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Proceedings Paper

Adaptive bilateral filter for image denoising and its application to in-vitro Time-of-Flight data
Author(s): Alexander Seitel; Thiago R. dos Santos; Sven Mersmann; Jochen Penne; Anja Groch; Kwong Yung; Ralf Tetzlaff; Hans-Peter Meinzer; Lena Maier-Hein
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Paper Abstract

Image-guided therapy systems generally require registration of pre-operative planning data with the patient's anatomy. One common approach to achieve this is to acquire intra-operative surface data and match it to surfaces extracted from the planning image. Although increasingly popular for surface generation in general, the novel Time-of-Flight (ToF) technology has not yet been applied in this context. This may be attributed to the fact that the ToF range images are subject to considerable noise. The contribution of this study is two-fold. Firstly, we present an adaption of the well-known bilateral filter for denoising ToF range images based on the noise characteristics of the camera. Secondly, we assess the quality of organ surfaces generated from ToF range data with and without bilateral smoothing using corresponding high resolution CT data as ground truth. According to an evaluation on five porcine organs, the root mean squared (RMS) distance between the denoised ToF data points and the reference computed tomography (CT) surfaces ranged from 3.0 mm (lung) to 9.0 mm (kidney). This corresponds to an error-reduction of up to 36% compared to the error of the original ToF surfaces.

Paper Details

Date Published: 1 March 2011
PDF: 8 pages
Proc. SPIE 7964, Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling, 796423 (1 March 2011); doi: 10.1117/12.877535
Show Author Affiliations
Alexander Seitel, German Cancer Research Ctr. (Germany)
Thiago R. dos Santos, German Cancer Research Ctr. (Germany)
Sven Mersmann, German Cancer Research Ctr. (Germany)
Jochen Penne, PMDTechnologies GmbH (Germany)
Anja Groch, German Cancer Research Ctr. (Germany)
Kwong Yung, German Cancer Research Ctr. (Germany)
Ralf Tetzlaff, German Cancer Research Ctr. (Germany)
Hans-Peter Meinzer, German Cancer Research Ctr. (Germany)
Lena Maier-Hein, German Cancer Research Ctr. (Germany)


Published in SPIE Proceedings Vol. 7964:
Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling
Kenneth H. Wong; David R. Holmes, Editor(s)

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