图像配准是图像处理研究领域中的一个典型问题和技术难点,其目的在于比较或融合针对同一对象在不同条件下获取的图像,例如图像会来自不同的采集设备,取自不同的时间,不同的拍摄视角等等,有时也需要用到针对不同对象的图像配准问题。具体地说,对于一组图像数据集中的两幅图像,通过寻找一种空间变换把一幅图像映射到另一幅图像,使得两图中对应于空间同一位置的点一一对应起来,从而达到信息融合的目的。 该技术在计算机视觉、医学图像处理以及材料力学等领域都具有广泛的应用。根据具体应用的不同,有的侧重于通过变换结果融合两幅图像,有的侧重于研究变换本身以获得对象的一些力学属性。

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图像配准是医学影像处理与智能分析领域中的重要环节和关键技术.传统的图像配准算法由于复杂性较高、计算代价较大等问题,无法实现配准的实时性要求.随着深度学习方法的发展,基于学习的图像配准方法也取得显著效果.文中系统总结基于深度学习的医学图像配准方法.具体地,将方法归为3类:监督学习,无监督学习和对偶监督/弱监督学习.在此基础上,分析和讨论各自优缺点.进一步,着重讨论近年来提出的正则化方法,特别是基于微分同胚表示的正则和基于多尺度的正则.最后,根据当前医学图像配准方法的发展趋势,展望基于深度学习的医学图像配准方法.

http://manu46.magtech.com.cn/Jweb_prai/CN/abstract/abstract12159.shtml

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This paper proposes SemCal: an automatic, targetless, extrinsic calibration algorithm for a LiDAR and camera system using semantic information. We leverage a neural information estimator to estimate the mutual information (MI) of semantic information extracted from each sensor measurement, facilitating semantic-level data association. By using a matrix exponential formulation of the $se(3)$ transformation and a kernel-based sampling method to sample from camera measurement based on LiDAR projected points, we can formulate the LiDAR-Camera calibration problem as a novel differentiable objective function that supports gradient-based optimization methods. We also introduce a semantic-based initial calibration method using 2D MI-based image registration and Perspective-n-Point (PnP) solver. To evaluate performance, we demonstrate the robustness of our method and quantitatively analyze the accuracy using a synthetic dataset. We also evaluate our algorithm qualitatively on an urban dataset (KITTI360) and an off-road dataset (RELLIS-3D) benchmark datasets using both hand-annotated ground truth labels as well as labels predicted by the state-of-the-art deep learning models, showing improvement over recent comparable calibration approaches.

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This paper proposes SemCal: an automatic, targetless, extrinsic calibration algorithm for a LiDAR and camera system using semantic information. We leverage a neural information estimator to estimate the mutual information (MI) of semantic information extracted from each sensor measurement, facilitating semantic-level data association. By using a matrix exponential formulation of the $se(3)$ transformation and a kernel-based sampling method to sample from camera measurement based on LiDAR projected points, we can formulate the LiDAR-Camera calibration problem as a novel differentiable objective function that supports gradient-based optimization methods. We also introduce a semantic-based initial calibration method using 2D MI-based image registration and Perspective-n-Point (PnP) solver. To evaluate performance, we demonstrate the robustness of our method and quantitatively analyze the accuracy using a synthetic dataset. We also evaluate our algorithm qualitatively on an urban dataset (KITTI360) and an off-road dataset (RELLIS-3D) benchmark datasets using both hand-annotated ground truth labels as well as labels predicted by the state-of-the-art deep learning models, showing improvement over recent comparable calibration approaches.

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