CN117994297A - Image registration method, device, electronic equipment and storage medium - Google Patents
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Abstract
The invention discloses an image registration method, an image registration device, electronic equipment and a storage medium. Acquiring a first CT image comprising a target area and a target scanning CT image; processing the first CT image and the target scanning CT image respectively by adopting an image pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image; the first image group comprises a first image to be registered corresponding to a plurality of resolution levels, and the second image group comprises a second image to be registered corresponding to a plurality of resolution levels; carrying out registration processing on a first image to be registered and a second image to be registered of the same resolution level to obtain a first registration image and a second registration image; and verifying the first registration image and the second registration image based on the root mean square error index to obtain a target registration image group corresponding to the target region, thereby achieving the effect of accurately registering the first CT image and the target scan CT image.
Description
Technical Field
The present invention relates to the field of image processing technologies, and in particular, to an image registration method, an image registration device, an electronic device, and a storage medium.
Background
With the rapid development of medical imaging technology, CT technology is widely used to acquire three-dimensional tomographic images of a target site. Among them, conventional CT images and targeted CT images are two common application types. Conventional CT is mainly applied to whole-body imaging or target site imaging, and target scan CT is applied to specific lesion imaging of a target site. To facilitate subsequent comparison and analysis of the two images, registration of the two images is required.
Currently, the registration processing of the two images mainly depends on the comparison registration of related personnel, in this case, a great deal of time and cost are required to be consumed, and the manual processing is easily affected by subjective experience, so that the accuracy of the subsequent processing cannot be ensured.
Disclosure of Invention
The invention provides an image registration method, an image registration device, electronic equipment and a storage medium, which achieve the effect of accurately registering a first CT image and a target scan CT image.
According to an aspect of the present invention, there is provided an image registration method, the method comprising:
acquiring a first CT image comprising a target area and a target scan CT image, wherein the first CT image is different from the target scan CT image;
Processing the first CT image and the target scanning CT image respectively by adopting an image pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image; the first image group comprises a first image to be registered corresponding to a plurality of resolution levels, the second image group comprises a second image to be registered corresponding to a plurality of resolution levels, and the resolution levels in the first image group and the second image group are corresponding to each other;
Carrying out registration processing on a first image to be registered and a second image to be registered of the same resolution level to obtain a first registration image and a second registration image;
And verifying the first registration image and the second registration image based on the root mean square error index to obtain a target registration image group corresponding to the target region.
According to another aspect of the present invention, there is provided an image registration apparatus comprising:
The image acquisition module is used for acquiring a first CT image comprising a target area and a target scanning CT image, wherein the first CT image is different from the target scanning CT image;
The image decomposition module is used for respectively processing the first CT image and the target scanning CT image by adopting an image pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image; the first image group comprises a first image to be registered corresponding to a plurality of resolution levels, the second image group comprises a second image to be registered corresponding to a plurality of resolution levels, and the resolution levels in the first image group and the second image group are corresponding to each other;
The image registration module is used for carrying out registration processing on a first image to be registered and a second image to be registered of the same resolution level to obtain a first registration image and a second registration image;
And the image verification module is used for verifying the first registration image and the second registration image based on the root mean square error index to obtain a target registration image group corresponding to the target region.
According to another aspect of the present invention, there is provided an electronic device including:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the image registration method of any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to perform the image registration method of any of the embodiments of the present invention.
According to the technical scheme, a first CT image including a target area and a target scanning CT image are acquired, wherein the first CT image is different from the target scanning CT image; processing the first CT image and the target scanning CT image respectively by adopting an image pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image; the first image group comprises a first image to be registered corresponding to a plurality of resolution levels, the second image group comprises a second image to be registered corresponding to a plurality of resolution levels, and the resolution levels in the first image group and the second image group are corresponding to each other; further, registering the first to-be-registered image and the second to-be-registered image of the same resolution level to obtain a first registered image and a second registered image; the first registration image and the second registration image are verified based on the root mean square error index, a target registration image group corresponding to the target region is obtained, the problem that the registration result lacks objectivity and accuracy due to the fact that image registration is manually carried out in the prior art is solved, the effect of carrying out accurate registration processing on the first CT image and the target scan CT image is achieved, and the accuracy and the high efficiency of image registration are improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an image registration method provided in an embodiment of the present invention;
fig. 2 is a flowchart of an image registration method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an image registration apparatus according to an embodiment of the present invention;
Fig. 4 is a schematic structural diagram of an electronic device implementing an image registration method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of an image registration method provided in an embodiment of the present invention, where the present embodiment is applicable to the case of performing image registration on a target scan CT image and an image different from the target scan CT image, the method may be performed by an image registration apparatus, and the image registration apparatus may be implemented in a form of hardware and/or software, and the image registration apparatus may be configured in an electronic device such as a mobile phone, a computer, or a server. As shown in fig. 1, the method includes:
S110, acquiring a first CT image comprising a target area and a target scanning CT image, wherein the first CT image is different from the target scanning CT image.
In order to facilitate observation and judgment of a designated part, the part can be subjected to image acquisition by using corresponding scanning equipment, so that a plurality of acquired images are obtained; and the specific scanning can be carried out on certain areas on the designated part so as to obtain corresponding images of the certain areas. Then, the designated portion is set as the target portion, and some areas on the designated portion are set as the target areas. Wherein the first CT image may be an image acquired with a corresponding CT image scanning device. If the first CT image is acquired by a conventional CT image scanning apparatus, the first CT image is an image obtained by image-dividing a CT image including a target region. The target scan CT image may be an image obtained by performing targeted scanning on the target region using a target scan CT image scanning apparatus.
Specifically, a portion to be observed and judged may be determined first, and the portion may be regarded as a target portion. Meanwhile, an area requiring further observation is determined in the target site, and the area is taken as a target area. Then, the target portion may be scanned by using a CT image scanning apparatus to obtain a CT image including the target portion, and the CT image may be subjected to image segmentation to obtain a first CT image including the target region. For example, the CT image including the target site may be a CT image including the lung site, and the first CT image may be a CT image including a specific focal region in the lung site. Further, the target area is scanned by using a target scanning CT image scanning device, so that a target scanning CT image is obtained. Obviously, the first CT image is an image that is different from the target scan CT image.
Optionally, acquiring a first CT image including the target region and a target scan CT image includes: scanning the target part based on CT image scanning equipment to obtain a CT image to be segmented containing the target part; scanning a target area based on a target scanning CT image scanning device to obtain a target scanning CT image to be corrected, wherein the target area is an area in a target part; performing segmentation processing on the CT image to be segmented to obtain an area CT image containing the target area, and taking the area CT image as a CT image to be corrected; and respectively carrying out image preprocessing on the CT image to be corrected and the target scanning CT image to be corrected to obtain a first CT image corresponding to the CT image to be corrected and a target scanning CT image corresponding to the target scanning CT image to be corrected, wherein the image preprocessing comprises at least one of denoising and image enhancement.
The CT image to be segmented may be an image obtained by scanning the target portion. The target scan CT image to be corrected can be understood as an image obtained by scanning the target region with the target scan CT image scanning apparatus. The regional CT image may be an image obtained by performing segmentation processing on an image to be segmented, that is, a CT image to be corrected. After the CT image to be corrected and the target scan CT image to be corrected are obtained, image preprocessing is needed for the images. Then, the CT image to be corrected can obtain a first CT image through image preprocessing. The target scanning CT image is obtained by scanning the target scanning CT image to be corrected. In addition, the image preprocessing may include: denoising, image enhancement and the like. Denoising is the process of removing noise from the CT image to be corrected and the target scan CT image to be corrected by using a denoising algorithm. The denoising algorithm can be a median filtering algorithm, a Gaussian filtering algorithm, a bilateral filtering algorithm and the like. The image enhancement is used for emphasizing or stretching certain characteristics in the CT image to be corrected and the target scanning CT image to be corrected so as to facilitate subsequent processing. The image enhancement algorithm may be a histogram equalization, contrast enhancement, sharpening filtering, etc. algorithm.
Specifically, a CT image scanning device is utilized to scan a target part, so as to obtain a CT image to be segmented, which contains the target part. Wherein, during the scanning process, the position information of the target part can be recorded and marked for subsequent processing. Correspondingly, the target area is scanned by using a target scanning CT image scanning device, and a target scanning CT image to be corrected containing the target area is obtained. In the above scanning process, the position information corresponding to the target area may be recorded and marked. Further, identifying a target area in the CT image to be segmented, and carrying out segmentation processing on the CT image to be segmented based on the target area to obtain an area CT image containing the target area, and taking the area CT image as the CT image to be corrected. And performing image preprocessing on the CT image to be corrected, such as noise removal, image contrast enhancement and the like, so as to obtain a first CT image. Correspondingly, the target scanning CT image to be corrected is subjected to image preprocessing, and the target scanning CT image is obtained.
S120, respectively processing the first CT image and the target scanning CT image by adopting an image pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image; the first image group comprises a first image to be registered corresponding to a plurality of resolution levels, the second image group comprises a second image to be registered corresponding to a plurality of resolution levels, and the resolution levels in the first image group and the second image group are corresponding.
The image pyramid method is to sample the first CT image and the target scanning CT image to obtain images with various resolution levels. Alternatively, the image pyramid method may be a gaussian pyramid method. The first image group may be a set of sampled images obtained by sampling the first CT image using an image pyramid method. Then, a first image to be registered of a different resolution level may be included in the first image group. The first image to be registered is the sampling image. The second image group can be a sampling image set obtained by sampling the target scan CT image by using an image pyramid method. Correspondingly, the second image group comprises a plurality of resolution levels of the second images to be registered. The second image to be registered is the sampling image in the second image group. Wherein the resolution levels in the first image set and the second image set are corresponding. Alternatively, the image sizes corresponding to the different resolution levels may be 512×512, 256×256, 128×128, and 64×64, respectively.
Specifically, an image pyramid method is adopted to sample the first CT image, so as to obtain a first image group. The first image group comprises a plurality of first images to be registered corresponding to the resolution levels. Correspondingly, sampling the target scanning CT image by adopting an image pyramid method to obtain a second image group, wherein the second image group comprises a plurality of second images to be registered with the resolution level. It should be noted that the resolution levels in the first image group and the second image group are in one-to-one correspondence.
Optionally, the image pyramid method is a gaussian pyramid method, and the image pyramid method is used to process the first CT image and the target scan CT image respectively, so as to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scan CT image, and the method includes: and respectively carrying out downsampling treatment on the first CT image and the target scanning CT image by adopting a Gaussian pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image.
The method for processing the first CT image is described by taking a gaussian pyramid method as an example, and the gaussian pyramid method is used for performing downsampling processing on the first CT image to obtain images with different resolution levels. Alternatively, the downsampling factor is typically 2 times. The downsampling process may be performed by interpolating or decimating the first CT image. In addition, after the processing, the resolution level of the bottommost layer in the first image group is the first CT image.
Specifically, the first CT image and the target scan CT image are subjected to gaussian blur processing to eliminate noise and detail information in the images, further, the images after gaussian blur processing are subjected to downsampling processing to obtain images with different resolution levels, the images with different resolution levels corresponding to the first CT image are used as a first image group, and the images with different resolution levels corresponding to the target scan CT image are used as a second image group.
And S130, carrying out registration processing on the first image to be registered and the second image to be registered of the same resolution level to obtain a first registration image and a second registration image.
The first registration image may be a registration image corresponding to the first image to be registered, and the second registration image may be a registration image corresponding to the second image to be registered.
Specifically, when the first image to be registered of the first image group and the second image to be registered of the second image group are aligned, the resolution level of the current registration may be determined first, so as to perform registration processing based on the first image to be registered and the second image to be registered of the same resolution level. Based on the above, the first to-be-registered image and the second to-be-registered image of each resolution level are respectively registered until all resolution levels are registered. Then, the first registered image and the second registered image may be obtained based on the registration results corresponding to the respective resolution levels.
Optionally, the registering process is performed on the first to-be-registered image and the second to-be-registered image of the same resolution level, including: initializing transformation parameters corresponding to image registration processing; according to the registration sequence from the low resolution level to the high resolution level, registering the first image to be registered and the second image to be registered of the same resolution level, and processing the transformation parameters by utilizing a target optimization algorithm to obtain optimized transformation parameters of the current resolution level; and inputting the optimized transformation parameters into the next resolution level to perform registration processing on the first image to be registered and the second image to be registered of the next resolution level based on the optimized transformation parameters until the registration processing of all resolution levels is completed.
The transformation parameters may be parameters for describing the position and direction changes of the pixel points in the first image to be registered and the second image to be registered. The transformation parameters may include at least one of rigid body transformation parameters and affine transformation parameters. The rigid-body transformation refers to a transformation that keeps the shape of the target region unchanged in the first image to be registered and the second image to be registered. The rigid transformation parameters may include parameters such as translation vector, rotation angle, and scaling factor, which are not limited in this embodiment. Affine transformation can be understood as transformation that keeps the relative relationship between target areas in an image unchanged. Affine transformation parameters may include transformation matrix, transformed pixel coordinates, and the like, which are not limited by the present embodiment. The target optimization algorithm may be an algorithm that processes the transformation parameters, with which errors in registration may be reduced. Alternatively, the target optimization algorithm may include at least one of a gradient descent method, a least squares method based on feature points. Correspondingly, the transformation parameters are optimized by utilizing a target optimization algorithm, and the obtained transformation parameters are the optimized transformation parameters.
In particular, prior to each resolution level image registration, transformation parameters need to be initialized to guide the subsequent registration based on the transformation parameters. Further, the first image to be registered and the second image to be registered of the same resolution level are registered according to the registration sequence from the low resolution level to the high resolution level. Meanwhile, in the process, the transformation parameters are adjusted by using a target optimization algorithm so as to minimize registration errors. Wherein the registration error may be calculated by a similarity measure. And after the image registration of the current resolution level is completed, transmitting the adjusted transformation parameters to the next higher resolution level as optimized transformation parameters so as to guide the first image to be registered and the second image to be registered corresponding to the next resolution level to be registered until the registration processing of all resolution levels is completed.
It should be noted that, the target optimization algorithm may perform real-time optimization adjustment on the transformation parameters to ensure efficiency of configuration processing.
Optionally, the method further comprises: determining a weight coefficient corresponding to each resolution level based on the resolution level and a registration result corresponding to the resolution level; based on the registration result and the weight coefficient, a first registration image and a second registration image are determined.
Wherein the weight coefficient is a coefficient value determined based on each resolution level and the registration result adjustment. The registration result may be an output result of the current resolution level after the registration of the first to-be-registered image and the second to-be-registered image is completed. That is, the number of resolution levels is consistent with the number of registration results.
Specifically, the weight coefficient to be adjusted corresponding to each resolution level may be predetermined, and further, according to the feature corresponding to the current resolution level and the registration result, the weight coefficient to be adjusted is adjusted, so as to ensure that the contribution of the registration results on different resolution levels to the finally obtained first registration image and second registration image is balanced. And then, processing the registration result of the adjusted weight coefficient and the current resolution level to obtain a first registration image and a second registration image.
In practical application, the pre-matching can be performed according to the position information of the target area corresponding to the conventional CT image and the target scanning CT image, and then the first registration image corresponding to the conventional CT image and the second registration image corresponding to the target scanning CT image are obtained by combining the image registration processing of the resolution level.
And S140, verifying the first registration image and the second registration image based on the root mean square error index to obtain a target registration image group corresponding to the target region.
The root mean square error index is an index for measuring the similarity degree between the first registration image and the second registration image. Specifically, the root mean square error index is used for determining the image registration result by calculating root mean square error values of corresponding pixel points of the first registration image and the second registration image. The set of target registration images may include the first registration image and the second registration image after the verification process.
Specifically, the registered first registration image and second registration image are verified to evaluate the accuracy and precision of the registration result. Then, a root mean square error value between corresponding pixels of the first registration image and the second registration image may be calculated using the root mean square error indicator to determine the target set of registration images based on the root mean square error value. In general, the smaller the root mean square error value, the more accurate the final registration result is explained. Correspondingly, an error value threshold value can be set, and when the root mean square error value exceeds the error value threshold value, further adjustment and registration processing are carried out on the first registration image and the second registration image.
According to the technical scheme, a first CT image including a target area and a target scanning CT image are acquired, wherein the first CT image is different from the target scanning CT image; processing the first CT image and the target scanning CT image respectively by adopting an image pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image; the first image group comprises a first image to be registered corresponding to a plurality of resolution levels, the second image group comprises a second image to be registered corresponding to a plurality of resolution levels, and the resolution levels in the first image group and the second image group are corresponding to each other; further, registering the first to-be-registered image and the second to-be-registered image of the same resolution level to obtain a first registered image and a second registered image; the first registration image and the second registration image are verified based on the root mean square error index, a target registration image group corresponding to the target region is obtained, the problem that the registration result lacks objectivity and accuracy due to the fact that image registration is manually carried out in the prior art is solved, the effect of carrying out accurate registration processing on the first CT image and the target scan CT image is achieved, and the accuracy and the high efficiency of image registration are improved.
Example two
Fig. 2 is a flowchart of an image registration method according to an embodiment of the present invention, which is a preferred embodiment of the above embodiments. The specific implementation manner can be seen in the technical scheme of the embodiment. Wherein, the technical terms identical to or corresponding to the above embodiments are not repeated herein. As shown in fig. 2, the method includes:
S210, acquiring a first CT image comprising a target area and a target scanning CT image, wherein the first CT image is different from the target scanning CT image.
S220, respectively processing the first CT image and the target scanning CT image by adopting an image pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image; the first image group comprises a first image to be registered corresponding to a plurality of resolution levels, the second image group comprises a second image to be registered corresponding to a plurality of resolution levels, and the resolution levels in the first image group and the second image group are corresponding.
And S230, carrying out registration processing on the first image to be registered and the second image to be registered of the same resolution level to obtain a first registration image and a second registration image.
S240, calculating a difference value between the first registration image and the second registration image at each pixel point, and determining a root mean square error value based on the difference value.
The difference value may be understood as the difference between the pixel values of the first registered image and the pixel values of the second registered image.
Specifically, a pixel value difference, i.e., a difference value, between each pixel point of the first registration image and the second registration image is calculated. Further, the square of the difference value is processed and then averaged, and the square root is removed from the average value, so that the root mean square error value corresponding to the difference value can be obtained. Based on this, the root mean square error value can be used to evaluate the accuracy and precision of the registration.
S250, determining a target registration image group based on the root mean square error value and a preset error threshold value.
The preset error threshold value may be a root mean square error standard value set according to actual requirements and standards.
Specifically, judging whether the root mean square error value exceeds a preset error threshold value according to the calculated root mean square error value and the preset error threshold value, and if so, further registering the first registration image and the second registration image is required; accordingly, if the first registration image and the second registration image are not exceeded, the image registration processing is completed, and the first registration image and the second registration image can be used as a target registration image group.
Optionally, determining the target set of registered images based on the root mean square error value and a preset error threshold value includes: if the root mean square error value is larger than the preset error threshold value, adjusting the first registration image and the second registration image until the root mean square error value is lower than the preset error threshold value; and if the root mean square error value is lower than the preset error threshold value, integrating the first registration image and the second registration image to obtain a target registration image group.
Specifically, the accuracy and precision of the registration process is assessed by comparing the root mean square error value with a preset error threshold. If the root mean square error value is greater than the preset error threshold, the first registration image and the second registration image need to be adjusted until the root mean square error value is lower than the preset error threshold. If the root mean square error value is lower than the preset error threshold value, the registration is completed, and the first registration image and the second registration image are integrated, so that a target registration image group is obtained.
According to the technical scheme, a first CT image including a target area and a target scanning CT image are acquired, wherein the first CT image is different from the target scanning CT image; processing the first CT image and the target scanning CT image respectively by adopting an image pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image; the first image group comprises a first image to be registered corresponding to a plurality of resolution levels, the second image group comprises a second image to be registered corresponding to a plurality of resolution levels, and the resolution levels in the first image group and the second image group are corresponding to each other; further, registering the first to-be-registered image and the second to-be-registered image of the same resolution level to obtain a first registered image and a second registered image; and calculating a difference value between the first registration image and the second registration image at each pixel point, determining a root mean square error value based on the difference value, and determining a target registration image group based on the root mean square error value and a preset error threshold. And comparing the root mean square error value with a preset error threshold value, and judging whether the first registration image and the second registration image are registered accurately or not so as to determine whether further registration is needed or not. Based on this, the accuracy and precision of the image registration processing can be ensured. The invention solves the problem that the registration result lacks objectivity and accuracy caused by manually registering images in the prior art, achieves the effect of accurately registering the first CT image and the target scan CT image, and improves the accuracy and the high efficiency of image registration.
Example III
Fig. 3 is a schematic structural diagram of an image registration apparatus according to an embodiment of the present invention. As shown in fig. 3, the apparatus includes: an image acquisition module 310, an image decomposition module 320, an image registration module 330, and an image verification module 340.
An image acquisition module 310 for acquiring a first CT image including a target region and a target scan CT image, wherein the first CT image is different from the target scan CT image; the image decomposition module 320 is configured to process the first CT image and the target scan CT image by using an image pyramid method, so as to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scan CT image; the first image group comprises a first image to be registered corresponding to a plurality of resolution levels, the second image group comprises a second image to be registered corresponding to a plurality of resolution levels, and the resolution levels in the first image group and the second image group are corresponding to each other; the image registration module 330 is configured to perform registration processing on a first to-be-registered image and a second to-be-registered image of the same resolution level, so as to obtain a first registration image and a second registration image; the image verification module 340 is configured to perform verification processing on the first registration image and the second registration image based on the root mean square error index, so as to obtain a target registration image group corresponding to the target region.
According to the technical scheme, a first CT image including a target area and a target scanning CT image are acquired, wherein the first CT image is different from the target scanning CT image; processing the first CT image and the target scanning CT image respectively by adopting an image pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image; the first image group comprises a first image to be registered corresponding to a plurality of resolution levels, the second image group comprises a second image to be registered corresponding to a plurality of resolution levels, and the resolution levels in the first image group and the second image group are corresponding to each other; further, registering the first to-be-registered image and the second to-be-registered image of the same resolution level to obtain a first registered image and a second registered image; the first registration image and the second registration image are verified based on the root mean square error index, a target registration image group corresponding to the target region is obtained, the problem that the registration result lacks objectivity and accuracy due to the fact that image registration is manually carried out in the prior art is solved, the effect of carrying out accurate registration processing on the first CT image and the target scan CT image is achieved, and the accuracy and the high efficiency of image registration are improved.
On the basis of the above embodiment, optionally, the image acquisition module is configured to perform scanning processing on the target portion based on the CT image scanning device to obtain a CT image to be segmented including the target portion; scanning a target area based on a target scanning CT image scanning device to obtain a target scanning CT image to be corrected, wherein the target area is an area in a target part; performing segmentation processing on the CT image to be segmented to obtain an area CT image containing the target area, and taking the area CT image as a CT image to be corrected; and respectively carrying out image preprocessing on the CT image to be corrected and the target scanning CT image to be corrected to obtain a first CT image corresponding to the CT image to be corrected and a target scanning CT image corresponding to the target scanning CT image to be corrected, wherein the image preprocessing comprises at least one of denoising and image enhancement.
Optionally, the image decomposition module is configured to perform downsampling processing on the first CT image and the target scan CT image by using a gaussian pyramid method, so as to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scan CT image.
Optionally, the image registration module includes: the parameter initializing unit is used for initializing transformation parameters corresponding to the image registration processing; the parameter optimization unit is used for carrying out registration processing on a first image to be registered and a second image to be registered of the same resolution level according to the registration sequence from the low resolution level to the high resolution level, and processing the transformation parameters by utilizing a target optimization algorithm to obtain optimized transformation parameters of the current resolution level; and the image registration unit is used for inputting the optimized transformation parameters into the next resolution level so as to perform registration processing on the first image to be registered and the second image to be registered of the next resolution level based on the optimized transformation parameters until the registration processing of all resolution levels is completed.
Optionally, the image registration module further includes: the weight coefficient determining unit is used for determining a weight coefficient corresponding to each resolution level based on the resolution level and a registration result corresponding to the resolution level; an image determination unit for determining a first registered image and a second registered image based on the registration result and the weight coefficient.
Optionally, the image verification module includes: an error value determining unit for calculating a difference value between the first registration image and the second registration image at each pixel point, and determining a root mean square error value based on the difference value; and the error value judging unit is used for determining the target registration image group based on the root mean square error value and a preset error threshold value.
Optionally, the error value judging unit is configured to adjust the first registration image and the second registration image if the root mean square error value is greater than a preset error threshold value, until the root mean square error value is lower than the preset error threshold value; and if the root mean square error value is lower than the preset error threshold value, integrating the first registration image and the second registration image to obtain a target registration image group.
The image registration device provided by the embodiment of the invention can execute the image registration method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the image registration method.
In some embodiments, the image registration method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the image registration method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the image registration method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
The computer program for implementing the image registration method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
Example five
The embodiment of the invention also provides a computer readable storage medium, the computer readable storage medium storing computer instructions for causing a processor to execute an image registration method, the method comprising:
Acquiring a first CT image comprising a target area and a target scan CT image, wherein the first CT image is different from the target scan CT image; processing the first CT image and the target scanning CT image respectively by adopting an image pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image; the first image group comprises a first image to be registered corresponding to a plurality of resolution levels, the second image group comprises a second image to be registered corresponding to a plurality of resolution levels, and the resolution levels in the first image group and the second image group are corresponding to each other; carrying out registration processing on a first image to be registered and a second image to be registered of the same resolution level to obtain a first registration image and a second registration image; and verifying the first registration image and the second registration image based on the root mean square error index to obtain a target registration image group corresponding to the target region.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method of image registration, comprising:
acquiring a first CT image comprising a target area and a target scan CT image, wherein the first CT image is different from the target scan CT image;
Processing the first CT image and the target scanning CT image respectively by adopting an image pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image; the first image group comprises first images to be registered corresponding to a plurality of resolution levels, the second image group comprises second images to be registered corresponding to a plurality of resolution levels, and the resolution levels in the first image group and the second image group are corresponding;
Carrying out registration processing on a first image to be registered and a second image to be registered of the same resolution level to obtain a first registration image and a second registration image;
And verifying the first registration image and the second registration image based on a root mean square error index to obtain a target registration image group corresponding to the target region.
2. The method of claim 1, wherein the acquiring a first CT image including the target region and a target scan CT image comprises:
scanning the target part based on CT image scanning equipment to obtain a CT image to be segmented containing the target part;
Scanning a target area based on target scanning CT image scanning equipment to obtain a target scanning CT image to be corrected, wherein the target area is an area in the target part;
Performing segmentation processing on the CT image to be segmented to obtain an area CT image containing a target area, and taking the area CT image as a CT image to be corrected;
And respectively carrying out image preprocessing on the CT image to be corrected and the target scanning CT image to be corrected to obtain a first CT image corresponding to the CT image to be corrected and a target scanning CT image corresponding to the target scanning CT image to be corrected, wherein the image preprocessing comprises at least one of denoising and image enhancement.
3. The method according to claim 1, wherein the image pyramid method is a gaussian pyramid method, the processing the first CT image and the target scan CT image by the image pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scan CT image, respectively, includes:
and respectively carrying out downsampling treatment on the first CT image and the target scanning CT image by adopting a Gaussian pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image.
4. The method according to claim 1, wherein the registering the first to-be-registered image and the second to-be-registered image of the same resolution level includes:
Initializing transformation parameters corresponding to image registration processing;
According to the registration sequence from the low resolution level to the high resolution level, registering the first image to be registered and the second image to be registered of the same resolution level, and processing the transformation parameters by utilizing a target optimization algorithm to obtain optimized transformation parameters of the current resolution level;
And inputting the optimized transformation parameters into the next resolution level to perform registration processing on the first image to be registered and the second image to be registered of the next resolution level based on the optimized transformation parameters until the registration processing of all resolution levels is completed.
5. The method as recited in claim 4, further comprising:
Determining a weight coefficient corresponding to each resolution level based on the resolution level and a registration result corresponding to the resolution level;
And determining a first registration image and a second registration image based on the registration result and the weight coefficient.
6. The method according to claim 1, wherein the verifying the first registration image and the second registration image based on the root mean square error indicator to obtain the target registration image set corresponding to the target region includes:
calculating a difference value between the first registration image and the second registration image at each pixel point, and determining a root mean square error value based on the difference value;
And determining the target registration image group based on the root mean square error value and a preset error threshold value.
7. The method of claim 6, wherein the determining the set of target registered images based on the root mean square error value and a preset error threshold value comprises:
If the root mean square error value is larger than the preset error threshold value, adjusting the first registration image and the second registration image until the root mean square error value is lower than the preset error threshold value;
and if the root mean square error value is lower than the preset error threshold value, integrating the first registration image and the second registration image to obtain the target registration image group.
8. An image registration apparatus, comprising:
the image acquisition module is used for acquiring a first CT image comprising a target area and a target scanning CT image, wherein the first CT image is different from the target scanning CT image;
The image decomposition module is used for respectively processing the first CT image and the target scanning CT image by adopting an image pyramid method to obtain a first image group corresponding to the first CT image and a second image group corresponding to the target scanning CT image; the first image group comprises first images to be registered corresponding to a plurality of resolution levels, the second image group comprises second images to be registered corresponding to a plurality of resolution levels, and the resolution levels in the first image group and the second image group are corresponding;
The image registration module is used for carrying out registration processing on a first image to be registered and a second image to be registered of the same resolution level to obtain a first registration image and a second registration image;
And the image verification module is used for verifying the first registration image and the second registration image based on the root mean square error index to obtain a target registration image group corresponding to the target region.
9. An electronic device, the electronic device comprising:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the image registration method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the image registration method of any one of claims 1-7 when executed.
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