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\
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= =
y x
u
t
j j
j div
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8.1 Physical background
Physical background of diffusion (3)
diffusion equation
Application in many physical transport process, e.g. for
heat transfer it is called heat-transfer-equation
Image processing:
Identify the concentration with the grey value at a certain
location
( ) u u
t
= D div
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8.1 Physical background
Physical background of diffusion (4)
Diffusion tensor:
Constant over the whole image: homogeneous (or
linear) diffusion
Often it is a function of the structure of the image itself:
nonlinear diffusion
Isotropic: j and the concentration gradient are parallel
Anisotropic: otherwise
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8.2 Linear diffusion
Linear isotropic diffusion
Mostly used for smoothing images
The image I itself is the initial starting for the diffusion
process
We use D = 1 since D only influences the speed of the
diffusion
) , ( ) 0 , , (
div
y x I y x u
u u
t
=
=
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8.2 Linear diffusion
Linear isotropic diffusion (2)
t=4 t=8 t=12
t=20 t=16 t=24 t=40
t=0
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8.2 Linear diffusion
Linear isotropic diffusion (3)
Advantages:
Continuously simplifying of the image
Reducing the noise in the image
Disadvantages:
Linear isotropic diffusion does not only reduce noise
It also blues important features like edges
No a-priori knowledge is taken into account
Result: it makes edges harder to identify
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8.3 Nonlinear diffusion
Nonlinear diffusion
Improvement:
Preservation of the edges, only smooting between edges
Need to assign a position specific diffusivity
Adapting the diffusivity g to the gradient in the actual
image u(x,y,t)
We obtain the equation
( ) ( ) u u u =
2
div g
t
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8.3 Nonlinear diffusion
0 u for 1
u for 0
g
g
Nonlinear diffusion (2)
Conditions for g
Perona & Malik:
( )
2
2
2
1
1
u
u g
+
=
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8.3 Nonlinear diffusion
Nonlinear diffusion (3)
t=4 t=8 t=12
t=20 t=16 t=24 t=40
t=0
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8.3 Nonlinear diffusion
Nonlinear diffusion (4)
t=4 t=20 t=40
t=40 t=20 t=4
Linear
diffusion
Nonlinear
diffusion
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8.3 Nonlinear diffusion
Nonlinear diffusion (5)
Advantages
Steering of the diffusion at each point of the image is
possible
So diffusion can be reduced on edges
The result: edge-preserving image smoothing
But: the smoothing of the edges cannot be completely
circumvented
Next: anisotropic approaches
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8.4 Nonlinear anisotropic diffusion
Nonlinear anisotropic diffusion
Until now: determination of the amount of diffusion
depending on local features (here: the gradient).
Other features could be possible
Idea: we could define the diffusion tensor so that the
diffusion goes around some structures
Here: diffusion should preserve edges
On edges: no diffusion over edges, but diffusion parallel
to edges should be enabled
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8.4 Nonlinear anisotropic diffusion
Nonlinear anisotropic diffusion (2)
Combination of two features
Non-linearity
-The diffusion at border is much less than the
diffusion elsewhere
Anisotropy
-Diffusion should be perpendicular to edge
-No diffusion over edges
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8.4 Nonlinear anisotropic diffusion
Nonlinear anisotropic diffusion (3)
How to define the diffusion tensor D?
Remember: D is a positive definite symmetric matrix
It has two different eigenvalues and two eigenvectors
Therewith the eigenvectors are perpendicular
The eigenvectors gives the main diffusion direction
The corresponding eigenvalues the strength of diffusion
in the direction of the eigenvectors.
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Definition of the eigenvectors
We want to stop the diffusion over the edge. Therewith we
need as one eigenvector the direction of the gradient.
The second is perpendicular and can be seen as the
tangential vector to the edge
8.4 Nonlinear anisotropic diffusion
[ ]
[ ]
|
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.
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\
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=
x
y
v
v
v
u
u
v
1
1
2
1
Nonlinear anisotropic diffusion (4)
u v
u v
2
1
||
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Definition of the eigenvalues
First: We want to stop the diffusion over the edge
(direction v1). We use the non-linearity and define
Perpendicular to the edge the diffusion should not be
stopped
8.4 Nonlinear anisotropic diffusion
( )
2
1
u g =
Nonlinear anisotropic diffusion (5)
1
2
=
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Now, we obtain D as
Result is an edge-enhancing anisotropic diffusion
8.4 Nonlinear anisotropic diffusion
T
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\
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\
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=
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0
0
| |
| |
2
1
2 1 2 1
v v v v D
+ = + ) , , ( ) , , ( ) , , (
Numerical implementation (3)
) , , ( ) , , ( ) , , (
1 i i i
t y x u
t
t y x u t y x u
+ =
+
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Conditions to the step size:
Dimensions: m, grid width: h
Costs per iteration: very low
Efficiency: low (many iterations needed to get a result)
8.5 Numerical implementations
m
h
2
2
<
Numerical implementation (4)
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Until now we used the so-called explicit scheme
Other notation
with
I: identity matrix
u
i
values of u(x,y,t
i
) stacked in vector form
A
l
(u
k
) matrix version of the diffusion tensors
8.5 Numerical implementations
Notation
( )
i
m
l
i
l
i
u u A I u |
.
|
\
|
+ =
=
+
1
1
\
|
=
=
+
1
1
1
Improvements
( ) ( )
i
m
l
i
l
i
m
m
u u A I u =
=
+
1
1
1
1
i
m
l
i
l
i i
A u u
u u
Semi-implicit scheme
( )
i
m
l
i
l
i
u u A I u
(
=
+
1
1
1
=
m
l
i
l
1
u A I
Additive operator splitting (2)
( ) [ ]
=
m
l
i
m
m
1
1
1
u A I
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For the computation of the inverse matrix we use the
approximation
The now occuring error is
only of second and higher order
This means: the first derivatives have no errors
8.5 Numerical implementations
( )
1 1
1
+ + B A B A
Additive operator splitting (3)
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And we approximate the inverse matrix by
Therewith we obtain the equation
8.5 Numerical implementations
( ) ( ) [ ]
1
1
1
1
1
1
=
=
(
m
l
i
m
l
i
l
m
m
u A I u A I
Additive operator splitting (4)
( ) [ ]
i
m
l
i i
m
m
u u A I u
1
1
1
1
1
=
+
=
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Differences and improvements
A split in the operator for each spatial direction has been
performed
The pixels can be arranged for each operator separately
As result each operator is tri-diagonal matrix and is
inverted separately.
Such 3-diagonal matrices can be inverted in linear time
O(n), not in O(n
2
)
8.5 Numerical implementations
Additive operator splitting (5)
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Features
Stable for <
Cost per iteratorion: low, but a little higher than for the
explicit scheme
Efficiency: high
8.5 Numerical implementations
Additive operator splitting (6)
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8.5 Numerical implementations
high low < AOS
medium high < Semi-
implicit
low very low explicit
efficiency Cost per
iteration
Stability Scheme
Conclusion
m
h
2
2
<