In the past few years, a number of two-dimensional (2-D) to three-dimensional (3-D) (2-D-3-D) registration algorithms have been introduced. However, these methods have been developed and evaluated for specific applications, and have not been directly compared. Understanding and evaluating their performance is therefore an open and important issue. To address this challenge we introduce a standardized evaluation methodology, which can be used for all types of 2-D-3-D registration methods and for different applications and anatomies. Our evaluation methodology uses the calibrated geometry of a 3-D rotational X-ray (3DRX) imaging system (Philips Medical Systems, Best, The Netherlands) in combination with image-based 3-D-3-D registration for attaining a highly accurate gold standard for 2-D X-ray to 3-D MR/CT/3DRX registration. Furthermore, we propose standardized starting positions and failure criteria to allow future researchers to directly compare their methods. As an illustration, the proposed methodology has been used to evaluate the performance of two 2-D-3-D registration techniques, viz. a gradient-based and an intensity-based method, for images of the spine. The data and gold standard transformations are available on the internet (http://www.isi.uu.nl/Research/Databases/).

Standardized evaluation methodology for 2-D-3-D registration

A method is introduced to examine the geometrical accuracy of the three-dimensional (3-D) representation of coronary arteries from multiple (two and more) calibrated two-dimensional (2-D) angiographic projections. When involving more then two projections, (multiprojection modeling) a novel procedure is presented that consists of fully automated centerline and width determination in all available projections based on the information provided by the semi-automated centerline detection in two initial calibrated projections. The accuracy of the 3-D coronary modeling approach is determined by a quantitative examination of the 3-D centerline point position and the 3-D cross sectional area of the reconstructed objects. The measurements are based on the analysis of calibrated phantom and calibrated coronary 2-D projection data. From this analysis a confidence region (/spl alpha//spl deg//spl ap/[35/spl deg/-145/spl deg/]) for the angular distance of two initial projection images is determined for which the modeling procedure is sufficiently accurate for the applied system. Within this angular border range the centerline position error is less then 0.8 mm, in terms of the Euclidean distance to a predefined ground truth. When involving more projections using our new procedure, experiments show that when the initial pair of projection images has an angular distance in the range /spl alpha//spl deg//spl ap/[35/spl deg/-145/spl deg/], the centerlines in all other projections (/spl gamma/=0/spl deg/-180/spl deg/) were indicated very precisely without any additional centering procedure. When involving additional projection images in the modeling procedure a more realistic shape of the structure can be provided. In case of the concave segment, however, the involvement of multiple projections does not necessarily provide a more realistic shape of the reconstructed structure.

A quantitative analysis of 3-D coronary modeling from two or more projection images

The performance of 2D digital imaging systems depends on several factors related with both optical and electronic processing. These concepts have originated standards, which have been conceived for photographic equipment and bi-dimensional scanning systems, and which have been aimed at estimating different parameters such as resolution, noise or dynamic range. Conversely, no standard test protocols currently exist for evaluating the corresponding performances of 3D imaging systems such as laser scanners or pattern projection range cameras. This paper is focused on investigating experimental processes for evaluating some critical parameters of 3D equipment, by extending the concepts defined by the ISO standards to the 3D domain. The experimental part of this work concerns the characterization of different range sensors through the extraction of their resolution, accuracy and uncertainty from sets of 3D data acquisitions of specifically designed test objects whose geometrical characteristics are known in advance. The major objective of this contribution is to suggest an easy characterization process for generating a reliable comparison between the performances of different range sensors and to check if a specific piece of equipment is compliant with the expected characteristics.

Performance Evaluation of Triangulation Based Range Sensors

Reconstruction of blood propagation in three-dimensional rotational X-ray angiography (3D-RA)

Accuracy evaluation of direct navigation with an isocentric 3D rotational X-ray system.

The performance of image intensifier (II)-equipped C-arm systems for three-dimensional (3D) imaging was investigated. The three-dimensional image quality was evaluated in terms of spatial resolution (modulation transfer function, MTF), contrast resolution, geometrical accuracy and homogeneity depending on the image intensifier format, focal spot size, number of projections and the angular span covered during the data acquisition. Experiments have been performed on a vascular C-arm system equipped with a 38-cm image intensifier. Several objects, including CT performance, MTF and pelvis phantoms, were scanned under various conditions. It was shown that for reasonable acquisition parameters, a contrast resolution below 100 HU could be obtained with standard acquisition strategies. Focusing on the spatial resolution, an almost isotropic three-dimensional resolution of up to 22 lp/cm at 10% modulation could be obtained when a 17-cm II was used. The homogeneity in the resulting images was limited by the remaining scatter and truncations. The resulting geometrical accuracy was in the order of the voxel size.

C. Graeff

Papers

Performance of image intensifier-equipped X-ray systems for three-dimensional imaging

High-resolution volume imaging on conventional interventional C-arm X-ray systems