Adaptive bilateral filter for image denoising and its application to in-vitro Time-of-Flight data

Alexander Seitel; Thiago R. dos Santos; Sven Mersmann; Jochen Penne; Anja Groch; Kwong Yung; Ralf Tetzlaff; Hans-Peter Meinzer; Lena Maier-Hein

doi:10.1117/12.877535

1 March 2011 Adaptive bilateral filter for image denoising and its application to in-vitro Time-of-Flight data

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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Proceedings Volume 7964, Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling; 796423 (2011) https://doi.org/10.1117/12.877535
Event: SPIE Medical Imaging, 2011, Lake Buena Vista (Orlando), Florida, United States

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.

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Alexander Seitel, Thiago R. dos Santos, Sven Mersmann, Jochen Penne, Anja Groch, Kwong Yung, Ralf Tetzlaff, Hans-Peter Meinzer, and Lena Maier-Hein "Adaptive bilateral filter for image denoising and its application to in-vitro Time-of-Flight data", Proc. SPIE 7964, Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling, 796423 (1 March 2011); https://doi.org/10.1117/12.877535

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