Spatiotemporal Anatomical Atlas Building
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1 Spatiotemporal Anatomical Atlas Building Population Shape Regression For Random Design Data Brad Davis 1, P. Thomas Fletcher 2, Elizabeth Bullitt 1, Sarang Joshi 2 1 The University of North Carolina at Chapel Hill 2 Scientific Computing and Imaging Institute The University of Utah
2 Population Shape Regression 84 Healthy Individuals Age Mortemet et al. Regression in Vector Space Regression on a Shape Manifold 2/36 MICCAI 2007
3 Detailed Anatomical Regression Infer average structural changes Improve understanding of anatomy Indicated in disease detection, understanding Age 3/36 MICCAI 2007
4 Related Work Large-deformation Diffeomorphic 3D Image Matching Younes, Trouve, Joshi, Beg, Avants, Gee, Miller Longitudinal shape change models for individuals Beg, Miller [03, 04]; Clatz et al. [05]; Tompson, Toga eg. [00] Large-deformation Intrinsic Mean Images Avants & Gee [04]; Davis, Lorenzen, Joshi [04,05]; Pennec [06] Regression of scalar function on manifold Nilsson, Sha, Jordan [07] Regression of spherical data Jupp & Kent [87] 4/36 MICCAI 2007
5 Our Work Average anatomical change for population, not individual Anatomical change via large-deformation diffeomorphic transformations Predictor: vector space (e.g., time); Response: point on manifold 5/36 MICCAI 2007
6 Outline Anatomical Shape Change Via Image Mapping Manifold, Intrinsic Mean Nadaraya-Watson Regression Estimator Manifold Kernel Regression Synthetic example Application: Healthy brain aging 6/36 MICCAI 2007
7 Review: Capturing Anatomical Shape Change Detailed local changes via diffeomorphic transformations of underlying coordinate system Ω R 3 Diffeomorphism: smooth mapping with smooth inverse Diff(Ω) h:ω Ω 7/36 MICCAI 2007
8 Review: Capturing Anatomical Shape Change Manifold structure, not vector space: addition is not defined h 1,h 2 Diff(Ω):g=h 1 +h 2 / Diff(Ω) Form a group under composition h 1,h 2 Diff(Ω):g=h 1 h 2 Diff(Ω) Example: Rotations 8/36 MICCAI 2007
9 Review: Capturing Anatomical Shape Change Metric structure on Diff(Ω) Integrate flow of velocity fields h t (x)=x+ t 0 v s (h s (x))ds Induce a metric via Sobolev norm on velocity fields 1 d 2 Diff(Ω) (Id,h)= min Lv t (x) 2 dxdt v:ḣs=v s h s 0 Ω 9/36 MICCAI 2007
10 Review: Capturing Anatomical Shape Change d I Implies a metric on anatomical images: captures severity and amount of shape change required to match images d 2 I(I,J) min v: ḣ s =v s h s σ 2 Ω Ω Lv s (x) 2 dxds ( I(h 1 (x)) J(x) ) 2 dx 10/36 MICCAI 2007
11 Review: Nadaraya-Watson Regression Observations {x i,y i },x i,y i R y i =m(x i )+ε i Regression estimator: m(x) E(Y X=x)= y f(x,y) f X (x) dy 11/36 MICCAI 2007
12 Review: Nadaraya-Watson Regression Replace unknown densities with kernel density estimates ˆf X(x) h 1 h( x xi N K h Joint density estimate via product kernel ) ˆf g,h (x,y) 1 N K h( x xi h ) K g ( y yi g ) 12/36 MICCAI 2007
13 Review: Nadaraya-Watson Regression ˆm h (x)= N i=1 K h(x x i )y i N i=1 K h(x x i ) Assume symmetric kernels Weighted mean of response variables Weights depend on predictor variables 13/36 MICCAI 2007
14 Manifold Kernel Regression How do we define regression on a manifold? m(x) E(Y X=x)= Use Fréchet expectation to define intrinsic mean via the metric d y f(x,y) f X (x) dy µ=argmin q M 1 N N i d 2 (q,p i ) 14/36 MICCAI 2007
15 Fréchet Mean: Averaging Anatomies 15/36 MICCAI 2007
16 Manifold Kernel Regression Image observations and associated age measurements {t i,i i } Manifold Kernel Regression estimator via Fréchet expectation ( N ) K i h (t t i )d 2 I (I,I i) ˆm h (t)=argmin I I N i K h (t t i ) 16/36 MICCAI 2007
17 Manifold Kernel Regression Response: Diff(Ω) X X X X X X X Predictor: t i R 17/36 MICCAI 2007
18 Manifold Kernel Regression Weighted Intrinsic Mean Response: Diff(Ω) X X X X X X X Predictor: t i R N i K h (t t i )d 2 I (I,I i) N i K h (t t i ) 18/36 MICCAI 2007
19 Manifold Kernel Regression Solution Compute weighted, large-deformation Fréchet mean at each age Iterative greedy method Alternately optimize deformations, mean image [Davis, Lorenzen, Joshi ISBI 2004, NeuroImage 2004] Coarse-to-fine 19/36 MICCAI 2007
20 Manifold Kernel Regression Linear in number of observations Multithreaded implementation 5-80 minutes (per predictor) images 8x2-core 3 GHz Processors 64 GB memory 20/36 MICCAI 2007
21 Example: Regression with Known Ground Truth Observations: 100 2D bullseye images random predictor values r i (t) nonlinear, independent r 2 (t) r 3 (t) r 1 (t) Structural Noise: i.i.d. Gaussian noise added to radii Goal: Recover radii functions from images alone via regression 21/36 MICCAI 2007
22 Example: Regression with Known Ground Truth Observations (sorted by t ) X X X X X X X 22/36 MICCAI 2007
23 Example: Regression with Known Ground Truth Regressed Images Ground Truth Overlay (colored) X X X X X X X 23/36 MICCAI 2007
24 Application: Aging Brain How does the brain change over time? Regress image as function of age 84 3T-MR T1 volumes from healthy adults Ages Preprocessing: Intensity calibration Skull stripping Rigid alignment Kernel Bandwidth: 6 years Available Online 24/36 MICCAI 2007
25 Aging Brain: Regressed Image Volume Renderings of 3D Regressed Images 25/36 MICCAI 2007
26 Aging Brain: Regressed Image 26/36 MICCAI 2007
27 Quantifying Change Dense collection regressed images Infer diffeomorphic transformation that encodes change of average anatomy over time h t :Ω Ω h t v ti 27/36 MICCAI 2007
28 Diffeomorphic Growth Model Individual represented by observations [Miller 2005] I t 1 0 v t 2 V dt+ 1 σ I t I 0 h 1 t 2 L 2 dt Measure shape change via Sobolev norm Deformed template I 0 matches image observations I t 28/36 MICCAI 2007
29 Diffeomorphic Growth Model Individual represented by observations [Miller 2005] I t 1 0 v t 2 V dt+ 1 σ I t I 0 h 1 t 2 L 2 dt Apply to population via Fréchet Expectation 1 0 v t 2 V dt+ 1 σ E(I T =t) I 0 h 1 t 2 L 2 dt 29/36 MICCAI 2007
30 Quantifying Change Expansion Contraction 30/36 MICCAI 2007
31 Quantifying Change log D(Id(x)+v t (x)) >0 Expansion: Contraction: log D(Id(x)+v t (x)) <0 31/36 MICCAI 2007
32 Kernel Bandwidth 32/36 MICCAI 2007
33 Kernel Bandwidth Goldie Locks : Too smooth; Too rough; Just right! Cross-Validation based on MISE 33/36 MICCAI 2007
34 Conclusion Anatomical change via regression Manifold Kernel Regression estimator within diffeomorphic image mapping framework Apply to study aging brain via 3D MR image database 34/36 MICCAI 2007
35 Future Work Predictors Compare populations Analyze new observations Healthy Diseased Kernel Regression Parametric; Robust; convergence? Shape Spaces/Metrics? 35/36 MICCAI 2007
36 Acknowledgements Steve Marron, UNC Statistics Martin Styner, UNC Computer Science Benedict Mortamet, UNC Neurosurgery Clement Vachet, UNC Psychiatry Peter Lorenzen, UNC Computer Science Funding: R01 EB NIH-NIBIB, and R01 CA NIH-NCI 36/36 MICCAI 2007
37 Questions? Image database may be downloaded from this URL: Or
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