Active Shape Models: Their Training and Applications Cootes, Taylor, et al. Robert Tamburo July 6,...

Active Shape Models:Their Training and Applications

Cootes, Taylor, et al.

Robert Tamburo

July 6, 2000

Prelim Presentation

Other Deformable Models

“Hand Crafted” Models Articulated Models Active Contour Models – “Snakes” Fourier Series Shape Models Statistical Models of Shape Finite Element Models

Motivation – Prior Models

Lack of practicality Lack of specificity Lack of generality Nonspecific class deformation Local shape constraints

Goals of Active Shape Model (ASM)

Automated Searches images for represented structures Classify shapes Specific to ranges of variation Robust (noisy, cluttered, and occluded image) Deform to characteristics of the class represented “Learn” specific patterns of variability from a training

set

Goals of ASM (cont’d.)

Utilize iterative refinement algorithm

Apply global shape constraints

Uncorrelated shape parameters

Better test for dependence?

Point Distribution Model (PDM)

Captures variability of training set by calculating mean shape and main modes of variation

Each mode changes the shape by moving landmarks along straight lines through mean positions

New shapes created by modifying mean shape with weighted sums of modes

PDM Construction

Manual Labeling Alignment

StatisticalAnalysis

Point Distribution Model

Labeling the Training Set

Represent example shapes by points Point correspondence between shapes

Aligning the Training Set

xi is a vector of n points describing the the ith shape in the set:

xi=(xi0, yi0, xi1, yi1,……, xik, yik,……,xin-1, yin-1)T

Minimize:

Ej = (xi – M(sj, j)[xk] – tj)TW(xi – M(sj, j)[xk] – tj)

Weight matrix used:

11

0

−−

=

⎟⎠

⎞⎜⎝

⎛= ∑

n

lRk kl

Vw

Alignment Algorithm

Align each shape to first shape by rotation, scaling, and translation

Repeat– Calculate the mean shape– Normalize the orientation, scale, and origin of the current

mean to suitable defaults– Realign every shape with the current mean

Until the process converges

Mean Normalization

Ensures 4N constraints on 4N variables Equations have unique solutions Guarantees convergence Independent of initial shape aligned to Iterative method vs. direct solution

Aligned Shape Statistics

PDM models “cloud” variation in 2n space

Assumptions:– Points lie within “Allowable Shape

Domain”– Cloud is hyper-ellipsoid (2n-D)

Statistics (cont’d.)

Center of hyper-ellipsoid is mean shape

Axes are found using PCA– Each axis yields a mode of variation– Defined as , the eigenvectors of covariance matrix

, such that

,where is the kth eigenvalue of S

∑=

=N

iN 1

1ixx

kp

∑=

=N

i

Tidd

N 1

1xxS i

kkk pSp λ= kλ

Approximation of 2n-D Ellipsoid

Most variation described by t-modes Choose t such that a small number of modes

accounts for most of the total variance

∑=

=n

kkT

2

1

λλ If total variance =

∑=

=t

iiA

1

λλ

TA λλ ≅

and the

approximated variance = , then

Generating New Example Shapes

Shapes of training set approximated by: , where is the matrix of the

first t eigenvectors and is a vector of weights

Vary bk within suitable limits for similar shapes

Pbxx += )( t21 ...pppP =T

tbbb )...( 21=b

kkk b λλ 33 ≤≤−

∑=

≤=t

k k

km D

bD

1

2max

22

λ

Application of PDMs

Applied to:– Resistors– “Heart”– Hand– “Worm” model

Resistor Example

32 points

3 parameters capture variability

Resistor Example (cont.’d)

Lacks structure

Independence of parameters b1 and b2

Will generate “legal” shapes

Resistor Example (cont.’d)

Resistor Example (cont.’d)

Resistor Example (cont.’d)

“Heart” Example

66 examples 96 points

– Left ventricle– Right ventricle– Left atrium

Traced by cardiologists

“Heart” Example (cont.’d)

“Heart” Example (cont.’d)

Varies Width Varies Septum

Vary LV Vary Atrium

Hand Example

18 shapes

72 points

12 landmarks at fingertips and joints

Hand Example (cont.’d)

96% of variability due to first 6 modes

First 3 modes

Vary finger movements

“Worm” Example

84 shapes

Fixed width

Varying curvature and length

“Worm” Example (cont.’d)

Represented by 12 point

Breakdown of PDM

“Worm” Example (cont.’d)

Curved cloud

Mean shape:– Varying width– Improper length

“Worm” Example (cont.’d)

Linearly independent

Nonlinear dependence

“Worm” Example

Effects of varying first 3 parameters:

1st mode is linear approximation to curvature

2nd mode is correction to poor linear approximation

3rd approximates 2nd order bending

PDM Improvements

Automated labeling 3D PDMs Nonlinear PDM

– Polynomial Regression PDMs Multi-layered PDMs Hybrid PDMs Chord Length Distribution Model Approximation problem

PDMs to Search an Image - ASMs

Estimate initial position of model Displace points of model to “better fit” data Adjust model parameters Apply global constraints to keep model “legal”

Adjusting Model Points

Along normal to model boundary proportional to edge strength

Vector of adjustments:T

nn dYdXdYdXd ),,...,,( 1100 −−=X

Calculating Changes in Parameters

Initial position: Move X as close to new position (X + dX) Calculate dx to move X to dX

Update parameters to better fit image Not usually consistent with model constraints Residual adjustments made by deformation

csM XxX += ])[,(

)()(])[,(),1(( xXXXxx dddddssM cc +=++++

where,]))[,(,))1((( 1 xyx −−+= − ddssMd cddsM XXxy −+= })[,(

Model Parameter Space

Transforms dx to parameter space giving allowable changes in parameters, db

Recall: – Find db such that – - yields

Update model parameters within limits

Pbxx +=)( bbPxxx dd ++≈+

Pbx + xbbPx dd −++ )(

xPb dd T=

Applications

Medical Industrial Surveillance Biometrics

ASM Application to Resistor

64 points (32 type III) Adjustments made

finding strongest edge Profile 20 pixels long 5 degrees of freedom 30, 60, 90, 120 iterations

ASM Application to “Heart”

Echocardiogram 96 points 12 degrees of freedom Adjustments made

finding strongest edge Profile 40 pixels long Infers missing data (top

of ventricle)

ASM Application to Hand

72 points Clutter and occlusions 8 degrees of freedom Adjustments made

finding strongest edge Profile 35 pixels long 100, 200, 350 iterations

Conclusions

Sensitivity to orientation of object in image to model Sensitivity to large changes in scale? Sensitive to outliers (reject or accept) Sensitivity to occlusion Quantitative measures of fit Overtraining Occlusion, cluttering, and noise Dependent on boundary strength Real time Extension to 3rd dimension Gray level PDM

MR of Brain2

Improves ASM– Tests several model hypotheses– Outlier detection adjustment/removal

114 landmark points 8 training images Model structures of brain together Model brain structures

MR Brain (cont.’d)

MR Brain (cont.’d)

Separate Together

MR Brain (cont.’d)

References

1 – Cootes, Taylor, et al., “Active Shape Models: Their Training and Application.” Computer Vision and Image Understanding, V16, N1, January, pp. 38-59, 1995

2 - Duta and Sonka, “Segmentation and Interpretation of MR Brain Images: An Improved Active Shape Model.” IEEE Transactions on Medical Imaging, V17, N6, December 1998

“Hand Crafted” Models

Built from subcomponents (circles, lines, arcs)

Some degree of freedom May change scale, orientation, size, and

position Lacks generality Detailed knowledge of expected shapes Application specific

back

Articulated Models

Built from rigid components connected by sliding or rotating joints

Uses generalized Hough transform Limited to a restricted class of variable shapes

back

Active Contours – “Snakes”

Energy minimizing spline curves Attracted toward lines and edges Constraints on stiffness and elastic parameters ensure

smoothness and limit degree to which they can bend Fit using image evidence and applying force to the

model and minimize energy function Uses only local information Vulnerable to initial position and noise

back

Spline Curves

Splines are piecewise polynomial functions of order d

Sum of basis functions with applied weights

Spans joined by knots∑

−

=

=1

0

)()(BN

nnn sBxsx

back

Fourier Series Shape Models

Models formed from Fourier series

Fit by minimizing energy function (parameters) Contains no prior information Not suitable for describing general shapes:

– Finite number of terms approximates a square corner– Relationship between variations in shape and parameters is not

straightforward

∑ ++=n

nn naxx )sin(0 φθ

∑ ++=n

nn nbyy )sin(0 φθ

back

Statistical Models of Shape

Register “landmark” points in N-space to estimate:– Mean shape– Covariance between coordinates

Depends on point sequence

back

Finite Element Models

Model variable objects as physical entities with internal stiffness and elasticity

Build shapes from different modes of vibration Easy to construct compact parameterized

shapes

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