D motion in cognitive sciences and (2) to present users with simple lines of code that can be used as starting points for customizing experiments using the simple MATLAB syntax. RTMocap is freely available (http://sites.google.com/site/RTMocap/) under the GNU public license for noncommercial use and open-source development, together with sample data and extensive documentation.

  8. Real-Time Motion Capture Toolbox (RTMocap): an open-source code for recording 3-D motion kinematics to study action-effect anticipations during motor and social interactions.

    PubMed

    Lewkowicz, Daniel; Delevoye-Turrell, Yvonne

    2016-03-01

    We present here a toolbox for the real-time motion capture of biological movements that runs in the cross-platform MATLAB environment (The MathWorks, Inc., Natick, MA). It provides instantaneous processing of the 3-D movement coordinates of up to 20 markers at a single instant. Available functions include (1) the setting of reference positions, areas, and trajectories of interest; (2) recording of the 3-D coordinates for each marker over the trial duration; and (3) the detection of events to use as triggers for external reinforcers (e.g., lights, sounds, or odors). Through fast online communication between the hardware controller and RTMocap, automatic trial selection is possible by means of either a preset or an adaptive criterion. Rapid preprocessing of signals is also provided, which includes artifact rejection, filtering, spline interpolation, and averaging. A key example is detailed, and three typical variations are developed (1) to provide a clear understanding of the importance of real-time control for 3-D motion in cognitive sciences and (2) to present users with simple lines of code that can be used as starting points for customizing experiments using the simple MATLAB syntax. RTMocap is freely available (http://sites.google.com/site/RTMocap/) under the GNU public license for noncommercial use and open-source development, together with sample data and extensive documentation. PMID:25805426

  9. [3-D ultrasound in gastroenterology].

    PubMed

    Zoller, W G; Liess, H

    1994-06-01

    Three-dimensional (3D) sonography represents a development of noninvasive diagnostic imaging by real-time two-dimensional (2D) sonography. The use of transparent rotating scans, comparable to a block of glass, generates a 3D effect. The objective of the present study was to optimate 3D presentation of abdominal findings. Additional investigations were made with a new volumetric program to determine the volume of selected findings of the liver. The results were compared with the estimated volumes of 2D sonography and 2D computer tomography (CT). For the processing of 3D images, typical parameter constellations were found for the different findings, which facilitated processing of 3D images. In more than 75% of the cases examined we found an optimal 3D presentation of sonographic findings with respect to the evaluation criteria developed by us for the 3D imaging of processed data. Great differences were found for the estimated volumes of the findings of the liver concerning the three different techniques applied. 3D ultrasound represents a valuable method to judge morphological appearance in abdominal findings. The possibility of volumetric measurements enlarges its potential diagnostic significance. Further clinical investigations are necessary to find out if definite differentiation between benign and malign findings is possible.

  10. A full-field and real-time 3D surface imaging augmented DOT system for in-vivo small animal studies

    NASA Astrophysics Data System (ADS)

    Yi, Steven X.; Yang, Bingcheng; Yin, Gongjie

    2010-02-01

    A crucial parameter in Diffuse Optical Tomography (DOT) is the construction of an accurate forward model, which greatly depends on tissue boundary. Since photon propagation is a three-dimensional volumetric problem, extraction and subsequent modeling of three-dimensional boundaries is essential. Original experimental demonstration of the feasibility of DOT to reconstruct absorbers, scatterers and fluorochromes used phantoms or tissues confined appropriately to conform to easily modeled geometries such as a slab or a cylinder. In later years several methods have been developed to model photon propagation through diffuse media with complex boundaries using numerical solutions of the diffusion or transport equation (finite elements or differences) or more recently analytical methods based on the tangent-plane method . While optical examinations performed simultaneously with anatomical imaging modalities such as MRI provide well-defined boundaries, very limited progress has been done so far in extracting full-field (360 degree) boundaries for in-vivo three-dimensional DOT stand-alone imaging. In this paper, we present a desktop multi-spectrum in-vivo 3D DOT system for small animal imaging. This system is augmented with Technest's full-field 3D cameras. The built system has the capability of acquiring 3D object surface profiles in real time and registering 3D boundary with diffuse tomography. Extensive experiments are performed on phantoms and small animals by our collaborators at the Center for Molecular Imaging Research (CMIR) at Massachusetts General Hospital (MGH) and Harvard Medical School. Data has shown successful reconstructed DOT data with improved accuracy.

  11. Real-time, aptamer-based tracking of circulating therapeutic agents in living animals

    PubMed Central

    Ferguson, B. Scott; Hoggarth, David A.; Maliniak, Dan; Ploense, Kyle; White, Ryan J.; Woodward, Nick; Hsieh, Kuangwen; Bonham, Andrew J.; Eisenstein, Michael; Kippin, Tod; Plaxco, Kevin W.; Soh, H. Tom

    2014-01-01

    A sensor capable of continuously measuring specific molecules in the bloodstream in vivo would give clinicians a valuable window into patients’ health and their response to therapeutics. Such technology would enable truly personalized medicine, wherein therapeutic agents could be tailored with optimal doses for each patient to maximize efficacy and minimize side effects. Unfortunately, continuous, real-time measurement is currently only possible for a handful of targets, such as glucose, lactose, and oxygen, and the few existing platforms for continuous measurement are not generalizable for the monitoring of other analytes, such as small-molecule therapeutics. In response, we have developed a real-time biosensor capable of continuously tracking a wide range of circulating drugs in living subjects. Our microfluidic electrochemical detector for in vivo continuous monitoring (MEDIC) requires no exogenous reagents, operates at room temperature, and can be reconfigured to measure different target molecules by exchanging probes in a modular manner. To demonstrate the system's versatility, we measured therapeutic in vivo concentrations of doxorubicin (a chemotherapeutic) and kanamycin (an antibiotic) in live rats and in human whole blood for several hours with high sensitivity and specificity at sub-minute temporal resolution. Importantly, we show that MEDIC can also obtain pharmacokineticparameters for individual animals in real-time. Accordingly, just as continuous glucose monitoring technology is currently revolutionizing diabetes care, we believe MEDIC could be a powerful enabler for personalized medicine by ensuring delivery of optimal drug doses for individual patients based on direct detection of physiological parameters. PMID:24285484

  12. Real-time tracking using stereo and motion: Visual perception for space robotics

    NASA Technical Reports Server (NTRS)

    Nishihara, H. Keith; Thomas, Hans; Huber, Eric; Reid, C. Ann

    1994-01-01

    The state-of-the-art in computing technology is rapidly attaining the performance necessary to implement many early vision algorithms at real-time rates. This new capability is helping to accelerate progress in vision research by improving our ability to evaluate the performance of algorithms in dynamic environments. In particular, we are becoming much more aware of the relative stability of various visual measurements in the presence of camera motion and system noise. This new processing speed is also allowing us to raise our sights toward accomplishing much higher-level processing tasks, such as figure-ground separation and active object tracking, in real-time. This paper describes a methodology for using early visual measurements to accomplish higher-level tasks; it then presents an overview of the high-speed accelerators developed at Teleos to support early visual measurements. The final section describes the successful deployment of a real-time vision system to provide visual perception for the Extravehicular Activity Helper/Retriever robotic system in tests aboard NASA's KC135 reduced gravity aircraft.

  13. Digital ruler: real-time object tracking and dimension measurement using stereo cameras

    NASA Astrophysics Data System (ADS)

    Nash, James; Atanassov, Kalin; Goma, Sergio; Ramachandra, Vikas; Siddiqui, Hasib

    2013-02-01

    Stereo metrology involves obtaining spatial estimates of an object's length or perimeter using the disparity between boundary points. True 3D scene information is required to extract length measurements of an object's projection onto the 2D image plane. In stereo vision the disparity measurement is highly sensitive to object distance, baseline distance, calibration errors, and relative movement of the left and right demarcation points between successive frames. Therefore a tracking filter is necessary to reduce position error and improve the accuracy of the length measurement to a useful level. A Cartesian coordinate extended Kalman (EKF) filter is designed based on the canonical equations of stereo vision. This filter represents a simple reference design that has not seen much exposure in the literature. A second filter formulated in a modified sensor-disparity (DS) coordinate system is also presented and shown to exhibit lower errors during a simulated experiment.

  14. Feathered Detectives: Real-Time GPS Tracking of Scavenging Gulls Pinpoints Illegal Waste Dumping.

    PubMed

    Navarro, Joan; Grémillet, David; Afán, Isabel; Ramírez, Francisco; Bouten, Willem; Forero, Manuela G

    2016-01-01

    Urban waste impacts human and environmental health, and waste management has become one of the major challenges of humanity. Concurrently with new directives due to manage this human by-product, illegal dumping has become one of the most lucrative activities of organized crime. Beyond economic fraud, illegal waste disposal strongly enhances uncontrolled dissemination of human pathogens, pollutants and invasive species. Here, we demonstrate the potential of novel real-time GPS tracking of scavenging species to detect environmental crime. Specifically, we were able to detect illegal activities at an officially closed dump, which was visited recurrently by 5 of 19 GPS-tracked yellow-legged gulls (Larus michahellis). In comparison with conventional land-based surveys, GPS tracking allows a much wider and cost-efficient spatiotemporal coverage, even of the most hazardous sites, while GPS data accessibility through the internet enables rapid intervention. Our results suggest that multi-species guilds of feathered detectives equipped with GPS and cameras could help fight illegal dumping at continental scales. We encourage further experimental studies, to infer waste detection thresholds in gulls and other scavenging species exploiting human waste dumps. PMID:27448048

  15. Feathered Detectives: Real-Time GPS Tracking of Scavenging Gulls Pinpoints Illegal Waste Dumping.

    PubMed

    Navarro, Joan; Grémillet, David; Afán, Isabel; Ramírez, Francisco; Bouten, Willem; Forero, Manuela G

    2016-01-01

    Urban waste impacts human and environmental health, and waste management has become one of the major challenges of humanity. Concurrently with new directives due to manage this human by-product, illegal dumping has become one of the most lucrative activities of organized crime. Beyond economic fraud, illegal waste disposal strongly enhances uncontrolled dissemination of human pathogens, pollutants and invasive species. Here, we demonstrate the potential of novel real-time GPS tracking of scavenging species to detect environmental crime. Specifically, we were able to detect illegal activities at an officially closed dump, which was visited recurrently by 5 of 19 GPS-tracked yellow-legged gulls (Larus michahellis). In comparison with conventional land-based surveys, GPS tracking allows a much wider and cost-efficient spatiotemporal cove