Real-time optical tracking for motion compensated irradiation with scanned particle beams at CNAO

Energy Technology Data Exchange (ETDEWEB)

Fattori, G., E-mail: giovanni.fattori@psi.ch [Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano (Italy); Seregni, M. [Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano (Italy); Pella, A. [Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy); Riboldi, M. [Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano (Italy); Capasso, L. [Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125 (Italy); Donetti, M. [Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy); Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125 (Italy); Ciocca, M. [Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy); Giordanengo, S. [Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125 (Italy); Pullia, M. [Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy); Marchetto, F. [Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125 (Italy); Baroni, G. [Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano (Italy); Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy)

2016-08-11

Purpose: We describe the interface developed at the National Center for Oncological Hadrontherapy in Pavia to provide the dose delivery systems with real time respiratory motion information captured with an optical tracking system. An experimental study is presented to assess the technical feasibility of the implemented organ motion compensation framework, by analyzing the film response when irradiated with proton beams. Methods: The motion monitoring solution is based on a commercial hardware for motion capture running in-house developed software for respiratory signal processing. As part of the integration, the latency of data transmission to the dose delivery system was experimentally quantified and accounted for by signal time prediction. A respiratory breathing phantom is presented and used to test tumor tracking based either on the optical measurement of the target position or internal-external correlation models and beam gating, as driven by external surrogates. Beam tracking was tested considering the full target motion excursion (25×18 mm), whereas it is limited to 6×2 mm in the gating window. The different motion mitigation strategies were evaluated by comparing the experimental film responses with respect to static irradiation conditions. Dose inhomogeneity (IC) and conformity (CI) are provided as main indexes for dose quality assessment considering the irradiation in static condition as reference. Results: We measured 20.6 ms overall latency for motion signal processing. Dose measurements showed that beam tracking largely preserved dose homogeneity and conformity, showing maximal IC and CI variations limited to +0.10 and −0.01 with respect to the static reference. Gating resulted in slightly larger discrepancies (ΔIC=+0.20, ΔCI=−0.13) due to uncompensated residual motion in the gating window. Conclusions: The preliminary beam tracking and gating results verified the functionality of the prototypal solution for organ motion compensation based on

Real-time optical tracking for motion compensated irradiation with scanned particle beams at CNAO

International Nuclear Information System (INIS)

Fattori, G.; Seregni, M.; Pella, A.; Riboldi, M.; Capasso, L.; Donetti, M.; Ciocca, M.; Giordanengo, S.; Pullia, M.; Marchetto, F.; Baroni, G.

2016-01-01

Purpose: We describe the interface developed at the National Center for Oncological Hadrontherapy in Pavia to provide the dose delivery systems with real time respiratory motion information captured with an optical tracking system. An experimental study is presented to assess the technical feasibility of the implemented organ motion compensation framework, by analyzing the film response when irradiated with proton beams. Methods: The motion monitoring solution is based on a commercial hardware for motion capture running in-house developed software for respiratory signal processing. As part of the integration, the latency of data transmission to the dose delivery system was experimentally quantified and accounted for by signal time prediction. A respiratory breathing phantom is presented and used to test tumor tracking based either on the optical measurement of the target position or internal-external correlation models and beam gating, as driven by external surrogates. Beam tracking was tested considering the full target motion excursion (25×18 mm), whereas it is limited to 6×2 mm in the gating window. The different motion mitigation strategies were evaluated by comparing the experimental film responses with respect to static irradiation conditions. Dose inhomogeneity (IC) and conformity (CI) are provided as main indexes for dose quality assessment considering the irradiation in static condition as reference. Results: We measured 20.6 ms overall latency for motion signal processing. Dose measurements showed that beam tracking largely preserved dose homogeneity and conformity, showing maximal IC and CI variations limited to +0.10 and −0.01 with respect to the static reference. Gating resulted in slightly larger discrepancies (ΔIC=+0.20, ΔCI=−0.13) due to uncompensated residual motion in the gating window. Conclusions: The preliminary beam tracking and gating results verified the functionality of the prototypal solution for organ motion compensation based on

Three-dimensional, automated, real-time video system for tracking limb motion in brain-machine interface studies.

Science.gov (United States)

Peikon, Ian D; Fitzsimmons, Nathan A; Lebedev, Mikhail A; Nicolelis, Miguel A L

2009-06-15

Collection and analysis of limb kinematic data are essential components of the study of biological motion, including research into biomechanics, kinesiology, neurophysiology and brain-machine interfaces (BMIs). In particular, BMI research requires advanced, real-time systems capable of sampling limb kinematics with minimal contact to the subject's body. To answer this demand, we have developed an automated video tracking system for real-time tracking of multiple body parts in freely behaving primates. The system employs high-contrast markers painted on the animal's joints to continuously track the three-dimensional positions of their limbs during activity. Two-dimensional coordinates captured by each video camera are combined and converted to three-dimensional coordinates using a quadratic fitting algorithm. Real-time operation of the system is accomplished using direct memory access (DMA). The system tracks the markers at a rate of 52 frames per second (fps) in real-time and up to 100fps if video recordings are captured to be later analyzed off-line. The system has been tested in several BMI primate experiments, in which limb position was sampled simultaneously with chronic recordings of the extracellular activity of hundreds of cortical cells. During these recordings, multiple computational models were employed to extract a series of kinematic parameters from neuronal ensemble activity in real-time. The system operated reliably under these experimental conditions and was able to compensate for marker occlusions that occurred during natural movements. We propose that this system could also be extended to applications that include other classes of biological motion.

Robust Real-Time Tracking for Visual Surveillance

Directory of Open Access Journals (Sweden)

Aguilera Josep

2007-01-01

Full Text Available This paper describes a real-time multi-camera surveillance system that can be applied to a range of application domains. This integrated system is designed to observe crowded scenes and has mechanisms to improve tracking of objects that are in close proximity. The four component modules described in this paper are (i motion detection using a layered background model, (ii object tracking based on local appearance, (iii hierarchical object recognition, and (iv fused multisensor object tracking using multiple features and geometric constraints. This integrated approach to complex scene tracking is validated against a number of representative real-world scenarios to show that robust, real-time analysis can be performed.

Tracking errors in a prototype real-time tumour tracking system

International Nuclear Information System (INIS)

Sharp, Gregory C; Jiang, Steve B; Shimizu, Shinichi; Shirato, Hiroki

2004-01-01

In motion-compensated radiation therapy, radio-opaque markers can be implanted in or near a tumour and tracked in real-time using fluoroscopic imaging. Tracking these implanted markers gives highly accurate position information, except when tracking fails due to poor or ambiguous imaging conditions. This study investigates methods for automatic detection of tracking errors, and assesses the frequency and impact of tracking errors on treatments using the prototype real-time tumour tracking system. We investigated four indicators for automatic detection of tracking errors, and found that the distance between corresponding rays was most effective. We also found that tracking errors cause a loss of gating efficiency of between 7.6 and 10.2%. The incidence of treatment beam delivery during tracking errors was estimated at between 0.8% and 1.25%

Evaluation of Real-Time Hand Motion Tracking Using a Range Camera and the Mean-Shift Algorithm

Science.gov (United States)

Lahamy, H.; Lichti, D.

2011-09-01

Several sensors have been tested for improving the interaction between humans and machines including traditional web cameras, special gloves, haptic devices, cameras providing stereo pairs of images and range cameras. Meanwhile, several methods are described in the literature for tracking hand motion: the Kalman filter, the mean-shift algorithm and the condensation algorithm. In this research, the combination of a range camera and the simple version of the mean-shift algorithm has been evaluated for its capability for hand motion tracking. The evaluation was assessed in terms of position accuracy of the tracking trajectory in x, y and z directions in the camera space and the time difference between image acquisition and image display. Three parameters have been analyzed regarding their influence on the tracking process: the speed of the hand movement, the distance between the camera and the hand and finally the integration time of the camera. Prior to the evaluation, the required warm-up time of the camera has been measured. This study has demonstrated the suitability of the range camera used in combination with the mean-shift algorithm for real-time hand motion tracking but for very high speed hand movement in the traverse plane with respect to the camera, the tracking accuracy is low and requires improvement.

Real-time ultrasound-tagging to track the 2D motion of the common carotid artery wall in vivo

Energy Technology Data Exchange (ETDEWEB)

Zahnd, Guillaume, E-mail: g.zahnd@erasmusmc.nl [Biomedical Imaging Group Rotterdam, Departments of Radiology and Medical Informatics, Erasmus MC, Rotterdam 3000 CA (Netherlands); Salles, Sébastien; Liebgott, Hervé; Vray, Didier [Université de Lyon, CREATIS, CNRS UMR 5220, INSERM U1044, INSA-Lyon, Université Lyon 1, Lyon 69100 (France); Sérusclat, André [Department of Radiology, Louis Pradel Hospital, Lyon 69500 (France); Moulin, Philippe [Department of Endocrinology, Louis Pradel Hospital, Hospices Civils de Lyon, Université Lyon 1, Lyon 69100, France and INSERM UMR 1060, Lyon 69500 (France)

2015-02-15

Purpose: Tracking the motion of biological tissues represents an important issue in the field of medical ultrasound imaging. However, the longitudinal component of the motion (i.e., perpendicular to the beam axis) remains more challenging to extract due to the rather coarse resolution cell of ultrasound scanners along this direction. The aim of this study is to introduce a real-time beamforming strategy dedicated to acquire tagged images featuring a distinct pattern in the objective to ease the tracking. Methods: Under the conditions of the Fraunhofer approximation, a specific apodization function was applied to the received raw channel data, in real-time during image acquisition, in order to introduce a periodic oscillations pattern along the longitudinal direction of the radio frequency signal. Analytic signals were then extracted from the tagged images, and subpixel motion tracking of the intima–media complex was subsequently performed offline, by means of a previously introduced bidimensional analytic phase-based estimator. Results: The authors’ framework was applied in vivo on the common carotid artery from 20 young healthy volunteers and 6 elderly patients with high atherosclerosis risk. Cine-loops of tagged images were acquired during three cardiac cycles. Evaluated against reference trajectories manually generated by three experienced analysts, the mean absolute tracking error was 98 ± 84 μm and 55 ± 44 μm in the longitudinal and axial directions, respectively. These errors corresponded to 28% ± 23% and 13% ± 9% of the longitudinal and axial amplitude of the assessed motion, respectively. Conclusions: The proposed framework enables tagged ultrasound images of in vivo tissues to be acquired in real-time. Such unconventional beamforming strategy contributes to improve tracking accuracy and could potentially benefit to the interpretation and diagnosis of biomedical images.

Real-Time Motion Management of Prostate Cancer Radiotherapy

DEFF Research Database (Denmark)

Pommer, Tobias

of this thesis is to manage prostate motion in real-time by aligning the radiation beam to the prostate using the novel dynamic multileaf collimator (DMLC) tracking method. Specifically, the delivered dose with tracking was compared to the planned dose, and the impact of treatment plan complexity and limitations...

Real-Time Correction By Optical Tracking with Integrated Geometric Distortion Correction for Reducing Motion Artifacts in fMRI

Science.gov (United States)

Rotenberg, David J.

Artifacts caused by head motion are a substantial source of error in fMRI that limits its use in neuroscience research and clinical settings. Real-time scan-plane correction by optical tracking has been shown to correct slice misalignment and non-linear spin-history artifacts, however residual artifacts due to dynamic magnetic field non-uniformity may remain in the data. A recently developed correction technique, PLACE, can correct for absolute geometric distortion using the complex image data from two EPI images, with slightly shifted k-space trajectories. We present a correction approach that integrates PLACE into a real-time scan-plane update system by optical tracking, applied to a tissue-equivalent phantom undergoing complex motion and an fMRI finger tapping experiment with overt head motion to induce dynamic field non-uniformity. Experiments suggest that including volume by volume geometric distortion correction by PLACE can suppress dynamic geometric distortion artifacts in a phantom and in vivo and provide more robust activation maps.

Real time eye tracking using Kalman extended spatio-temporal context learning

Science.gov (United States)

Munir, Farzeen; Minhas, Fayyaz ul Amir Asfar; Jalil, Abdul; Jeon, Moongu

2017-06-01

Real time eye tracking has numerous applications in human computer interaction such as a mouse cursor control in a computer system. It is useful for persons with muscular or motion impairments. However, tracking the movement of the eye is complicated by occlusion due to blinking, head movement, screen glare, rapid eye movements, etc. In this work, we present the algorithmic and construction details of a real time eye tracking system. Our proposed system is an extension of Spatio-Temporal context learning through Kalman Filtering. Spatio-Temporal Context Learning offers state of the art accuracy in general object tracking but its performance suffers due to object occlusion. Addition of the Kalman filter allows the proposed method to model the dynamics of the motion of the eye and provide robust eye tracking in cases of occlusion. We demonstrate the effectiveness of this tracking technique by controlling the computer cursor in real time by eye movements.

A parallelizable real-time motion tracking algorithm with applications to ultrasonic strain imaging

International Nuclear Information System (INIS)

Jiang, J; Hall, T J

2007-01-01

Ultrasound-based mechanical strain imaging systems utilize signals from conventional diagnostic ultrasound systems to image tissue elasticity contrast that provides new diagnostically valuable information. Previous works (Hall et al 2003 Ultrasound Med. Biol. 29 427, Zhu and Hall 2002 Ultrason. Imaging 24 161) demonstrated that uniaxial deformation with minimal elevation motion is preferred for breast strain imaging and real-time strain image feedback to operators is important to accomplish this goal. The work reported here enhances the real-time speckle tracking algorithm with two significant modifications. One fundamental change is that the proposed algorithm is a column-based algorithm (a column is defined by a line of data parallel to the ultrasound beam direction, i.e. an A-line), as opposed to a row-based algorithm (a row is defined by a line of data perpendicular to the ultrasound beam direction). Then, displacement estimates from its adjacent columns provide good guidance for motion tracking in a significantly reduced search region to reduce computational cost. Consequently, the process of displacement estimation can be naturally split into at least two separated tasks, computed in parallel, propagating outward from the center of the region of interest (ROI). The proposed algorithm has been implemented and optimized in a Windows (registered) system as a stand-alone ANSI C++ program. Results of preliminary tests, using numerical and tissue-mimicking phantoms, and in vivo tissue data, suggest that high contrast strain images can be consistently obtained with frame rates (10 frames s -1 ) that exceed our previous methods

Real-time soft tissue motion estimation for lung tumors during radiotherapy delivery

International Nuclear Information System (INIS)

Rottmann, Joerg; Berbeco, Ross; Keall, Paul

2013-01-01

Purpose: To provide real-time lung tumor motion estimation during radiotherapy treatment delivery without the need for implanted fiducial markers or additional imaging dose to the patient.Methods: 2D radiographs from the therapy beam's-eye-view (BEV) perspective are captured at a frame rate of 12.8 Hz with a frame grabber allowing direct RAM access to the image buffer. An in-house developed real-time soft tissue localization algorithm is utilized to calculate soft tissue displacement from these images in real-time. The system is tested with a Varian TX linear accelerator and an AS-1000 amorphous silicon electronic portal imaging device operating at a resolution of 512 × 384 pixels. The accuracy of the motion estimation is verified with a dynamic motion phantom. Clinical accuracy was tested on lung SBRT images acquired at 2 fps.Results: Real-time lung tumor motion estimation from BEV images without fiducial markers is successfully demonstrated. For the phantom study, a mean tracking error <1.0 mm [root mean square (rms) error of 0.3 mm] was observed. The tracking rms accuracy on BEV images from a lung SBRT patient (≈20 mm tumor motion range) is 1.0 mm.Conclusions: The authors demonstrate for the first time real-time markerless lung tumor motion estimation from BEV images alone. The described system can operate at a frame rate of 12.8 Hz and does not require prior knowledge to establish traceable landmarks for tracking on the fly. The authors show that the geometric accuracy is similar to (or better than) previously published markerless algorithms not operating in real-time

Real-time soft tissue motion estimation for lung tumors during radiotherapy delivery

Energy Technology Data Exchange (ETDEWEB)

Rottmann, Joerg; Berbeco, Ross [Brigham and Women' s Hospital, Dana Farber-Cancer Institute and Harvard Medical School, Boston, Massachusetts 02115 (United States); Keall, Paul [Radiation Physics Laboratory, Sydney Medical School, University of Sydney, Sydney NSW 2006 (Australia)

2013-09-15

Purpose: To provide real-time lung tumor motion estimation during radiotherapy treatment delivery without the need for implanted fiducial markers or additional imaging dose to the patient.Methods: 2D radiographs from the therapy beam's-eye-view (BEV) perspective are captured at a frame rate of 12.8 Hz with a frame grabber allowing direct RAM access to the image buffer. An in-house developed real-time soft tissue localization algorithm is utilized to calculate soft tissue displacement from these images in real-time. The system is tested with a Varian TX linear accelerator and an AS-1000 amorphous silicon electronic portal imaging device operating at a resolution of 512 × 384 pixels. The accuracy of the motion estimation is verified with a dynamic motion phantom. Clinical accuracy was tested on lung SBRT images acquired at 2 fps.Results: Real-time lung tumor motion estimation from BEV images without fiducial markers is successfully demonstrated. For the phantom study, a mean tracking error <1.0 mm [root mean square (rms) error of 0.3 mm] was observed. The tracking rms accuracy on BEV images from a lung SBRT patient (≈20 mm tumor motion range) is 1.0 mm.Conclusions: The authors demonstrate for the first time real-time markerless lung tumor motion estimation from BEV images alone. The described system can operate at a frame rate of 12.8 Hz and does not require prior knowledge to establish traceable landmarks for tracking on the fly. The authors show that the geometric accuracy is similar to (or better than) previously published markerless algorithms not operating in real-time.

Real-time WAMI streaming target tracking in fog

Science.gov (United States)

Chen, Yu; Blasch, Erik; Chen, Ning; Deng, Anna; Ling, Haibin; Chen, Genshe

2016-05-01

Real-time information fusion based on WAMI (Wide-Area Motion Imagery), FMV (Full Motion Video), and Text data is highly desired for many mission critical emergency or security applications. Cloud Computing has been considered promising to achieve big data integration from multi-modal sources. In many mission critical tasks, however, powerful Cloud technology cannot satisfy the tight latency tolerance as the servers are allocated far from the sensing platform, actually there is no guaranteed connection in the emergency situations. Therefore, data processing, information fusion, and decision making are required to be executed on-site (i.e., near the data collection). Fog Computing, a recently proposed extension and complement for Cloud Computing, enables computing on-site without outsourcing jobs to a remote Cloud. In this work, we have investigated the feasibility of processing streaming WAMI in the Fog for real-time, online, uninterrupted target tracking. Using a single target tracking algorithm, we studied the performance of a Fog Computing prototype. The experimental results are very encouraging that validated the effectiveness of our Fog approach to achieve real-time frame rates.

Real-time 2D/3D registration using kV-MV image pairs for tumor motion tracking in image guided radiotherapy.

Science.gov (United States)

Furtado, Hugo; Steiner, Elisabeth; Stock, Markus; Georg, Dietmar; Birkfellner, Wolfgang

2013-10-01

Intra-fractional respiratory motion during radiotherapy leads to a larger planning target volume (PTV). Real-time tumor motion tracking by two-dimensional (2D)/3D registration using on-board kilo-voltage (kV) imaging can allow for a reduction of the PTV though motion along the imaging beam axis cannot be resolved using only one projection image. We present a retrospective patient study investigating the impact of paired portal mega-voltage (MV) and kV images on registration accuracy. Material and methods. We used data from 10 patients suffering from non-small cell lung cancer (NSCLC) undergoing stereotactic body radiation therapy (SBRT) lung treatment. For each patient we acquired a planning computed tomography (CT) and sequences of kV and MV images during treatment. We compared the accuracy of motion tracking in six degrees-of-freedom (DOF) using the anterior-posterior (AP) kV sequence or the sequence of kV-MV image pairs. Results. Motion along cranial-caudal direction could accurately be extracted when using only the kV sequence but in AP direction we obtained large errors. When using kV-MV pairs, the average error was reduced from 2.9 mm to 1.5 mm and the motion along AP was successfully extracted. Mean registration time was 188 ms. Conclusion. Our evaluation shows that using kV-MV image pairs leads to improved motion extraction in six DOF and is suitable for real-time tumor motion tracking with a conventional LINAC.

Real-time stylistic prediction for whole-body human motions.

Science.gov (United States)

Matsubara, Takamitsu; Hyon, Sang-Ho; Morimoto, Jun

2012-01-01

The ability to predict human motion is crucial in several contexts such as human tracking by computer vision and the synthesis of human-like computer graphics. Previous work has focused on off-line processes with well-segmented data; however, many applications such as robotics require real-time control with efficient computation. In this paper, we propose a novel approach called real-time stylistic prediction for whole-body human motions to satisfy these requirements. This approach uses a novel generative model to represent a whole-body human motion including rhythmic motion (e.g., walking) and discrete motion (e.g., jumping). The generative model is composed of a low-dimensional state (phase) dynamics and a two-factor observation model, allowing it to capture the diversity of motion styles in humans. A real-time adaptation algorithm was derived to estimate both state variables and style parameter of the model from non-stationary unlabeled sequential observations. Moreover, with a simple modification, the algorithm allows real-time adaptation even from incomplete (partial) observations. Based on the estimated state and style, a future motion sequence can be accurately predicted. In our implementation, it takes less than 15 ms for both adaptation and prediction at each observation. Our real-time stylistic prediction was evaluated for human walking, running, and jumping behaviors. Copyright © 2011 Elsevier Ltd. All rights reserved.

TH-AB-202-05: BEST IN PHYSICS (JOINT IMAGING-THERAPY): First Online Ultrasound-Guided MLC Tracking for Real-Time Motion Compensation in Radiotherapy

Energy Technology Data Exchange (ETDEWEB)

Ipsen, S; Bruder, R; Schweikard, A [University of Luebeck, Luebeck, DE (United States); O’Brien, R; Keall, P [University of Sydney, Sydney (Australia); Poulsen, P [Aarhus University Hospital, Aarhus (Denmark)

2016-06-15

Purpose: While MLC tracking has been successfully used for motion compensation of moving targets, current real-time target localization methods rely on correlation models with x-ray imaging or implanted electromagnetic transponders rather than direct target visualization. In contrast, ultrasound imaging yields volumetric data in real-time (4D) without ionizing radiation. We report the first results of online 4D ultrasound-guided MLC tracking in a phantom. Methods: A real-time tracking framework was installed on a 4D ultrasound station (Vivid7 dimension, GE) and used to detect a 2mm spherical lead marker inside a water tank. The volumetric frame rate was 21.3Hz (47ms). The marker was rigidly attached to a motion stage programmed to reproduce nine tumor trajectories (five prostate, four lung). The 3D marker position from ultrasound was used for real-time MLC aperture adaption. The tracking system latency was measured and compensated by prediction for lung trajectories. To measure geometric accuracy, anterior and lateral conformal fields with 10cm circular aperture were delivered for each trajectory. The tracking error was measured as the difference between marker position and MLC aperture in continuous portal imaging. For dosimetric evaluation, 358° VMAT fields were delivered to a biplanar diode array dosimeter using the same trajectories. Dose measurements with and without MLC tracking were compared to a static reference dose using a 3%/3 mm γ-test. Results: The tracking system latency was 170ms. The mean root-mean-square tracking error was 1.01mm (0.75mm prostate, 1.33mm lung). Tracking reduced the mean γ-failure rate from 13.9% to 4.6% for prostate and from 21.8% to 0.6% for lung with high-modulation VMAT plans and from 5% (prostate) and 18% (lung) to 0% with low modulation. Conclusion: Real-time ultrasound tracking was successfully integrated with MLC tracking for the first time and showed similar accuracy and latency as other methods while holding the

Real-time soft tissue motion estimation for lung tumors during radiotherapy delivery.

Science.gov (United States)

Rottmann, Joerg; Keall, Paul; Berbeco, Ross

2013-09-01

To provide real-time lung tumor motion estimation during radiotherapy treatment delivery without the need for implanted fiducial markers or additional imaging dose to the patient. 2D radiographs from the therapy beam's-eye-view (BEV) perspective are captured at a frame rate of 12.8 Hz with a frame grabber allowing direct RAM access to the image buffer. An in-house developed real-time soft tissue localization algorithm is utilized to calculate soft tissue displacement from these images in real-time. The system is tested with a Varian TX linear accelerator and an AS-1000 amorphous silicon electronic portal imaging device operating at a resolution of 512 × 384 pixels. The accuracy of the motion estimation is verified with a dynamic motion phantom. Clinical accuracy was tested on lung SBRT images acquired at 2 fps. Real-time lung tumor motion estimation from BEV images without fiducial markers is successfully demonstrated. For the phantom study, a mean tracking error real-time markerless lung tumor motion estimation from BEV images alone. The described system can operate at a frame rate of 12.8 Hz and does not require prior knowledge to establish traceable landmarks for tracking on the fly. The authors show that the geometric accuracy is similar to (or better than) previously published markerless algorithms not operating in real-time.

Frame based Motion Detection for real-time Surveillance

OpenAIRE

Brajesh Patel; Neelam Patel

2012-01-01

In this paper a series of algorithm has been formed to track the feature of motion detection under surveillance system. In the proposed work a pixel variant plays a vital role in detection of moving object of a particular clip. If there is a little bit motion in a frame then it is detected very easily by calculating pixel variance. This algorithm detects the zero variation only when there is no motion in a real-time video sequence. It is simple and easier for motion detection in the fames of ...

Real-Time Dynamic MLC Tracking for Intensity Modulated Arc Therapy

DEFF Research Database (Denmark)

Falk, Marianne

Motion management of intra-fraction tumour motion during radiotherapy treatment can be a challenging task in order to achieve tumour control as well as minimizing the dose to the surrounding healthy tissue. Real-time dynamic multileaf collimator (MLC) tracking is a novel method for intra-fraction...

Real-time intensity based 2D/3D registration using kV-MV image pairs for tumor motion tracking in image guided radiotherapy

Science.gov (United States)

Furtado, H.; Steiner, E.; Stock, M.; Georg, D.; Birkfellner, W.

2014-03-01

Intra-fractional respiratorymotion during radiotherapy is one of themain sources of uncertainty in dose application creating the need to extend themargins of the planning target volume (PTV). Real-time tumormotion tracking by 2D/3D registration using on-board kilo-voltage (kV) imaging can lead to a reduction of the PTV. One limitation of this technique when using one projection image, is the inability to resolve motion along the imaging beam axis. We present a retrospective patient study to investigate the impact of paired portal mega-voltage (MV) and kV images, on registration accuracy. We used data from eighteen patients suffering from non small cell lung cancer undergoing regular treatment at our center. For each patient we acquired a planning CT and sequences of kV and MV images during treatment. Our evaluation consisted of comparing the accuracy of motion tracking in 6 degrees-of-freedom(DOF) using the anterior-posterior (AP) kV sequence or the sequence of kV-MV image pairs. We use graphics processing unit rendering for real-time performance. Motion along cranial-caudal direction could accurately be extracted when using only the kV sequence but in AP direction we obtained large errors. When using kV-MV pairs, the average error was reduced from 3.3 mm to 1.8 mm and the motion along AP was successfully extracted. The mean registration time was of 190+/-35ms. Our evaluation shows that using kVMV image pairs leads to improved motion extraction in 6 DOF. Therefore, this approach is suitable for accurate, real-time tumor motion tracking with a conventional LINAC.

[A review of progress of real-time tumor tracking radiotherapy technology based on dynamic multi-leaf collimator].

Science.gov (United States)

Liu, Fubo; Li, Guangjun; Shen, Jiuling; Li, Ligin; Bai, Sen

2017-02-01

While radiation treatment to patients with tumors in thorax and abdomen is being performed, further improvement of radiation accuracy is restricted by the tumor intra-fractional motion due to respiration. Real-time tumor tracking radiation is an optimal solution to tumor intra-fractional motion. A review of the progress of real-time dynamic multi-leaf collimator(DMLC) tracking is provided in the present review, including DMLC tracking method, time lag of DMLC tracking system, and dosimetric verification.

A motion-compensated image filter for low-dose fluoroscopy in a real-time tumor-tracking radiotherapy system

International Nuclear Information System (INIS)

Miyamoto, Naoki; Ishikawa, Masayori; Sutherland, Kenneth

2015-01-01

In the real-time tumor-tracking radiotherapy system, a surrogate fiducial marker inserted in or near the tumor is detected by fluoroscopy to realize respiratory-gated radiotherapy. The imaging dose caused by fluoroscopy should be minimized. In this work, an image processing technique is proposed for tracing a moving marker in low-dose imaging. The proposed tracking technique is a combination of a motion-compensated recursive filter and template pattern matching. The proposed image filter can reduce motion artifacts resulting from the recursive process based on the determination of the region of interest for the next frame according to the current marker position in the fluoroscopic images. The effectiveness of the proposed technique and the expected clinical benefit were examined by phantom experimental studies with actual tumor trajectories generated from clinical patient data. It was demonstrated that the marker motion could be traced in low-dose imaging by applying the proposed algorithm with acceptable registration error and high pattern recognition score in all trajectories, although some trajectories were not able to be tracked with the conventional spatial filters or without image filters. The positional accuracy is expected to be kept within ±2 mm. The total computation time required to determine the marker position is a few milliseconds. The proposed image processing technique is applicable for imaging dose reduction. (author)

First Demonstration of Combined kV/MV Image-Guided Real-Time Dynamic Multileaf-Collimator Target Tracking

International Nuclear Information System (INIS)

Cho, Byungchul; Poulsen, Per R.; Sloutsky, Alex; Sawant, Amit; Keall, Paul J.

2009-01-01

Purpose: For intrafraction motion management, a real-time tracking system was developed by combining fiducial marker-based tracking via simultaneous kilovoltage (kV) and megavoltage (MV) imaging and a dynamic multileaf collimator (DMLC) beam-tracking system. Methods and Materials: The integrated tracking system employed a Varian Trilogy system equipped with kV/MV imaging systems and a Millennium 120-leaf MLC. A gold marker in elliptical motion (2-cm superior-inferior, 1-cm left-right, 10 cycles/min) was simultaneously imaged by the kV and MV imagers at 6.7 Hz and segmented in real time. With these two-dimensional projections, the tracking software triangulated the three-dimensional marker position and repositioned the MLC leaves to follow the motion. Phantom studies were performed to evaluate time delay from image acquisition to MLC adjustment, tracking error, and dosimetric impact of target motion with and without tracking. Results: The time delay of the integrated tracking system was ∼450 ms. The tracking error using a prediction algorithm was 0.9 ± 0.5 mm for the elliptical motion. The dose distribution with tracking showed better target coverage and less dose to surrounding region over no tracking. The failure rate of the gamma test (3%/3-mm criteria) was 22.5% without tracking but was reduced to 0.2% with tracking. Conclusion: For the first time, a complete tracking system combining kV/MV image-guided target tracking and DMLC beam tracking was demonstrated. The average geometric error was less than 1 mm, and the dosimetric error was negligible. This system is a promising method for intrafraction motion management.

Fast leaf-fitting with generalized underdose/overdose constraints for real-time MLC tracking

Energy Technology Data Exchange (ETDEWEB)

Moore, Douglas, E-mail: douglas.moore@utsouthwestern.edu; Sawant, Amit [Department of Radiation Oncology, UT Southwestern Medical Center, Dallas, Texas 75390 (United States); Ruan, Dan [Department of Radiation Oncology, University of California, Los Angeles, California 90095 (United States)

2016-01-15

Purpose: Real-time multileaf collimator (MLC) tracking is a promising approach to the management of intrafractional tumor motion during thoracic and abdominal radiotherapy. MLC tracking is typically performed in two steps: transforming a planned MLC aperture in response to patient motion and refitting the leaves to the newly generated aperture. One of the challenges of this approach is the inability to faithfully reproduce the desired motion-adapted aperture. This work presents an optimization-based framework with which to solve this leaf-fitting problem in real-time. Methods: This optimization framework is designed to facilitate the determination of leaf positions in real-time while accounting for the trade-off between coverage of the PTV and avoidance of organs at risk (OARs). Derived within this framework, an algorithm is presented that can account for general linear transformations of the planned MLC aperture, particularly 3D translations and in-plane rotations. This algorithm, together with algorithms presented in Sawant et al. [“Management of three-dimensional intrafraction motion through real-time DMLC tracking,” Med. Phys. 35, 2050–2061 (2008)] and Ruan and Keall [Presented at the 2011 IEEE Power Engineering and Automation Conference (PEAM) (2011) (unpublished)], was applied to apertures derived from eight lung intensity modulated radiotherapy plans subjected to six-degree-of-freedom motion traces acquired from lung cancer patients using the kilovoltage intrafraction monitoring system developed at the University of Sydney. A quality-of-fit metric was defined, and each algorithm was evaluated in terms of quality-of-fit and computation time. Results: This algorithm is shown to perform leaf-fittings of apertures, each with 80 leaf pairs, in 0.226 ms on average as compared to 0.082 and 64.2 ms for the algorithms of Sawant et al., Ruan, and Keall, respectively. The algorithm shows approximately 12% improvement in quality-of-fit over the Sawant et al

Fast leaf-fitting with generalized underdose/overdose constraints for real-time MLC tracking

International Nuclear Information System (INIS)

Moore, Douglas; Sawant, Amit; Ruan, Dan

2016-01-01

Purpose: Real-time multileaf collimator (MLC) tracking is a promising approach to the management of intrafractional tumor motion during thoracic and abdominal radiotherapy. MLC tracking is typically performed in two steps: transforming a planned MLC aperture in response to patient motion and refitting the leaves to the newly generated aperture. One of the challenges of this approach is the inability to faithfully reproduce the desired motion-adapted aperture. This work presents an optimization-based framework with which to solve this leaf-fitting problem in real-time. Methods: This optimization framework is designed to facilitate the determination of leaf positions in real-time while accounting for the trade-off between coverage of the PTV and avoidance of organs at risk (OARs). Derived within this framework, an algorithm is presented that can account for general linear transformations of the planned MLC aperture, particularly 3D translations and in-plane rotations. This algorithm, together with algorithms presented in Sawant et al. [“Management of three-dimensional intrafraction motion through real-time DMLC tracking,” Med. Phys. 35, 2050–2061 (2008)] and Ruan and Keall [Presented at the 2011 IEEE Power Engineering and Automation Conference (PEAM) (2011) (unpublished)], was applied to apertures derived from eight lung intensity modulated radiotherapy plans subjected to six-degree-of-freedom motion traces acquired from lung cancer patients using the kilovoltage intrafraction monitoring system developed at the University of Sydney. A quality-of-fit metric was defined, and each algorithm was evaluated in terms of quality-of-fit and computation time. Results: This algorithm is shown to perform leaf-fittings of apertures, each with 80 leaf pairs, in 0.226 ms on average as compared to 0.082 and 64.2 ms for the algorithms of Sawant et al., Ruan, and Keall, respectively. The algorithm shows approximately 12% improvement in quality-of-fit over the Sawant et al

Real-Time Accumulative Computation Motion Detectors

Directory of Open Access Journals (Sweden)

Saturnino Maldonado-Bascón

2009-12-01

Full Text Available The neurally inspired accumulative computation (AC method and its application to motion detection have been introduced in the past years. This paper revisits the fact that many researchers have explored the relationship between neural networks and finite state machines. Indeed, finite state machines constitute the best characterized computational model, whereas artificial neural networks have become a very successful tool for modeling and problem solving. The article shows how to reach real-time performance after using a model described as a finite state machine. This paper introduces two steps towards that direction: (a A simplification of the general AC method is performed by formally transforming it into a finite state machine. (b A hardware implementation in FPGA of such a designed AC module, as well as an 8-AC motion detector, providing promising performance results. We also offer two case studies of the use of AC motion detectors in surveillance applications, namely infrared-based people segmentation and color-based people tracking, respectively.

Real-time high-speed motion blur compensation system based on back-and-forth motion control of galvanometer mirror.

Science.gov (United States)

Hayakawa, Tomohiko; Watanabe, Takanoshin; Ishikawa, Masatoshi

2015-12-14

We developed a novel real-time motion blur compensation system for the blur caused by high-speed one-dimensional motion between a camera and a target. The system consists of a galvanometer mirror and a high-speed color camera, without the need for any additional sensors. We controlled the galvanometer mirror with continuous back-and-forth oscillating motion synchronized to a high-speed camera. The angular speed of the mirror is given in real time within 10 ms based on the concept of background tracking and rapid raw Bayer block matching. Experiments demonstrated that our system captures motion-invariant images of objects moving at speeds up to 30 km/h.

Speed and amplitude of lung tumor motion precisely detected in four-dimensional setup and in real-time tumor-tracking radiotherapy

International Nuclear Information System (INIS)

Shirato, Hiroki; Suzuki, Keishiro; Sharp, Gregory C.; Fujita, Katsuhisa R.T.; Onimaru, Rikiya; Fujino, Masaharu; Kato, Norio; Osaka, Yasuhiro; Kinoshita, Rumiko; Taguchi, Hiroshi; Onodera, Shunsuke; Miyasaka, Kazuo

2006-01-01

Background: To reduce the uncertainty of registration for lung tumors, we have developed a four-dimensional (4D) setup system using a real-time tumor-tracking radiotherapy system. Methods and Materials: During treatment planning and daily setup in the treatment room, the trajectory of the internal fiducial marker was recorded for 1 to 2 min at the rate of 30 times per second by the real-time tumor-tracking radiotherapy system. To maximize gating efficiency, the patient's position on the treatment couch was adjusted using the 4D setup system with fine on-line remote control of the treatment couch. Results: The trajectory of the marker detected in the 4D setup system was well visualized and used for daily setup. Various degrees of interfractional and intrafractional changes in the absolute amplitude and speed of the internal marker were detected. Readjustments were necessary during each treatment session, prompted by baseline shifting of the tumor position. Conclusion: The 4D setup system was shown to be useful for reducing the uncertainty of tumor motion and for increasing the efficiency of gated irradiation. Considering the interfractional and intrafractional changes in speed and amplitude detected in this study, intercepting radiotherapy is the safe and cost-effective method for 4D radiotherapy using real-time tracking technology

The dosimetric impact of inversely optimized arc radiotherapy plan modulation for real-time dynamic MLC tracking delivery

DEFF Research Database (Denmark)

Falk, Marianne; Larsson, Tobias; Keall, P.

2012-01-01

Purpose: Real-time dynamic multileaf collimator (MLC) tracking for management of intrafraction tumor motion can be challenging for highly modulated beams, as the leaves need to travel far to adjust for target motion perpendicular to the leaf travel direction. The plan modulation can be reduced......-to-peak displacement of 2 cm and a cycle time of 6 s. The delivery was adjusted to the target motion using MLC tracking, guided in real-time by an infrared optical system. The dosimetric results were evaluated using gamma index evaluation with static target measurements as reference. Results: The plan quality...

Real-Time Tumor Tracking in the Lung Using an Electromagnetic Tracking System

Energy Technology Data Exchange (ETDEWEB)

Shah, Amish P., E-mail: Amish.Shah@orlandohealth.com [Department of Radiation Oncology, MD Anderson Cancer Center Orlando, Orlando, Florida (United States); Kupelian, Patrick A.; Waghorn, Benjamin J.; Willoughby, Twyla R.; Rineer, Justin M.; Mañon, Rafael R.; Vollenweider, Mark A.; Meeks, Sanford L. [Department of Radiation Oncology, MD Anderson Cancer Center Orlando, Orlando, Florida (United States)

2013-07-01

Purpose: To describe the first use of the commercially available Calypso 4D Localization System in the lung. Methods and Materials: Under an institutional review board-approved protocol and an investigational device exemption from the US Food and Drug Administration, the Calypso system was used with nonclinical methods to acquire real-time 4-dimensional lung tumor tracks for 7 lung cancer patients. The aims of the study were to investigate (1) the potential for bronchoscopic implantation; (2) the stability of smooth-surface beacon transponders (transponders) after implantation; and (3) the ability to acquire tracking information within the lung. Electromagnetic tracking was not used for any clinical decision making and could only be performed before any radiation delivery in a research setting. All motion tracks for each patient were reviewed, and values of the average displacement, amplitude of motion, period, and associated correlation to a sinusoidal model (R{sup 2}) were tabulated for all 42 tracks. Results: For all 7 patients at least 1 transponder was successfully implanted. To assist in securing the transponder at the tumor site, it was necessary to implant a secondary fiducial for most transponders owing to the transponder's smooth surface. For 3 patients, insertion into the lung proved difficult, with only 1 transponder remaining fixed during implantation. One patient developed a pneumothorax after implantation of the secondary fiducial. Once implanted, 13 of 14 transponders remained stable within the lung and were successfully tracked with the tracking system. Conclusions: Our initial experience with electromagnetic guidance within the lung demonstrates that transponder implantation and tracking is achievable though not clinically available. This research investigation proved that lung tumor motion exhibits large variations from fraction to fraction within a single patient and that improvements to both transponder and tracking system are still

First online real-time evaluation of motion-induced 4D dose errors during radiotherapy delivery

DEFF Research Database (Denmark)

Ravkilde, Thomas; Skouboe, Simon; Hansen, Rune

2018-01-01

PURPOSE: In radiotherapy, dose deficits caused by tumor motion often far outweigh the discrepancies typically allowed in plan-specific quality assurance (QA). Yet, tumor motion is not usually included in present QA. We here present a novel method for online treatment verification by real......-time motion-including 4D dose reconstruction and dose evaluation and demonstrate its use during stereotactic body radiotherapy (SBRT) delivery with and without MLC tracking. METHODS: Five volumetric modulated arc therapy (VMAT) plans were delivered with and without MLC tracking to a motion stage carrying...... a Delta4 dosimeter. The VMAT plans have previously been used for (non-tracking) liver SBRT with intra-treatment tumor motion recorded by kilovoltage intrafraction monitoring (KIM). The motion stage reproduced the KIM-measured tumor motions in 3D while optical monitoring guided the MLC tracking. Linac...

Real-time non-rigid target tracking for ultrasound-guided clinical interventions

NARCIS (Netherlands)

Zachiu, Cornel; Ries, Mario G; Ramaekers, Pascal; Guey, Jean-Luc; Moonen, Chrit T W; de Senneville, Baudouin Denis

2017-01-01

Biological motion is a problem for non- or mini-invasive interventions when conducted in mobile/deformable organs due to the targeted pathology moving/deforming with the organ. This may lead to high miss rates and/or incomplete treatment of the pathology. Therefore, real-time tracking of the target

Evaluation of the Effectiveness of the Stereotactic Body Frame in Reducing Respiratory Intrafractional Organ Motion Using the Real-Time Tumor-Tracking Radiotherapy System

International Nuclear Information System (INIS)

Bengua, Gerard; Ishikawa, Masayori; Sutherland, Kenneth; Horita, Kenji; Yamazaki, Rie; Fujita, Katsuhisa; Onimaru, Rikiya; Katoh, Noriwo; Inoue, Tetsuya; Onodera, Shunsuke; Shirato, Hiroki

2010-01-01

Purpose: To evaluate the effectiveness of the stereotactic body frame (SBF), with or without a diaphragm press or a breathing cycle monitoring device (Abches), in controlling the range of lung tumor motion, by tracking the real-time position of fiducial markers. Methods and Materials: The trajectories of gold markers in the lung were tracked with the real-time tumor-tracking radiotherapy system. The SBF was used for patient immobilization and the diaphragm press and Abches were used to actively control breathing and for self-controlled respiration, respectively. Tracking was performed in five setups, with and without immobilization and respiration control. The results were evaluated using the effective range, which was defined as the range that includes 95% of all the recorded marker positions in each setup. Results: The SBF, with or without a diaphragm press or Abches, did not yield effective ranges of marker motion which were significantly different from setups that did not use these materials. The differences in the effective marker ranges in the upper lobes for all the patient setups were less than 1mm. Larger effective ranges were obtained for the markers in the middle or lower lobes. Conclusion: The effectiveness of controlling respiratory-induced organ motion by using the SBF+diaphragm press or SBF + Abches patient setups were highly dependent on the individual patient reaction to the use of these materials and the location of the markers. They may be considered for lung tumors in the lower lobes, but are not necessary for tumors in the upper lobes.

A low-cost test-bed for real-time landmark tracking

Science.gov (United States)

Csaszar, Ambrus; Hanan, Jay C.; Moreels, Pierre; Assad, Christopher

2007-04-01

A low-cost vehicle test-bed system was developed to iteratively test, refine and demonstrate navigation algorithms before attempting to transfer the algorithms to more advanced rover prototypes. The platform used here was a modified radio controlled (RC) car. A microcontroller board and onboard laptop computer allow for either autonomous or remote operation via a computer workstation. The sensors onboard the vehicle represent the types currently used on NASA-JPL rover prototypes. For dead-reckoning navigation, optical wheel encoders, a single axis gyroscope, and 2-axis accelerometer were used. An ultrasound ranger is available to calculate distance as a substitute for the stereo vision systems presently used on rovers. The prototype also carries a small laptop computer with a USB camera and wireless transmitter to send real time video to an off-board computer. A real-time user interface was implemented that combines an automatic image feature selector, tracking parameter controls, streaming video viewer, and user generated or autonomous driving commands. Using the test-bed, real-time landmark tracking was demonstrated by autonomously driving the vehicle through the JPL Mars yard. The algorithms tracked rocks as waypoints. This generated coordinates calculating relative motion and visually servoing to science targets. A limitation for the current system is serial computing-each additional landmark is tracked in order-but since each landmark is tracked independently, if transferred to appropriate parallel hardware, adding targets would not significantly diminish system speed.

Radical stereotactic radiosurgery with real-time tumor motion tracking in the treatment of small peripheral lung tumors

Directory of Open Access Journals (Sweden)

Chang Thomas

2007-10-01

Full Text Available Abstract Background Recent developments in radiotherapeutic technology have resulted in a new approach to treating patients with localized lung cancer. We report preliminary clinical outcomes using stereotactic radiosurgery with real-time tumor motion tracking to treat small peripheral lung tumors. Methods Eligible patients were treated over a 24-month period and followed for a minimum of 6 months. Fiducials (3–5 were placed in or near tumors under CT-guidance. Non-isocentric treatment plans with 5-mm margins were generated. Patients received 45–60 Gy in 3 equal fractions delivered in less than 2 weeks. CT imaging and routine pulmonary function tests were completed at 3, 6, 12, 18, 24 and 30 months. Results Twenty-four consecutive patients were treated, 15 with stage I lung cancer and 9 with single lung metastases. Pneumothorax was a complication of fiducial placement in 7 patients, requiring tube thoracostomy in 4. All patients completed radiation treatment with minimal discomfort, few acute side effects and no procedure-related mortalities. Following treatment transient chest wall discomfort, typically lasting several weeks, developed in 7 of 11 patients with lesions within 5 mm of the pleura. Grade III pneumonitis was seen in 2 patients, one with prior conventional thoracic irradiation and the other treated with concurrent Gefitinib. A small statistically significant decline in the mean % predicted DLCO was observed at 6 and 12 months. All tumors responded to treatment at 3 months and local failure was seen in only 2 single metastases. There have been no regional lymph node recurrences. At a median follow-up of 12 months, the crude survival rate is 83%, with 3 deaths due to co-morbidities and 1 secondary to metastatic disease. Conclusion Radical stereotactic radiosurgery with real-time tumor motion tracking is a promising well-tolerated treatment option for small peripheral lung tumors.

A real-time dynamic-MLC control algorithm for delivering IMRT to targets undergoing 2D rigid motion in the beam's eye view

International Nuclear Information System (INIS)

McMahon, Ryan; Berbeco, Ross; Nishioka, Seiko; Ishikawa, Masayori; Papiez, Lech

2008-01-01

An MLC control algorithm for delivering intensity modulated radiation therapy (IMRT) to targets that are undergoing two-dimensional (2D) rigid motion in the beam's eye view (BEV) is presented. The goal of this method is to deliver 3D-derived fluence maps over a moving patient anatomy. Target motion measured prior to delivery is first used to design a set of planned dynamic-MLC (DMLC) sliding-window leaf trajectories. During actual delivery, the algorithm relies on real-time feedback to compensate for target motion that does not agree with the motion measured during planning. The methodology is based on an existing one-dimensional (1D) algorithm that uses on-the-fly intensity calculations to appropriately adjust the DMLC leaf trajectories in real-time during exposure delivery [McMahon et al., Med. Phys. 34, 3211-3223 (2007)]. To extend the 1D algorithm's application to 2D target motion, a real-time leaf-pair shifting mechanism has been developed. Target motion that is orthogonal to leaf travel is tracked by appropriately shifting the positions of all MLC leaves. The performance of the tracking algorithm was tested for a single beam of a fractionated IMRT treatment, using a clinically derived intensity profile and a 2D target trajectory based on measured patient data. Comparisons were made between 2D tracking, 1D tracking, and no tracking. The impact of the tracking lag time and the frequency of real-time imaging were investigated. A study of the dependence of the algorithm's performance on the level of agreement between the motion measured during planning and delivery was also included. Results demonstrated that tracking both components of the 2D motion (i.e., parallel and orthogonal to leaf travel) results in delivered fluence profiles that are superior to those that track the component of motion that is parallel to leaf travel alone. Tracking lag time effects may lead to relatively large intensity delivery errors compared to the other sources of error investigated

Accuracy of Real-time Couch Tracking During 3-dimensional Conformal Radiation Therapy, Intensity Modulated Radiation Therapy, and Volumetric Modulated Arc Therapy for Prostate Cancer

International Nuclear Information System (INIS)

Wilbert, Juergen; Baier, Kurt; Hermann, Christian; Flentje, Michael; Guckenberger, Matthias

2013-01-01

Purpose: To evaluate the accuracy of real-time couch tracking for prostate cancer. Methods and Materials: Intrafractional motion trajectories of 15 prostate cancer patients were the basis for this phantom study; prostate motion had been monitored with the Calypso System. An industrial robot moved a phantom along these trajectories, motion was detected via an infrared camera system, and the robotic HexaPOD couch was used for real-time counter-steering. Residual phantom motion during real-time tracking was measured with the infrared camera system. Film dosimetry was performed during delivery of 3-dimensional conformal radiation therapy (3D-CRT), step-and-shoot intensity modulated radiation therapy (IMRT), and volumetric modulated arc therapy (VMAT). Results: Motion of the prostate was largest in the anterior–posterior direction, with systematic (∑) and random (σ) errors of 2.3 mm and 2.9 mm, respectively; the prostate was outside a threshold of 5 mm (3D vector) for 25.0%±19.8% of treatment time. Real-time tracking reduced prostate motion to ∑=0.01 mm and σ = 0.55 mm in the anterior–posterior direction; the prostate remained within a 1-mm and 5-mm threshold for 93.9%±4.6% and 99.7%±0.4% of the time, respectively. Without real-time tracking, pass rates based on a γ index of 2%/2 mm in film dosimetry ranged between 66% and 72% for 3D-CRT, IMRT, and VMAT, on average. Real-time tracking increased pass rates to minimum 98% on average for 3D-CRT, IMRT, and VMAT. Conclusions: Real-time couch tracking resulted in submillimeter accuracy for prostate cancer, which transferred into high dosimetric accuracy independently of whether 3D-CRT, IMRT, or VMAT was used.

Real-time tracking of tumor motions and deformations along the leaf travel direction with the aid of a synchronized dynamic MLC leaf sequencer

International Nuclear Information System (INIS)

Tacke, Martin; Nill, Simeon; Oelfke, Uwe

2007-01-01

Advanced radiotherapeutical techniques like intensity-modulated radiation therapy (IMRT) are based on an accurate knowledge of the location of the radiation target. An accurate dose delivery, therefore, requires a method to account for the inter- and intrafractional target motion and the target deformation occurring during the course of treatment. A method to compensate in real time for changes in the position and shape of the target is the use of a dynamic multileaf collimator (MLC) technique which can be devised to automatically arrange the treatment field according to real-time image information. So far, various approaches proposed for leaf sequencers have had to rely on a priori known target motion data and have aimed to optimize the overall treatment time. Since for a real-time dose delivery the target motion is not known a priori, the velocity range of the leading leaves is restricted by a safety margin to c x v max while the following leaves can travel with an additional maximum speed to compensate for the respective target movements. Another aspect to be considered is the tongue and groove effect. A uniform radiation field can only be achieved if the leaf movements are synchronized. The method presented in this note is the first to combine a synchronizing sequencer and real-time tracking with a dynamic MLC. The newly developed algorithm is capable of online optimizing the leaf velocities by minimizing the overall treatment time while at the same time it synchronizes the leaf trajectories in order to avoid the tongue and groove effect. The simultaneous synchronization is performed with the help of an online-calculated mid-time leaf trajectory which is common for all leaf pairs and which takes into account the real-time target motion and deformation information. (note)

Real-time tracking of tumor motions and deformations along the leaf travel direction with the aid of a synchronized dynamic MLC leaf sequencer.

Science.gov (United States)

Tacke, Martin; Nill, Simeon; Oelfke, Uwe

2007-11-21

Advanced radiotherapeutical techniques like intensity-modulated radiation therapy (IMRT) are based on an accurate knowledge of the location of the radiation target. An accurate dose delivery, therefore, requires a method to account for the inter- and intrafractional target motion and the target deformation occurring during the course of treatment. A method to compensate in real time for changes in the position and shape of the target is the use of a dynamic multileaf collimator (MLC) technique which can be devised to automatically arrange the treatment field according to real-time image information. So far, various approaches proposed for leaf sequencers have had to rely on a priori known target motion data and have aimed to optimize the overall treatment time. Since for a real-time dose delivery the target motion is not known a priori, the velocity range of the leading leaves is restricted by a safety margin to c x v(max) while the following leaves can travel with an additional maximum speed to compensate for the respective target movements. Another aspect to be considered is the tongue and groove effect. A uniform radiation field can only be achieved if the leaf movements are synchronized. The method presented in this note is the first to combine a synchronizing sequencer and real-time tracking with a dynamic MLC. The newly developed algorithm is capable of online optimizing the leaf velocities by minimizing the overall treatment time while at the same time it synchronizes the leaf trajectories in order to avoid the tongue and groove effect. The simultaneous synchronization is performed with the help of an online-calculated mid-time leaf trajectory which is common for all leaf pairs and which takes into account the real-time target motion and deformation information.

Adaptive Radiation Therapy for Postprostatectomy Patients Using Real-Time Electromagnetic Target Motion Tracking During External Beam Radiation Therapy

Energy Technology Data Exchange (ETDEWEB)

Zhu, Mingyao [Department of Radiation Oncology, Washington University School of Medicine, Saint Louis, Missouri (United States); Bharat, Shyam [Philips Research North America, Briarcliff Manor, New York (United States); Michalski, Jeff M.; Gay, Hiram A. [Department of Radiation Oncology, Washington University School of Medicine, Saint Louis, Missouri (United States); Hou, Wei-Hsien [St Louis University School of Medicine, St Louis, Missouri (United States); Parikh, Parag J., E-mail: pparikh@radonc.wustl.edu [Department of Radiation Oncology, Washington University School of Medicine, Saint Louis, Missouri (United States)

2013-03-15

Purpose: Using real-time electromagnetic (EM) transponder tracking data recorded by the Calypso 4D Localization System, we report inter- and intrafractional target motion of the prostate bed, describe a strategy to evaluate treatment adequacy in postprostatectomy patients receiving intensity modulated radiation therapy (IMRT), and propose an adaptive workflow. Methods and Materials: Tracking data recorded by Calypso EM transponders was analyzed for postprostatectomy patients that underwent step-and-shoot IMRT. Rigid target motion parameters during beam delivery were calculated from recorded transponder positions in 16 patients with rigid transponder geometry. The delivered doses to the clinical target volume (CTV) were estimated from the planned dose matrix and the target motion for the first 3, 5, 10, and all fractions. Treatment adequacy was determined by comparing the delivered minimum dose (D{sub min}) with the planned D{sub min} to the CTV. Treatments were considered adequate if the delivered CTV D{sub min} is at least 95% of the planned CTV D{sub min}. Results: Translational target motion was minimal for all 16 patients (mean: 0.02 cm; range: −0.12 cm to 0.07 cm). Rotational motion was patient-specific, and maximum pitch, yaw, and roll were 12.2, 4.1, and 10.5°, respectively. We observed inadequate treatments in 5 patients. In these treatments, we observed greater target rotations along with large distances between the CTV centroid and transponder centroid. The treatment adequacy from the initial 10 fractions successfully predicted the overall adequacy in 4 of 5 inadequate treatments and 10 of 11 adequate treatments. Conclusion: Target rotational motion could cause underdosage to partial volume of the postprostatectomy targets. Our adaptive treatment strategy is applicable to post-prostatectomy patients receiving IMRT to evaluate and improve radiation therapy delivery.

SU-G-JeP4-12: Real-Time Organ Motion Monitoring Using Ultrasound and KV Fluoroscopy During Lung SBRT Delivery

International Nuclear Information System (INIS)

Omari, E; Tai, A; Li, X; Cooper, D; Lachaine, M

2016-01-01

Purpose: Real-time ultrasound monitoring during SBRT is advantageous in understanding and identifying motion irregularities which may cause geometric misses. In this work, we propose to utilize real-time ultrasound to track the diaphragm in conjunction with periodical kV fluoroscopy to monitor motion of tumor or landmarks during SBRT delivery. Methods: Transabdominal Ultrasound (TAUS) b-mode images were collected from 10 healthy volunteers using the Clarity Autoscan System (Elekta). The autoscan transducer, which has a center frequency of 5 MHz, was utilized for the scans. The acquired images were contoured using the Clarity Automatic Fusion and Contouring workstation software. Monitoring sessions of 5 minute length were observed and recorded. The position correlation between tumor and diaphragm could be established with periodic kV fluoroscopy periodically acquired during treatment with Elekta XVI. We acquired data using a tissue mimicking ultrasound phantom with embedded spheres placed on a motion stand using ultrasound and kV Fluoroscopy. MIM software was utilized for image fusion. Correlation of diaphragm and target motion was also validated using 4D-MRI and 4D-CBCT. Results: The diaphragm was visualized as a hyperechoic region on the TAUS b-mode images. Volunteer set-up can be adjusted such that TAUS probe will not interfere with treatment beams. A segment of the diaphragm was contoured and selected as our tracking structure. Successful monitoring sessions of the diaphragm were recorded. For some volunteers, diaphragm motion over 2 times larger than the initial motion has been observed during tracking. For the phantom study, we were able to register the 2D kV Fluoroscopy with the US images for position comparison. Conclusion: We demonstrated the feasibility of tracking the diaphragm using real-time ultrasound. Real-time tracking can help in identifying such irregularities in the respiratory motion which is correlated to tumor motion. We also showed the

PROMO – Real-time Prospective Motion Correction in MRI using Image-based Tracking

Science.gov (United States)

White, Nathan; Roddey, Cooper; Shankaranarayanan, Ajit; Han, Eric; Rettmann, Dan; Santos, Juan; Kuperman, Josh; Dale, Anders

2010-01-01

Artifacts caused by patient motion during scanning remain a serious problem in most MRI applications. The prospective motion correction technique attempts to address this problem at its source by keeping the measurement coordinate system fixed with respect to the patient throughout the entire scan process. In this study, a new image-based approach for prospective motion correction is described, which utilizes three orthogonal 2D spiral navigator acquisitions (SP-Navs) along with a flexible image-based tracking method based on the Extended Kalman Filter (EKF) algorithm for online motion measurement. The SP-Nav/EKF framework offers the advantages of image-domain tracking within patient-specific regions-of-interest and reduced sensitivity to off-resonance-induced corruption of rigid-body motion estimates. The performance of the method was tested using offline computer simulations and online in vivo head motion experiments. In vivo validation results covering a broad range of staged head motions indicate a steady-state error of the SP-Nav/EKF motion estimates of less than 10 % of the motion magnitude, even for large compound motions that included rotations over 15 degrees. A preliminary in vivo application in 3D inversion recovery spoiled gradient echo (IR-SPGR) and 3D fast spin echo (FSE) sequences demonstrates the effectiveness of the SP-Nav/EKF framework for correcting 3D rigid-body head motion artifacts prospectively in high-resolution 3D MRI scans. PMID:20027635

Operational tracking of lava lake surface motion at Kīlauea Volcano, Hawai‘i

Science.gov (United States)

Patrick, Matthew R.; Orr, Tim R.

2018-03-08

Surface motion is an important component of lava lake behavior, but previous studies of lake motion have been focused on short time intervals. In this study, we implement the first continuous, real-time operational routine for tracking lava lake surface motion, applying the technique to the persistent lava lake in Halema‘uma‘u Crater at the summit of Kīlauea Volcano, Hawai‘i. We measure lake motion by using images from a fixed thermal camera positioned on the crater rim, transmitting images to the Hawaiian Volcano Observatory (HVO) in real time. We use an existing optical flow toolbox in Matlab to calculate motion vectors, and we track the position of lava upwelling in the lake, as well as the intensity of spattering on the lake surface. Over the past 2 years, real-time tracking of lava lake surface motion at Halema‘uma‘u has been an important part of monitoring the lake’s activity, serving as another valuable tool in the volcano monitoring suite at HVO.

Free-breathing cardiac MR stress perfusion with real-time slice tracking.

Science.gov (United States)

Basha, Tamer A; Roujol, Sébastien; Kissinger, Kraig V; Goddu, Beth; Berg, Sophie; Manning, Warren J; Nezafat, Reza

2014-09-01

To develop a free-breathing cardiac MR perfusion sequence with slice tracking for use after physical exercise. We propose to use a leading navigator, placed immediately before each 2D slice acquisition, for tracking the respiratory motion and updating the slice location in real-time. The proposed sequence was used to acquire CMR perfusion datasets in 12 healthy adult subjects and 8 patients. Images were compared with the conventional perfusion (i.e., without slice tracking) results from the same subjects. The location and geometry of the myocardium were quantitatively analyzed, and the perfusion signal curves were calculated from both sequences to show the efficacy of the proposed sequence. The proposed sequence was significantly better compared with the conventional perfusion sequence in terms of qualitative image scores. Changes in the myocardial location and geometry decreased by 50% in the slice tracking sequence. Furthermore, the proposed sequence had signal curves that are smoother and less noisy. The proposed sequence significantly reduces the effect of the respiratory motion on the image acquisition in both rest and stress perfusion scans. Copyright © 2013 Wiley Periodicals, Inc.

Development of real-time tumor tracking system for stereotactic radiotherapy

International Nuclear Information System (INIS)

Yamanaka, Seiji; Sasagawa, Tsuyoshi; Uno, Yukimichi

2011-01-01

We are now developing the real-time tumor tracking system for stereotactic radiotherapy (SRT) to provide precise information on the location of a tumor and to reduce the irradiation to healthy tissue in a patient. The system has the following features: A motion tracking and processing unit recognizes a gold marker inserted in or near a tumor in real time by the pattern matching of a predetermined template image and acquired X-ray fluoroscopic images. When the gold marker is within a planned area, that is to say, when a tumor enters a target irradiation area, a gate signal is sent to a linear accelerator. A railway unit is equipped with two X-ray tubes and two detectors, which are controlled separately with their own drive mechanism. They travel with high accuracy and reproducibility to the best position for monitoring the gold marker. A synchronization controller controls the timing for X-ray fluoroscopy and the gate signals to the linear accelerator. The controller works for two types of detectors: a color X-ray detector and a flat panel detector (FPD). (author)

Real-time prediction of respiratory motion based on local regression methods

International Nuclear Information System (INIS)

Ruan, D; Fessler, J A; Balter, J M

2007-01-01

Recent developments in modulation techniques enable conformal delivery of radiation doses to small, localized target volumes. One of the challenges in using these techniques is real-time tracking and predicting target motion, which is necessary to accommodate system latencies. For image-guided-radiotherapy systems, it is also desirable to minimize sampling rates to reduce imaging dose. This study focuses on predicting respiratory motion, which can significantly affect lung tumours. Predicting respiratory motion in real-time is challenging, due to the complexity of breathing patterns and the many sources of variability. We propose a prediction method based on local regression. There are three major ingredients of this approach: (1) forming an augmented state space to capture system dynamics, (2) local regression in the augmented space to train the predictor from previous observation data using semi-periodicity of respiratory motion, (3) local weighting adjustment to incorporate fading temporal correlations. To evaluate prediction accuracy, we computed the root mean square error between predicted tumor motion and its observed location for ten patients. For comparison, we also investigated commonly used predictive methods, namely linear prediction, neural networks and Kalman filtering to the same data. The proposed method reduced the prediction error for all imaging rates and latency lengths, particularly for long prediction lengths

Real-time logo detection and tracking in video

Science.gov (United States)

George, M.; Kehtarnavaz, N.; Rahman, M.; Carlsohn, M.

2010-05-01

This paper presents a real-time implementation of a logo detection and tracking algorithm in video. The motivation of this work stems from applications on smart phones that require the detection of logos in real-time. For example, one application involves detecting company logos so that customers can easily get special offers in real-time. This algorithm uses a hybrid approach by initially running the Scale Invariant Feature Transform (SIFT) algorithm on the first frame in order to obtain the logo location and then by using an online calibration of color within the SIFT detected area in order to detect and track the logo in subsequent frames in a time efficient manner. The results obtained indicate that this hybrid approach allows robust logo detection and tracking to be achieved in real-time.

Real-time motion-adaptive-optimization (MAO) in TomoTherapy

Energy Technology Data Exchange (ETDEWEB)

Lu Weiguo; Chen Mingli; Ruchala, Kenneth J; Chen Quan; Olivera, Gustavo H [TomoTherapy Inc., 1240 Deming Way, Madison, WI (United States); Langen, Katja M; Kupelian, Patrick A [MD Anderson Cancer Center-Orlando, Orlando, FL (United States)], E-mail: wlu@tomotherapy.com

2009-07-21

IMRT delivery follows a planned leaf sequence, which is optimized before treatment delivery. However, it is hard to model real-time variations, such as respiration, in the planning procedure. In this paper, we propose a negative feedback system of IMRT delivery that incorporates real-time optimization to account for intra-fraction motion. Specifically, we developed a feasible workflow of real-time motion-adaptive-optimization (MAO) for TomoTherapy delivery. TomoTherapy delivery is characterized by thousands of projections with a fast projection rate and ultra-fast binary leaf motion. The technique of MAO-guided delivery calculates (i) the motion-encoded dose that has been delivered up to any given projection during the delivery and (ii) the future dose that will be delivered based on the estimated motion probability and future fluence map. These two pieces of information are then used to optimize the leaf open time of the upcoming projection right before its delivery. It consists of several real-time procedures, including 'motion detection and prediction', 'delivered dose accumulation', 'future dose estimation' and 'projection optimization'. Real-time MAO requires that all procedures are executed in time less than the duration of a projection. We implemented and tested this technique using a TomoTherapy (registered) research system. The MAO calculation took about 100 ms per projection. We calculated and compared MAO-guided delivery with two other types of delivery, motion-without-compensation delivery (MD) and static delivery (SD), using simulated 1D cases, real TomoTherapy plans and the motion traces from clinical lung and prostate patients. The results showed that the proposed technique effectively compensated for motion errors of all test cases. Dose distributions and DVHs of MAO-guided delivery approached those of SD, for regular and irregular respiration with a peak-to-peak amplitude of 3 cm, and for medium and large

Real-time motion-adaptive-optimization (MAO) in TomoTherapy

International Nuclear Information System (INIS)

Lu Weiguo; Chen Mingli; Ruchala, Kenneth J; Chen Quan; Olivera, Gustavo H; Langen, Katja M; Kupelian, Patrick A

2009-01-01

IMRT delivery follows a planned leaf sequence, which is optimized before treatment delivery. However, it is hard to model real-time variations, such as respiration, in the planning procedure. In this paper, we propose a negative feedback system of IMRT delivery that incorporates real-time optimization to account for intra-fraction motion. Specifically, we developed a feasible workflow of real-time motion-adaptive-optimization (MAO) for TomoTherapy delivery. TomoTherapy delivery is characterized by thousands of projections with a fast projection rate and ultra-fast binary leaf motion. The technique of MAO-guided delivery calculates (i) the motion-encoded dose that has been delivered up to any given projection during the delivery and (ii) the future dose that will be delivered based on the estimated motion probability and future fluence map. These two pieces of information are then used to optimize the leaf open time of the upcoming projection right before its delivery. It consists of several real-time procedures, including 'motion detection and prediction', 'delivered dose accumulation', 'future dose estimation' and 'projection optimization'. Real-time MAO requires that all procedures are executed in time less than the duration of a projection. We implemented and tested this technique using a TomoTherapy (registered) research system. The MAO calculation took about 100 ms per projection. We calculated and compared MAO-guided delivery with two other types of delivery, motion-without-compensation delivery (MD) and static delivery (SD), using simulated 1D cases, real TomoTherapy plans and the motion traces from clinical lung and prostate patients. The results showed that the proposed technique effectively compensated for motion errors of all test cases. Dose distributions and DVHs of MAO-guided delivery approached those of SD, for regular and irregular respiration with a peak-to-peak amplitude of 3 cm, and for medium and large prostate motions. The results conceptually

Three-Dimensional Intrafractional Motion of Breast During Tangential Breast Irradiation Monitored With High-Sampling Frequency Using a Real-Time Tumor-Tracking Radiotherapy System

International Nuclear Information System (INIS)

Kinoshita, Rumiko; Shimizu, Shinichi; Taguchi, Hiroshi; Katoh, Norio; Fujino, Masaharu; Onimaru, Rikiya; Aoyama, Hidefumi; Katoh, Fumi; Omatsu, Tokuhiko; Ishikawa, Masayori; Shirato, Hiroki

2008-01-01

Purpose: To evaluate the three-dimensional intrafraction motion of the breast during tangential breast irradiation using a real-time tracking radiotherapy (RT) system with a high-sampling frequency. Methods and Materials: A total of 17 patients with breast cancer who had received breast conservation RT were included in this study. A 2.0-mm gold marker was placed on the skin near the nipple of the breast for RT. A fluoroscopic real-time tumor-tracking RT system was used to monitor the marker. The range of motion of each patient was calculated in three directions. Results: The mean ± standard deviation of the range of respiratory motion was 1.0 ± 0.6 mm (median, 0.9; 95% confidence interval [CI] of the marker position, 0.4-2.6), 1.3 ± 0.5 mm (median, 1.1; 95% CI, 0.5-2.5), and 2.6 ± 1.4 (median, 2.3; 95% CI, 1.0-6.9) for the right-left, craniocaudal, and anteroposterior direction, respectively. No correlation was found between the range of motion and the body mass index or respiratory function. The mean ± standard deviation of the absolute value of the baseline shift in the right-left, craniocaudal, and anteroposterior direction was 0.2 ± 0.2 mm (range, 0.0-0.8 mm), 0.3 ± 0.2 mm (range, 0.0-0.7 mm), and 0.8 ± 0.7 mm (range, 0.1-1.8 mm), respectively. Conclusion: Both the range of motion and the baseline shift were within a few millimeters in each direction. As long as the conventional wedge-pair technique and the proper immobilization are used, the intrafraction three-dimensional change in the breast surface did not much influence the dose distribution

A Kinect-based real-time compressive tracking prototype system for amphibious spherical robots.

Science.gov (United States)

Pan, Shaowu; Shi, Liwei; Guo, Shuxiang

2015-04-08

A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT), which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V) tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

A Kinect-Based Real-Time Compressive Tracking Prototype System for Amphibious Spherical Robots

Directory of Open Access Journals (Sweden)

Shaowu Pan

2015-04-01

Full Text Available A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT, which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

Planning Study Comparison of Real-Time Target Tracking and Four-Dimensional Inverse Planning for Managing Patient Respiratory Motion

International Nuclear Information System (INIS)

Zhang Peng; Hugo, Geoffrey D.; Yan Di

2008-01-01

Purpose: Real-time target tracking (RT-TT) and four-dimensional inverse planning (4D-IP) are two potential methods to manage respiratory target motion. In this study, we evaluated each method using the cumulative dose-volume criteria in lung cancer radiotherapy. Methods and Materials: Respiration-correlated computed tomography scans were acquired for 4 patients. Deformable image registration was applied to generate a displacement mapping for each phase image of the respiration-correlated computed tomography images. First, the dose distribution for the organs of interest obtained from an idealized RT-TT technique was evaluated, assuming perfect knowledge of organ motion and beam tracking. Inverse planning was performed on each phase image separately. The treatment dose to the organs of interest was then accumulated from the optimized plans. Second, 4D-IP was performed using the probability density function of respiratory motion. The beam arrangement, prescription dose, and objectives were consistent in both planning methods. The dose-volume and equivalent uniform dose in the target volume, lung, heart, and spinal cord were used for the evaluation. Results: The cumulative dose in the target was similar for both techniques. The equivalent uniform dose of the lung, heart, and spinal cord was 4.6 ± 2.2, 11 ± 4.4, and 11 ± 6.6 Gy for RT-TT with a 0-mm target margin, 5.2 ± 3.1, 12 ± 5.9, and 12 ± 7.8 Gy for RT-TT with a 2-mm target margin, and 5.3 ± 2.3, 11.9 ± 5.0, and 12 ± 5.6 Gy for 4D-IP, respectively. Conclusion: The results of our study have shown that 4D-IP can achieve plans similar to those achieved by RT-TT. Considering clinical implementation, 4D-IP could be a more reliable and practical method to manage patient respiration-induced motion

Experimental investigation of a moving averaging algorithm for motion perpendicular to the leaf travel direction in dynamic MLC target tracking

Energy Technology Data Exchange (ETDEWEB)

Yoon, Jai-Woong; Sawant, Amit; Suh, Yelin; Cho, Byung-Chul; Suh, Tae-Suk; Keall, Paul [Department of Biomedical Engineering, College of Medicine, Catholic University of Korea, Seoul, Korea 131-700 and Research Institute of Biomedical Engineering, Catholic University of Korea, Seoul, 131-700 (Korea, Republic of); Department of Radiation Oncology, Stanford University, Stanford, California 94305 (United States); Department of Radiation Oncology, Stanford University, Stanford, California 94305 (United States) and Department of Radiation Oncology, Asan Medical Center, Seoul, 138-736 (Korea, Republic of); Department of Biomedical Engineering, College of Medicine, Catholic University of Korea, Seoul, 131-700 and Research Institute of Biomedical Engineering, Catholic University of Korea, Seoul, 131-700 (Korea, Republic of); Department of Radiation Oncology, Stanford University, Stanford, California 94305 (United States) and Radiation Physics Laboratory, Sydney Medical School, University of Sydney, 2006 (Australia)

2011-07-15

Purpose: In dynamic multileaf collimator (MLC) motion tracking with complex intensity-modulated radiation therapy (IMRT) fields, target motion perpendicular to the MLC leaf travel direction can cause beam holds, which increase beam delivery time by up to a factor of 4. As a means to balance delivery efficiency and accuracy, a moving average algorithm was incorporated into a dynamic MLC motion tracking system (i.e., moving average tracking) to account for target motion perpendicular to the MLC leaf travel direction. The experimental investigation of the moving average algorithm compared with real-time tracking and no compensation beam delivery is described. Methods: The properties of the moving average algorithm were measured and compared with those of real-time tracking (dynamic MLC motion tracking accounting for both target motion parallel and perpendicular to the leaf travel direction) and no compensation beam delivery. The algorithm was investigated using a synthetic motion trace with a baseline drift and four patient-measured 3D tumor motion traces representing regular and irregular motions with varying baseline drifts. Each motion trace was reproduced by a moving platform. The delivery efficiency, geometric accuracy, and dosimetric accuracy were evaluated for conformal, step-and-shoot IMRT, and dynamic sliding window IMRT treatment plans using the synthetic and patient motion traces. The dosimetric accuracy was quantified via a {gamma}-test with a 3%/3 mm criterion. Results: The delivery efficiency ranged from 89 to 100% for moving average tracking, 26%-100% for real-time tracking, and 100% (by definition) for no compensation. The root-mean-square geometric error ranged from 3.2 to 4.0 mm for moving average tracking, 0.7-1.1 mm for real-time tracking, and 3.7-7.2 mm for no compensation. The percentage of dosimetric points failing the {gamma}-test ranged from 4 to 30% for moving average tracking, 0%-23% for real-time tracking, and 10%-47% for no compensation

Experimental investigation of a moving averaging algorithm for motion perpendicular to the leaf travel direction in dynamic MLC target tracking.

Science.gov (United States)

Yoon, Jai-Woong; Sawant, Amit; Suh, Yelin; Cho, Byung-Chul; Suh, Tae-Suk; Keall, Paul

2011-07-01

In dynamic multileaf collimator (MLC) motion tracking with complex intensity-modulated radiation therapy (IMRT) fields, target motion perpendicular to the MLC leaf travel direction can cause beam holds, which increase beam delivery time by up to a factor of 4. As a means to balance delivery efficiency and accuracy, a moving average algorithm was incorporated into a dynamic MLC motion tracking system (i.e., moving average tracking) to account for target motion perpendicular to the MLC leaf travel direction. The experimental investigation of the moving average algorithm compared with real-time tracking and no compensation beam delivery is described. The properties of the moving average algorithm were measured and compared with those of real-time tracking (dynamic MLC motion tracking accounting for both target motion parallel and perpendicular to the leaf travel direction) and no compensation beam delivery. The algorithm was investigated using a synthetic motion trace with a baseline drift and four patient-measured 3D tumor motion traces representing regular and irregular motions with varying baseline drifts. Each motion trace was reproduced by a moving platform. The delivery efficiency, geometric accuracy, and dosimetric accuracy were evaluated for conformal, step-and-shoot IMRT, and dynamic sliding window IMRT treatment plans using the synthetic and patient motion traces. The dosimetric accuracy was quantified via a tgamma-test with a 3%/3 mm criterion. The delivery efficiency ranged from 89 to 100% for moving average tracking, 26%-100% for real-time tracking, and 100% (by definition) for no compensation. The root-mean-square geometric error ranged from 3.2 to 4.0 mm for moving average tracking, 0.7-1.1 mm for real-time tracking, and 3.7-7.2 mm for no compensation. The percentage of dosimetric points failing the gamma-test ranged from 4 to 30% for moving average tracking, 0%-23% for real-time tracking, and 10%-47% for no compensation. The delivery efficiency of

Real-time object tracking system based on field-programmable gate array and convolution neural network

Directory of Open Access Journals (Sweden)

Congyi Lyu

2016-12-01

Full Text Available Vision-based object tracking has lots of applications in robotics, like surveillance, navigation, motion capturing, and so on. However, the existing object tracking systems still suffer from the challenging problem of high computation consumption in the image processing algorithms. The problem can prevent current systems from being used in many robotic applications which have limitations of payload and power, for example, micro air vehicles. In these applications, the central processing unit- or graphics processing unit-based computers are not good choices due to the high weight and power consumption. To address the problem, this article proposed a real-time object tracking system based on field-programmable gate array, convolution neural network, and visual servo technology. The time-consuming image processing algorithms, such as distortion correction, color space convertor, and Sobel edge, Harris corner features detector, and convolution neural network were redesigned using the programmable gates in field-programmable gate array. Based on the field-programmable gate array-based image processing, an image-based visual servo controller was designed to drive a two degree of freedom manipulator to track the target in real time. Finally, experiments on the proposed system were performed to illustrate the effectiveness of the real-time object tracking system.

Real-Time and Accurate Indoor Localization with Fusion Model of Wi-Fi Fingerprint and Motion Particle Filter

Directory of Open Access Journals (Sweden)

Xinlong Jiang

2015-01-01

Full Text Available As the development of Indoor Location Based Service (Indoor LBS, a timely localization and smooth tracking with high accuracy are desperately needed. Unfortunately, any single method cannot meet the requirement of both high accuracy and real-time ability at the same time. In this paper, we propose a fusion location framework with Particle Filter using Wi-Fi signals and motion sensors. In this framework, we use Extreme Learning Machine (ELM regression algorithm to predict position based on motion sensors and use Wi-Fi fingerprint location result to solve the error accumulation of motion sensors based location occasionally with Particle Filter. The experiments show that the trajectory is smoother as the real one than the traditional Wi-Fi fingerprint method.

Real-time model for simulating a tracked vehicle on deformable soils

Directory of Open Access Journals (Sweden)

Martin Meywerk

2016-05-01

Full Text Available Simulation is one possibility to gain insight into the behaviour of tracked vehicles on deformable soils. A lot of publications are known on this topic, but most of the simulations described there cannot be run in real-time. The ability to run a simulation in real-time is necessary for driving simulators. This article describes an approach for real-time simulation of a tracked vehicle on deformable soils. The components of the real-time model are as follows: a conventional wheeled vehicle simulated in the Multi Body System software TRUCKSim, a geometric description of landscape, a track model and an interaction model between track and deformable soils based on Bekker theory and Janosi–Hanamoto, on one hand, and between track and vehicle wheels, on the other hand. Landscape, track model, soil model and the interaction are implemented in MATLAB/Simulink. The details of the real-time model are described in this article, and a detailed description of the Multi Body System part is omitted. Simulations with the real-time model are compared to measurements and to a detailed Multi Body System–finite element method model of a tracked vehicle. An application of the real-time model in a driving simulator is presented, in which 13 drivers assess the comfort of a passive and an active suspension of a tracked vehicle.

Measuring Sea-Ice Motion in the Arctic with Real Time Photogrammetry

Science.gov (United States)

Brozena, J. M.; Hagen, R. A.; Peters, M. F.; Liang, R.; Ball, D.

2014-12-01

The U.S. Naval Research Laboratory, in coordination with other groups, has been collecting sea-ice data in the Arctic off the north coast of Alaska with an airborne system employing a radar altimeter, LiDAR and a photogrammetric camera in an effort to obtain wide swaths of measurements coincident with Cryosat-2 footprints. Because the satellite tracks traverse areas of moving pack ice, precise real-time estimates of the ice motion are needed to fly a survey grid that will yield complete data coverage. This requirement led us to develop a method to find the ice motion from the aircraft during the survey. With the advent of real-time orthographic photogrammetric systems, we developed a system that measures the sea ice motion in-flight, and also permits post-process modeling of sea ice velocities to correct the positioning of radar and LiDAR data. For the 2013 and 2014 field seasons, we used this Real Time Ice Motion Estimation (RTIME) system to determine ice motion using Applanix's Inflight Ortho software with an Applanix DSS439 system. Operationally, a series of photos were taken in the survey area. The aircraft then turned around and took more photos along the same line several minutes later. Orthophotos were generated within minutes of collection and evaluated by custom software to find photo footprints and potential overlap. Overlapping photos were passed to the correlation software, which selects a series of "chips" in the first photo and looks for the best matches in the second photo. The correlation results are then passed to a density-based clustering algorithm to determine the offset of the photo pair. To investigate any systematic errors in the photogrammetry, we flew several flight lines over a fixed point on various headings, over an area of non-moving ice in 2013. The orthophotos were run through the correlation software to find any residual offsets, and run through additional software to measure chip positions and offsets relative to the aircraft

Nonlinear Motion Tracking by Deep Learning Architecture

Science.gov (United States)

Verma, Arnav; Samaiya, Devesh; Gupta, Karunesh K.

2018-03-01

In the world of Artificial Intelligence, object motion tracking is one of the major problems. The extensive research is being carried out to track people in crowd. This paper presents a unique technique for nonlinear motion tracking in the absence of prior knowledge of nature of nonlinear path that the object being tracked may follow. We achieve this by first obtaining the centroid of the object and then using the centroid as the current example for a recurrent neural network trained using real-time recurrent learning. We have tweaked the standard algorithm slightly and have accumulated the gradient for few previous iterations instead of using just the current iteration as is the norm. We show that for a single object, such a recurrent neural network is highly capable of approximating the nonlinearity of its path.

Real-time non-rigid target tracking for ultrasound-guided clinical interventions

Science.gov (United States)

Zachiu, C.; Ries, M.; Ramaekers, P.; Guey, J.-L.; Moonen, C. T. W.; de Senneville, B. Denis

2017-10-01

Biological motion is a problem for non- or mini-invasive interventions when conducted in mobile/deformable organs due to the targeted pathology moving/deforming with the organ. This may lead to high miss rates and/or incomplete treatment of the pathology. Therefore, real-time tracking of the target anatomy during the intervention would be beneficial for such applications. Since the aforementioned interventions are often conducted under B-mode ultrasound (US) guidance, target tracking can be achieved via image registration, by comparing the acquired US images to a separate image established as positional reference. However, such US images are intrinsically altered by speckle noise, introducing incoherent gray-level intensity variations. This may prove problematic for existing intensity-based registration methods. In the current study we address US-based target tracking by employing the recently proposed EVolution registration algorithm. The method is, by construction, robust to transient gray-level intensities. Instead of directly matching image intensities, EVolution aligns similar contrast patterns in the images. Moreover, the displacement is computed by evaluating a matching criterion for image sub-regions rather than on a point-by-point basis, which typically provides more robust motion estimates. However, unlike similar previously published approaches, which assume rigid displacements in the image sub-regions, the EVolution algorithm integrates the matching criterion in a global functional, allowing the estimation of an elastic dense deformation. The approach was validated for soft tissue tracking under free-breathing conditions on the abdomen of seven healthy volunteers. Contact echography was performed on all volunteers, while three of the volunteers also underwent standoff echography. Each of the two modalities is predominantly specific to a particular type of non- or mini-invasive clinical intervention. The method demonstrated on average an accuracy of�

Combined kV and MV imaging for real-time tracking of implanted fiducial markers

International Nuclear Information System (INIS)

Wiersma, R. D.; Mao Weihua; Xing, L.

2008-01-01

In the presence of intrafraction organ motion, target localization uncertainty can greatly hamper the advantage of highly conformal dose techniques such as intensity modulated radiation therapy (IMRT). To minimize the adverse dosimetric effect caused by tumor motion, a real-time knowledge of the tumor position is required throughout the beam delivery process. The recent integration of onboard kV diagnostic imaging together with MV electronic portal imaging devices on linear accelerators can allow for real-time three-dimensional (3D) tumor position monitoring during a treatment delivery. The aim of this study is to demonstrate a near real-time 3D internal fiducial tracking system based on the combined use of kV and MV imaging. A commercially available radiotherapy system equipped with both kV and MV imaging systems was used in this work. A hardware video frame grabber was used to capture both kV and MV video streams simultaneously through independent video channels at 30 frames per second. The fiducial locations were extracted from the kV and MV images using a software tool. The geometric tracking capabilities of the system were evaluated using a pelvic phantom with embedded fiducials placed on a moveable stage. The maximum tracking speed of the kV/MV system is approximately 9 Hz, which is primarily limited by the frame rate of the MV imager. The geometric accuracy of the system is found to be on the order of less than 1 mm in all three spatial dimensions. The technique requires minimal hardware modification and is potentially useful for image-guided radiation therapy systems

Self-Motion Impairs Multiple-Object Tracking

Science.gov (United States)

Thomas, Laura E.; Seiffert, Adriane E.

2010-01-01

Investigations of multiple-object tracking aim to further our understanding of how people perform common activities such as driving in traffic. However, tracking tasks in the laboratory have overlooked a crucial component of much real-world object tracking: self-motion. We investigated the hypothesis that keeping track of one's own movement…

Real-time resource allocation for tracking systems

NARCIS (Netherlands)

Satsangi, Y.; Whiteson, S.; Oliehoek, F.A.; Bouma, H.

2017-01-01

Automated tracking is key to many computer vision applications. However, many tracking systems struggle to perform in real-time due to the high computational cost of detecting people, especially in ultra high resolution images. We propose a new algorithm called PartiMax that greatly reduces this

Real-time automatic fiducial marker tracking in low contrast cine-MV images

International Nuclear Information System (INIS)

Lin, Wei-Yang; Lin, Shu-Fang; Yang, Sheng-Chang; Liou, Shu-Cheng; Nath, Ravinder; Liu Wu

2013-01-01

Purpose: To develop a real-time automatic method for tracking implanted radiographic markers in low-contrast cine-MV patient images used in image-guided radiation therapy (IGRT). Methods: Intrafraction motion tracking using radiotherapy beam-line MV images have gained some attention recently in IGRT because no additional imaging dose is introduced. However, MV images have much lower contrast than kV images, therefore a robust and automatic algorithm for marker detection in MV images is a prerequisite. Previous marker detection methods are all based on template matching or its derivatives. Template matching needs to match object shape that changes significantly for different implantation and projection angle. While these methods require a large number of templates to cover various situations, they are often forced to use a smaller number of templates to reduce the computation load because their methods all require exhaustive search in the region of interest. The authors solve this problem by synergetic use of modern but well-tested computer vision and artificial intelligence techniques; specifically the authors detect implanted markers utilizing discriminant analysis for initialization and use mean-shift feature space analysis for sequential tracking. This novel approach avoids exhaustive search by exploiting the temporal correlation between consecutive frames and makes it possible to perform more sophisticated detection at the beginning to improve the accuracy, followed by ultrafast sequential tracking after the initialization. The method was evaluated and validated using 1149 cine-MV images from two prostate IGRT patients and compared with manual marker detection results from six researchers. The average of the manual detection results is considered as the ground truth for comparisons. Results: The average root-mean-square errors of our real-time automatic tracking method from the ground truth are 1.9 and 2.1 pixels for the two patients (0.26 mm/pixel). The

Real-time automatic fiducial marker tracking in low contrast cine-MV images

Energy Technology Data Exchange (ETDEWEB)

Lin, Wei-Yang; Lin, Shu-Fang; Yang, Sheng-Chang; Liou, Shu-Cheng; Nath, Ravinder; Liu Wu [Department of Computer Science and Information Engineering, National Chung Cheng University, Taiwan, 62102 (China); Department of Therapeutic Radiology, Yale University School of Medicine, New Haven, Connecticut 06510-3220 (United States)

2013-01-15

Purpose: To develop a real-time automatic method for tracking implanted radiographic markers in low-contrast cine-MV patient images used in image-guided radiation therapy (IGRT). Methods: Intrafraction motion tracking using radiotherapy beam-line MV images have gained some attention recently in IGRT because no additional imaging dose is introduced. However, MV images have much lower contrast than kV images, therefore a robust and automatic algorithm for marker detection in MV images is a prerequisite. Previous marker detection methods are all based on template matching or its derivatives. Template matching needs to match object shape that changes significantly for different implantation and projection angle. While these methods require a large number of templates to cover various situations, they are often forced to use a smaller number of templates to reduce the computation load because their methods all require exhaustive search in the region of interest. The authors solve this problem by synergetic use of modern but well-tested computer vision and artificial intelligence techniques; specifically the authors detect implanted markers utilizing discriminant analysis for initialization and use mean-shift feature space analysis for sequential tracking. This novel approach avoids exhaustive search by exploiting the temporal correlation between consecutive frames and makes it possible to perform more sophisticated detection at the beginning to improve the accuracy, followed by ultrafast sequential tracking after the initialization. The method was evaluated and validated using 1149 cine-MV images from two prostate IGRT patients and compared with manual marker detection results from six researchers. The average of the manual detection results is considered as the ground truth for comparisons. Results: The average root-mean-square errors of our real-time automatic tracking method from the ground truth are 1.9 and 2.1 pixels for the two patients (0.26 mm/pixel). The

Observations on Real-Time Prostate Gland Motion Using Electromagnetic Tracking

International Nuclear Information System (INIS)

Langen, Katja M.; Willoughby, Twyla R.; Meeks, Sanford L.; Santhanam, Anand; Cunningham, Alexis; Levine, Lisa; Kupelian, Patrick A.

2008-01-01

Purpose: To quantify and describe the real-time movement of the prostate gland in a large data set of patients treated with radiotherapy. Methods and Materials: The Calypso four-dimensional localization system was used for target localization in 17 patients, with electromagnetic markers implanted in the prostate of each patient. We analyzed a total of 550 continuous tracking sessions. The fraction of time that the prostate was displaced by >3, >5, >7, and >10 mm was calculated for each session and patient. The frequencies of displacements after initial patient positioning were analyzed over time. Results: Averaged over all patients, the prostate was displaced >3 and >5 mm for 13.6% and 3.3% of the total treatment time, respectively. For individual patients, the corresponding maximal values were 36.2% and 10.9%. For individual fractions, the corresponding maximal values were 98.7% and 98.6%. Displacements >3 mm were observed at 5 min after initial alignment in about one-eighth of the observations, and increased to one-quarter by 10 min. For individual patients, the maximal value of the displacements >3 mm at 5 and 10 min after initial positioning was 43% and 75%, respectively. Conclusion: On average, the prostate was displaced by >3 mm and >5 mm approximately 14% and 3% of the time, respectively. For individual patients, these values were up to three times greater. After the initial positioning, the likelihood of displacement of the prostate gland increased with elapsed time. This highlights the importance of initiating treatment shortly after initially positioning the patient

Real-Time Target Motion Animation for Missile Warning System Testing

Science.gov (United States)

2006-04-01

T. Perkins, R. Sundberg, J. Cordell, Z. Tun , and M. Owen, Real-time Target Motion Animation for Missile Warning System Testing, Proc. SPIE Vol 6208...Z39-18 Real-time target motion animation for missile warning system testing Timothy Perkins*a, Robert Sundberga, John Cordellb, Zaw Tunb, Mark

Automatic multimodal real-time tracking for image plane alignment in interventional Magnetic Resonance Imaging

International Nuclear Information System (INIS)

Neumann, Markus

2014-01-01

Interventional magnetic resonance imaging (MRI) aims at performing minimally invasive percutaneous interventions, such as tumor ablations and biopsies, under MRI guidance. During such interventions, the acquired MR image planes are typically aligned to the surgical instrument (needle) axis and to surrounding anatomical structures of interest in order to efficiently monitor the advancement in real-time of the instrument inside the patient's body. Object tracking inside the MRI is expected to facilitate and accelerate MR-guided interventions by allowing to automatically align the image planes to the surgical instrument. In this PhD thesis, an image-based work-flow is proposed and refined for automatic image plane alignment. An automatic tracking work-flow was developed, performing detection and tracking of a passive marker directly in clinical real-time images. This tracking work-flow is designed for fully automated image plane alignment, with minimization of tracking-dedicated time. Its main drawback is its inherent dependence on the slow clinical MRI update rate. First, the addition of motion estimation and prediction with a Kalman filter was investigated and improved the work-flow tracking performance. Second, a complementary optical sensor was used for multi-sensor tracking in order to decouple the tracking update rate from the MR image acquisition rate. Performance of the work-flow was evaluated with both computer simulations and experiments using an MR compatible test bed. Results show a high robustness of the multi-sensor tracking approach for dynamic image plane alignment, due to the combination of the individual strengths of each sensor. (author)

Self-motion perception: assessment by real-time computer-generated animations

Science.gov (United States)

Parker, D. E.; Phillips, J. O.

2001-01-01

We report a new procedure for assessing complex self-motion perception. In three experiments, subjects manipulated a 6 degree-of-freedom magnetic-field tracker which controlled the motion of a virtual avatar so that its motion corresponded to the subjects' perceived self-motion. The real-time animation created by this procedure was stored using a virtual video recorder for subsequent analysis. Combined real and illusory self-motion and vestibulo-ocular reflex eye movements were evoked by cross-coupled angular accelerations produced by roll and pitch head movements during passive yaw rotation in a chair. Contrary to previous reports, illusory self-motion did not correspond to expectations based on semicircular canal stimulation. Illusory pitch head-motion directions were as predicted for only 37% of trials; whereas, slow-phase eye movements were in the predicted direction for 98% of the trials. The real-time computer-generated animations procedure permits use of naive, untrained subjects who lack a vocabulary for reporting motion perception and is applicable to basic self-motion perception studies, evaluation of motion simulators, assessment of balance disorders and so on.

A comparison of gantry-mounted x-ray-based real-time target tracking methods.

Science.gov (United States)

Montanaro, Tim; Nguyen, Doan Trang; Keall, Paul J; Booth, Jeremy; Caillet, Vincent; Eade, Thomas; Haddad, Carol; Shieh, Chun-Chien

2018-03-01

Most modern radiotherapy machines are built with a 2D kV imaging system. Combining this imaging system with a 2D-3D inference method would allow for a ready-made option for real-time 3D tumor tracking. This work investigates and compares the accuracy of four existing 2D-3D inference methods using both motion traces inferred from external surrogates and measured internally from implanted beacons. Tumor motion data from 160 fractions (46 thoracic/abdominal patients) of Synchrony traces (inferred traces), and 28 fractions (7 lung patients) of Calypso traces (internal traces) from the LIGHT SABR trial (NCT02514512) were used in this study. The motion traces were used as the ground truth. The ground truth trajectories were used in silico to generate 2D positions projected on the kV detector. These 2D traces were then passed to the 2D-3D inference methods: interdimensional correlation, Gaussian probability density function (PDF), arbitrary-shape PDF, and the Kalman filter. The inferred 3D positions were compared with the ground truth to determine tracking errors. The relationships between tracking error and motion magnitude, interdimensional correlation, and breathing periodicity index (BPI) were also investigated. Larger tracking errors were observed from the Calypso traces, with RMS and 95th percentile 3D errors of 0.84-1.25 mm and 1.72-2.64 mm, compared to 0.45-0.68 mm and 0.74-1.13 mm from the Synchrony traces. The Gaussian PDF method was found to be the most accurate, followed by the Kalman filter, the interdimensional correlation method, and the arbitrary-shape PDF method. Tracking error was found to strongly and positively correlate with motion magnitude for both the Synchrony and Calypso traces and for all four methods. Interdimensional correlation and BPI were found to negatively correlate with tracking error only for the Synchrony traces. The Synchrony traces exhibited higher interdimensional correlation than the Calypso traces especially in the anterior

Tumor tracking and motion compensation with an adaptive tumor tracking system (ATTS): System description and prototype testing

International Nuclear Information System (INIS)

Wilbert, Juergen; Meyer, Juergen; Baier, Kurt; Guckenberger, Matthias; Herrmann, Christian; Hess, Robin; Janka, Christian; Ma Lei; Mersebach, Torben; Richter, Anne; Roth, Michael; Schilling, Klaus; Flentje, Michael

2008-01-01

A novel system for real-time tumor tracking and motion compensation with a robotic HexaPOD treatment couch is described. The approach is based on continuous tracking of the tumor motion in portal images without implanted fiducial markers, using the therapeutic megavoltage beam, and tracking of abdominal breathing motion with optical markers. Based on the two independently acquired data sets the table movements for motion compensation are calculated. The principle of operation of the entire prototype system is detailed first. In the second part the performance of the HexaPOD couch was investigated with a robotic four-dimensional-phantom capable of simulating real patient tumor trajectories in three-dimensional space. The performance and limitations of the HexaPOD table and the control system were characterized in terms of its dynamic behavior. The maximum speed and acceleration of the HexaPOD were 8 mm/s and 34.5 mm/s 2 in the lateral direction, and 9.5 mm/s and 29.5 mm/s 2 in longitudinal and anterior-posterior direction, respectively. Base line drifts of the mean tumor position of realistic lung tumor trajectories could be fully compensated. For continuous tumor tracking and motion compensation a reduction of tumor motion up to 68% of the original amplitude was achieved. In conclusion, this study demonstrated that it is technically feasible to compensate breathing induced tumor motion in the lung with the adaptive tumor tracking system

SU-G-JeP1-11: Feasibility Study of Markerless Tracking Using Dual Energy Fluoroscopic Images for Real-Time Tumor-Tracking Radiotherapy System

Energy Technology Data Exchange (ETDEWEB)

Shiinoki, T; Shibuya, K [Yamaguchi University, Ube, Yamaguchi (Japan); Sawada, A [Kyoto college of medical science, Nantan, Kyoto (Japan); Uehara, T; Yuasa, Y; Koike, M; Kawamura, S [Yamaguchi University Hospital, Ube, Yamaguchi (Japan)

2016-06-15

Purpose: The new real-time tumor-tracking radiotherapy (RTRT) system was installed in our institution. This system consists of two x-ray tubes and color image intensifiers (I.I.s). The fiducial marker which was implanted near the tumor was tracked using color fluoroscopic images. However, the implantation of the fiducial marker is very invasive. Color fluoroscopic images enable to increase the recognition of the tumor. However, these images were not suitable to track the tumor without fiducial marker. The purpose of this study was to investigate the feasibility of markerless tracking using dual energy colored fluoroscopic images for real-time tumor-tracking radiotherapy system. Methods: The colored fluoroscopic images of static and moving phantom that had the simulated tumor (30 mm diameter sphere) were experimentally acquired using the RTRT system. The programmable respiratory motion phantom was driven using the sinusoidal pattern in cranio-caudal direction (Amplitude: 20 mm, Time: 4 s). The x-ray condition was set to 55 kV, 50 mA and 105 kV, 50 mA for low energy and high energy, respectively. Dual energy images were calculated based on the weighted logarithmic subtraction of high and low energy images of RGB images. The usefulness of dual energy imaging for real-time tracking with an automated template image matching algorithm was investigated. Results: Our proposed dual energy subtraction improve the contrast between tumor and background to suppress the bone structure. For static phantom, our results showed that high tracking accuracy using dual energy subtraction images. For moving phantom, our results showed that good tracking accuracy using dual energy subtraction images. However, tracking accuracy was dependent on tumor position, tumor size and x-ray conditions. Conclusion: We indicated that feasibility of markerless tracking using dual energy fluoroscopic images for real-time tumor-tracking radiotherapy system. Furthermore, it is needed to investigate the

Robust Myocardial Motion Tracking for Echocardiography: Variational Framework Integrating Local-to-Global Deformation

Directory of Open Access Journals (Sweden)

Chi Young Ahn

2013-01-01

Full Text Available This paper proposes a robust real-time myocardial border tracking algorithm for echocardiography. Commonly, after an initial contour of LV border is traced at one or two frames from the entire cardiac cycle, LV contour tracking is performed over the remaining frames. Among a variety of tracking techniques, optical flow method is the most widely used for motion estimation of moving objects. However, when echocardiography data is heavily corrupted in some local regions, the errors bring the tracking point out of the endocardial border, resulting in distorted LV contours. This shape distortion often occurs in practice since the data acquisition is affected by ultrasound artifacts, dropouts, or shadowing phenomena of cardiac walls. The proposed method is designed to deal with this shape distortion problem by integrating local optical flow motion and global deformation into a variational framework. The proposed descent method controls the individual tracking points to follow the local motions of a specific speckle pattern, while their overall motions are confined to the global motion constraint being approximately an affine transform of the initial tracking points. Many real experiments show that the proposed method achieves better overall performance than conventional methods.

Real-time 3D internal marker tracking during arc radiotherapy by the use of combined MV-kV imaging.

Science.gov (United States)

Liu, W; Wiersma, R D; Mao, W; Luxton, G; Xing, L

2008-12-21

To minimize the adverse dosimetric effect caused by tumor motion, it is desirable to have real-time knowledge of the tumor position throughout the beam delivery process. A promising technique to realize the real-time image guided scheme in external beam radiation therapy is through the combined use of MV and onboard kV beam imaging. The success of this MV-kV triangulation approach for fixed-gantry radiation therapy has been demonstrated. With the increasing acceptance of modern arc radiotherapy in the clinics, a timely and clinically important question is whether the image guidance strategy can be extended to arc therapy to provide the urgently needed real-time tumor motion information. While conceptually feasible, there are a number of theoretical and practical issues specific to the arc delivery that need to be resolved before clinical implementation. The purpose of this work is to establish a robust procedure of system calibration for combined MV and kV imaging for internal marker tracking during arc delivery and to demonstrate the feasibility and accuracy of the technique. A commercially available LINAC equipped with an onboard kV imager and electronic portal imaging device (EPID) was used for the study. A custom built phantom with multiple ball bearings was used to calibrate the stereoscopic MV-kV imaging system to provide the transformation parameters from imaging pixels to 3D world coordinates. The accuracy of the fiducial tracking system was examined using a 4D motion phantom capable of moving in accordance with a pre-programmed trajectory. Overall, spatial accuracy of MV-kV fiducial tracking during the arc delivery process for normal adult breathing amplitude and period was found to be better than 1 mm. For fast motion, the results depended on the imaging frame rates. The RMS error ranged from approximately 0.5 mm for the normal adult breathing pattern to approximately 1.5 mm for more extreme cases with a low imaging frame rate of 3.4 Hz. In general

Real-time 3D internal marker tracking during arc radiotherapy by the use of combined MV-kV imaging

International Nuclear Information System (INIS)

Liu, W; Wiersma, R D; Mao, W; Luxton, G; Xing, L

2008-01-01

To minimize the adverse dosimetric effect caused by tumor motion, it is desirable to have real-time knowledge of the tumor position throughout the beam delivery process. A promising technique to realize the real-time image guided scheme in external beam radiation therapy is through the combined use of MV and onboard kV beam imaging. The success of this MV-kV triangulation approach for fixed-gantry radiation therapy has been demonstrated. With the increasing acceptance of modern arc radiotherapy in the clinics, a timely and clinically important question is whether the image guidance strategy can be extended to arc therapy to provide the urgently needed real-time tumor motion information. While conceptually feasible, there are a number of theoretical and practical issues specific to the arc delivery that need to be resolved before clinical implementation. The purpose of this work is to establish a robust procedure of system calibration for combined MV and kV imaging for internal marker tracking during arc delivery and to demonstrate the feasibility and accuracy of the technique. A commercially available LINAC equipped with an onboard kV imager and electronic portal imaging device (EPID) was used for the study. A custom built phantom with multiple ball bearings was used to calibrate the stereoscopic MV-kV imaging system to provide the transformation parameters from imaging pixels to 3D world coordinates. The accuracy of the fiducial tracking system was examined using a 4D motion phantom capable of moving in accordance with a pre-programmed trajectory. Overall, spatial accuracy of MV-kV fiducial tracking during the arc delivery process for normal adult breathing amplitude and period was found to be better than 1 mm. For fast motion, the results depended on the imaging frame rates. The RMS error ranged from ∼0.5 mm for the normal adult breathing pattern to ∼1.5 mm for more extreme cases with a low imaging frame rate of 3.4 Hz. In general, highly accurate real-time

The dosimetric impact of inversely optimized arc radiotherapy plan modulation for real-time dynamic MLC tracking delivery

International Nuclear Information System (INIS)

Falk, Marianne; Larsson, Tobias; Keall, Paul; Chul Cho, Byung; Aznar, Marianne; Korreman, Stine; Poulsen, Per; Munck af Rosenschoeld, Per

2012-01-01

Purpose: Real-time dynamic multileaf collimator (MLC) tracking for management of intrafraction tumor motion can be challenging for highly modulated beams, as the leaves need to travel far to adjust for target motion perpendicular to the leaf travel direction. The plan modulation can be reduced by using a leaf position constraint (LPC) that reduces the difference in the position of adjacent MLC leaves in the plan. The purpose of this study was to investigate the impact of the LPC on the quality of inversely optimized arc radiotherapy plans and the effect of the MLC motion pattern on the dosimetric accuracy of MLC tracking delivery. Specifically, the possibility of predicting the accuracy of MLC tracking delivery based on the plan modulation was investigated. Methods: Inversely optimized arc radiotherapy plans were created on CT-data of three lung cancer patients. For each case, five plans with a single 358 deg. arc were generated with LPC priorities of 0 (no LPC), 0.25, 0.5, 0.75, and 1 (highest possible LPC), respectively. All the plans had a prescribed dose of 2 Gy x 30, used 6 MV, a maximum dose rate of 600 MU/min and a collimator angle of 45 deg. or 315 deg. To quantify the plan modulation, an average adjacent leaf distance (ALD) was calculated by averaging the mean adjacent leaf distance for each control point. The linear relationship between the plan quality [i.e., the calculated dose distributions and the number of monitor units (MU)] and the LPC was investigated, and the linear regression coefficient as well as a two tailed confidence level of 95% was used in the evaluation. The effect of the plan modulation on the performance of MLC tracking was tested by delivering the plans to a cylindrical diode array phantom moving with sinusoidal motion in the superior-inferior direction with a peak-to-peak displacement of 2 cm and a cycle time of 6 s. The delivery was adjusted to the target motion using MLC tracking, guided in real-time by an infrared optical system

FPGA Implementation of Real-Time Ethernet for Motion Control

Directory of Open Access Journals (Sweden)

Chen Youdong

2013-01-01

Full Text Available This paper provides an applicable implementation of real-time Ethernet named CASNET, which modifies the Ethernet medium access control (MAC to achieve the real-time requirement for motion control. CASNET is the communication protocol used for motion control system. Verilog hardware description language (VHDL has been used in the MAC logic design. The designed MAC serves as one of the intellectual properties (IPs and is applicable to various industrial controllers. The interface of the physical layer is RJ45. The other layers have been implemented by using C programs. The real-time Ethernet has been implemented by using field programmable gate array (FPGA technology and the proposed solution has been tested through the cycle time, synchronization accuracy, and Wireshark testing.

Strain measurement of abdominal aortic aneurysm with real-time 3D ultrasound speckle tracking.

Science.gov (United States)

Bihari, P; Shelke, A; Nwe, T H; Mularczyk, M; Nelson, K; Schmandra, T; Knez, P; Schmitz-Rixen, T

2013-04-01

Abdominal aortic aneurysm rupture is caused by mechanical vascular tissue failure. Although mechanical properties within the aneurysm vary, currently available ultrasound methods assess only one cross-sectional segment of the aorta. This study aims to establish real-time 3-dimensional (3D) speckle tracking ultrasound to explore local displacement and strain parameters of the whole abdominal aortic aneurysm. Validation was performed on a silicone aneurysm model, perfused in a pulsatile artificial circulatory system. Wall motion of the silicone model was measured simultaneously with a commercial real-time 3D speckle tracking ultrasound system and either with laser-scan micrometry or with video photogrammetry. After validation, 3D ultrasound data were collected from abdominal aortic aneurysms of five patients and displacement and strain parameters were analysed. Displacement parameters measured in vitro by 3D ultrasound and laser scan micrometer or video analysis were significantly correlated at pulse pressures between 40 and 80 mmHg. Strong local differences in displacement and strain were identified within the aortic aneurysms of patients. Local wall strain of the whole abdominal aortic aneurysm can be analysed in vivo with real-time 3D ultrasound speckle tracking imaging, offering the prospect of individual non-invasive rupture risk analysis of abdominal aortic aneurysms. Copyright © 2013 European Society for Vascular Surgery. Published by Elsevier Ltd. All rights reserved.

Intrafractional Baseline Shift or Drift of Lung Tumor Motion During Gated Radiation Therapy With a Real-Time Tumor-Tracking System

International Nuclear Information System (INIS)

Takao, Seishin; Miyamoto, Naoki; Matsuura, Taeko; Onimaru, Rikiya; Katoh, Norio; Inoue, Tetsuya; Sutherland, Kenneth Lee; Suzuki, Ryusuke; Shirato, Hiroki; Shimizu, Shinichi

2016-01-01

Purpose: To investigate the frequency and amplitude of baseline shift or drift (shift/drift) of lung tumors in stereotactic body radiation therapy (SBRT), using a real-time tumor-tracking radiation therapy (RTRT) system. Methods and Materials: Sixty-eight patients with peripheral lung tumors were treated with SBRT using the RTRT system. One of the fiducial markers implanted near the tumor was used for the real-time monitoring of the intrafractional tumor motion every 0.033 seconds by the RTRT system. When baseline shift/drift is determined by the system, the position of the treatment couch is adjusted to compensate for the shift/drift. Therefore, the changes in the couch position correspond to the baseline shift/drift in the tumor motion. The frequency and amount of adjustment to the couch positions in the left-right (LR), cranio-caudal (CC), and antero-posterior (AP) directions have been analyzed for 335 fractions administered to 68 patients. Results: The average change in position of the treatment couch during the treatment time was 0.45 ± 2.23 mm (mean ± standard deviation), −1.65 ± 5.95 mm, and 1.50 ± 2.54 mm in the LR, CC, and AP directions, respectively. Overall the baseline shift/drift occurs toward the cranial and posterior directions. The incidence of baseline shift/drift exceeding 3 mm was 6.0%, 15.5%, 14.0%, and 42.1% for the LR, CC, AP, and for the square-root of sum of 3 directions, respectively, within 10 minutes of the start of treatment, and 23.0%, 37.6%, 32.5%, and 71.6% within 30 minutes. Conclusions: Real-time monitoring and frequent adjustments of the couch position and/or adding appropriate margins are suggested to be essential to compensate for possible underdosages due to baseline shift/drift in SBRT for lung cancers.

Kalman filters for real-time magnetic island phase tracking

International Nuclear Information System (INIS)

Borgers, D.P.; Lauret, M.; Baar, M.R. de

2013-01-01

Highlights: • We propose two Kalman filters for tracking of NTMs on ASDEX Upgrade. • The Kalman filters can track NTMs in a much larger frequency range than PLLs. • The filters are tested on synthetic and experimental data from TEXTOR and TCV. • We conclude that the unscented Kalman filter can be useful for NTM control. -- Abstract: For control of neoclassical tearing modes (NTMs) and the resulting rotating magnetic islands in tokamak plasmas, the frequency and phase of the magnetic islands need to be accurately tracked in real-time. In previous experiments on TEXTOR, this was achieved using a phase-locked loop (PLL). For ASDEX Upgrade however, the desired frequency range in which the islands are to be tracked (100 Hz–10 kHz) is much larger than is possible with a PLL. In this contribution, an extended Kalman filter (EKF) and an unscented Kalman filter (UKF) are proposed for real-time frequency, phase and amplitude tracking of sinusoidal signals, based on noisy measurements. Compared to PLLs, the EKF and UKF are able to track sinusoidal signals in a much larger frequency range. The filters are applied on synthetic data and on experimental data from the TEXTOR and TCV tokamaks, from which we conclude that the UKF can be useful for real-time control of magnetic islands on ASDEX Upgrade

Kalman filters for real-time magnetic island phase tracking

Energy Technology Data Exchange (ETDEWEB)

Borgers, D.P. [Hybrid and Networked Systems, Department of Mechanical Engineering – Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven (Netherlands); Lauret, M., E-mail: M.Lauret@tue.nl [FOM Institute DIFFER – Dutch Institute for Fundamental Energy Research, Association EURATOM-FOM, Trilateral Euregio Cluster, P.O. Box 1207, Nieuwegein (Netherlands); Control Systems Technology, Department of Mechanical Engineering – Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven (Netherlands); Baar, M.R. de [FOM Institute DIFFER – Dutch Institute for Fundamental Energy Research, Association EURATOM-FOM, Trilateral Euregio Cluster, P.O. Box 1207, Nieuwegein (Netherlands); Control Systems Technology, Department of Mechanical Engineering – Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven (Netherlands)

2013-11-15

Highlights: • We propose two Kalman filters for tracking of NTMs on ASDEX Upgrade. • The Kalman filters can track NTMs in a much larger frequency range than PLLs. • The filters are tested on synthetic and experimental data from TEXTOR and TCV. • We conclude that the unscented Kalman filter can be useful for NTM control. -- Abstract: For control of neoclassical tearing modes (NTMs) and the resulting rotating magnetic islands in tokamak plasmas, the frequency and phase of the magnetic islands need to be accurately tracked in real-time. In previous experiments on TEXTOR, this was achieved using a phase-locked loop (PLL). For ASDEX Upgrade however, the desired frequency range in which the islands are to be tracked (100 Hz–10 kHz) is much larger than is possible with a PLL. In this contribution, an extended Kalman filter (EKF) and an unscented Kalman filter (UKF) are proposed for real-time frequency, phase and amplitude tracking of sinusoidal signals, based on noisy measurements. Compared to PLLs, the EKF and UKF are able to track sinusoidal signals in a much larger frequency range. The filters are applied on synthetic data and on experimental data from the TEXTOR and TCV tokamaks, from which we conclude that the UKF can be useful for real-time control of magnetic islands on ASDEX Upgrade.

FPGA-Based Real-Time Motion Detection for Automated Video Surveillance Systems

Directory of Open Access Journals (Sweden)

Sanjay Singh

2016-03-01

Full Text Available Design of automated video surveillance systems is one of the exigent missions in computer vision community because of their ability to automatically select frames of interest in incoming video streams based on motion detection. This research paper focuses on the real-time hardware implementation of a motion detection algorithm for such vision based automated surveillance systems. A dedicated VLSI architecture has been proposed and designed for clustering-based motion detection scheme. The working prototype of a complete standalone automated video surveillance system, including input camera interface, designed motion detection VLSI architecture, and output display interface, with real-time relevant motion detection capabilities, has been implemented on Xilinx ML510 (Virtex-5 FX130T FPGA platform. The prototyped system robustly detects the relevant motion in real-time in live PAL (720 × 576 resolution video streams directly coming from the camera.

Autonomous tracked robots in planar off-road conditions modelling, localization, and motion control

CERN Document Server

González, Ramón; Guzmán, José Luis

2014-01-01

This monograph is framed within the context of off-road mobile robotics. In particular, it discusses issues related to modelling, localization, and motion control of tracked mobile robots working in planar slippery conditions. Tracked locomotion constitutes a well-known solution for mobile platforms operating over diverse challenging terrains, for that reason, tracked robotics constitutes an important research field with many applications (e.g. agriculture, mining, search and rescue operations, military activities). The specific topics of this monograph are: historical perspective of tracked vehicles and tracked robots; trajectory-tracking model taking into account slip effect; visual-odometry-based localization strategies; and advanced slip-compensation motion controllers ensuring efficient real-time execution. Physical experiments with a real tracked robot are presented showing the better performance of the suggested novel approaches to known techniques.   Keywords: longitudinal slip, visual odometry, slip...

Real-Time 3D Tracking and Reconstruction on Mobile Phones.

Science.gov (United States)

Prisacariu, Victor Adrian; Kähler, Olaf; Murray, David W; Reid, Ian D

2015-05-01

We present a novel framework for jointly tracking a camera in 3D and reconstructing the 3D model of an observed object. Due to the region based approach, our formulation can handle untextured objects, partial occlusions, motion blur, dynamic backgrounds and imperfect lighting. Our formulation also allows for a very efficient implementation which achieves real-time performance on a mobile phone, by running the pose estimation and the shape optimisation in parallel. We use a level set based pose estimation but completely avoid the, typically required, explicit computation of a global distance. This leads to tracking rates of more than 100 Hz on a desktop PC and 30 Hz on a mobile phone. Further, we incorporate additional orientation information from the phone's inertial sensor which helps us resolve the tracking ambiguities inherent to region based formulations. The reconstruction step first probabilistically integrates 2D image statistics from selected keyframes into a 3D volume, and then imposes coherency and compactness using a total variational regularisation term. The global optimum of the overall energy function is found using a continuous max-flow algorithm and we show that, similar to tracking, the integration of per voxel posteriors instead of likelihoods improves the precision and accuracy of the reconstruction.

Real-time circumferential mapping catheter tracking for motion compensation in atrial fibrillation ablation procedures

Science.gov (United States)

Brost, Alexander; Bourier, Felix; Wimmer, Andreas; Koch, Martin; Kiraly, Atilla; Liao, Rui; Kurzidim, Klaus; Hornegger, Joachim; Strobel, Norbert

2012-02-01

Atrial fibrillation (AFib) has been identified as a major cause of stroke. Radiofrequency catheter ablation has become an increasingly important treatment option, especially when drug therapy fails. Navigation under X-ray can be enhanced by using augmented fluoroscopy. It renders overlay images from pre-operative 3-D data sets which are then fused with X-ray images to provide more details about the underlying soft-tissue anatomy. Unfortunately, these fluoroscopic overlay images are compromised by respiratory and cardiac motion. Various methods to deal with motion have been proposed. To meet clinical demands, they have to be fast. Methods providing a processing frame rate of 3 frames-per-second (fps) are considered suitable for interventional electrophysiology catheter procedures if an acquisition frame rate of 2 fps is used. Unfortunately, when working at a processing rate of 3 fps, the delay until the actual motion compensated image can be displayed is about 300 ms. More recent algorithms can achieve frame rates of up to 20 fps, which reduces the lag to 50 ms. By using a novel approach involving a 3-D catheter model, catheter segmentation and a distance transform, we can speed up motion compensation to 25 fps which results in a display delay of only 40 ms on a standard workstation for medical applications. Our method uses a constrained 2-D/3-D registration to perform catheter tracking, and it obtained a 2-D tracking error of 0.61 mm.

Real-time Non-linear Target Tracking Control of Wheeled Mobile Robots

Institute of Scientific and Technical Information of China (English)

YU Wenyong

2006-01-01

A control strategy for real-time target tracking for wheeled mobile robots is presented. Using a modified Kalman filter for environment perception, a novel tracking control law derived from Lyapunov stability theory is introduced. Tuning of linear velocity and angular velocity with mechanical constraints is applied. The proposed control system can simultaneously solve the target trajectory prediction, real-time tracking, and posture regulation problems of a wheeled mobile robot. Experimental results illustrate the effectiveness of the proposed tracking control laws.

Wide area surveillance real-time motion detection systems

CERN Document Server

2014-01-01

The book describes a system for visual surveillance using intelligent cameras. The camera uses robust techniques for detecting and tracking moving objects. The real time capture of the objects is then stored int he database. The tracking data stored in the database is analysed to study the camera view, detect and track objects, and study object behavior. These set of models provide a robust framework for coordinating the tracking of objects between overlapping and non-overlapping cameras, and recording the activity of objects detected by the system.

TH-AB-202-02: Real-Time Verification and Error Detection for MLC Tracking Deliveries Using An Electronic Portal Imaging Device

International Nuclear Information System (INIS)

J Zwan, B; Colvill, E; Booth, J; J O’Connor, D; Keall, P; B Greer, P

2016-01-01

Purpose: The added complexity of the real-time adaptive multi-leaf collimator (MLC) tracking increases the likelihood of undetected MLC delivery errors. In this work we develop and test a system for real-time delivery verification and error detection for MLC tracking radiotherapy using an electronic portal imaging device (EPID). Methods: The delivery verification system relies on acquisition and real-time analysis of transit EPID image frames acquired at 8.41 fps. In-house software was developed to extract the MLC positions from each image frame. Three comparison metrics were used to verify the MLC positions in real-time: (1) field size, (2) field location and, (3) field shape. The delivery verification system was tested for 8 VMAT MLC tracking deliveries (4 prostate and 4 lung) where real patient target motion was reproduced using a Hexamotion motion stage and a Calypso system. Sensitivity and detection delay was quantified for various types of MLC and system errors. Results: For both the prostate and lung test deliveries the MLC-defined field size was measured with an accuracy of 1.25 cm 2 (1 SD). The field location was measured with an accuracy of 0.6 mm and 0.8 mm (1 SD) for lung and prostate respectively. Field location errors (i.e. tracking in wrong direction) with a magnitude of 3 mm were detected within 0.4 s of occurrence in the X direction and 0.8 s in the Y direction. Systematic MLC gap errors were detected as small as 3 mm. The method was not found to be sensitive to random MLC errors and individual MLC calibration errors up to 5 mm. Conclusion: EPID imaging may be used for independent real-time verification of MLC trajectories during MLC tracking deliveries. Thresholds have been determined for error detection and the system has been shown to be sensitive to a range of delivery errors.

Real-time tumor tracking using implanted positron emission markers: Concept and simulation study

International Nuclear Information System (INIS)

Xu Tong; Wong, Jerry T.; Shikhaliev, Polad M.; Ducote, Justin L.; Al-Ghazi, Muthana S.; Molloi, Sabee

2006-01-01

The delivery accuracy of radiation therapy for pulmonary and abdominal tumors suffers from tumor motion due to respiration. Respiratory gating should be applied to avoid the use of a large target volume margin that results in a substantial dose to the surrounding normal tissue. Precise respiratory gating requires the exact spatial position of the tumor to be determined in real time during treatment. Usually, fiducial markers are implanted inside or next to the tumor to provide both accurate patient setup and real-time tumor tracking. However, current tumor tracking systems require either substantial x-ray exposure to the patient or large fiducial markers that limit the value of their application for pulmonary tumors. We propose a real-time tumor tracking system using implanted positron emission markers (PeTrack). Each marker will be labeled with low activity positron emitting isotopes, such as 124 I, 74 As, or 84 Rb. These isotopes have half-lives comparable to the duration of radiation therapy (from a few days to a few weeks). The size of the proposed PeTrack marker will be 0.5-0.8 mm, which is approximately one-half the size of markers currently employed in other techniques. By detecting annihilation gammas using position-sensitive detectors, multiple positron emission markers can be tracked in real time. A multimarker localization algorithm was developed using an Expectation-Maximization clustering technique. A Monte Carlo simulation model was developed for the PeTrack system. Patient dose, detector sensitivity, and scatter fraction were evaluated. Depending on the isotope, the lifetime dose from a 3.7 MBq PeTrack marker was determined to be 0.7-5.0 Gy at 10 mm from the marker. At the center of the field of view (FOV), the sensitivity of the PeTrack system was 240-320 counts/s per 1 MBq marker activity within a 30 cm thick patient. The sensitivity was reduced by 45% when the marker was near the edge of the FOV. The scatter fraction ranged from 12% ( 124 I, 74 As

Real-time gaze estimation via pupil center tracking

Directory of Open Access Journals (Sweden)

Cazzato Dario

2018-02-01

Full Text Available Automatic gaze estimation not based on commercial and expensive eye tracking hardware solutions can enable several applications in the fields of human computer interaction (HCI and human behavior analysis. It is therefore not surprising that several related techniques and methods have been investigated in recent years. However, very few camera-based systems proposed in the literature are both real-time and robust. In this work, we propose a real-time user-calibration-free gaze estimation system that does not need person-dependent calibration, can deal with illumination changes and head pose variations, and can work with a wide range of distances from the camera. Our solution is based on a 3-D appearance-based method that processes the images from a built-in laptop camera. Real-time performance is obtained by combining head pose information with geometrical eye features to train a machine learning algorithm. Our method has been validated on a data set of images of users in natural environments, and shows promising results. The possibility of a real-time implementation, combined with the good quality of gaze tracking, make this system suitable for various HCI applications.

First evaluation of the feasibility of MLC tracking using ultrasound motion estimation

Energy Technology Data Exchange (ETDEWEB)

Fast, Martin F., E-mail: martin.fast@icr.ac.uk; O’Shea, Tuathan P., E-mail: tuathan.oshea@nhs.net; Nill, Simeon; Oelfke, Uwe; Harris, Emma J. [Joint Department of Physics, The Institute of Cancer Research and The Royal Marsden NHS Foundation Trust, London SM2 5NG (United Kingdom)

2016-08-15

Purpose: To quantify the performance of the Clarity ultrasound (US) imaging system (Elekta AB, Stockholm, Sweden) for real-time dynamic multileaf collimator (MLC) tracking. Methods: The Clarity calibration and quality assurance phantom was mounted on a motion platform moving with a periodic sine wave trajectory. The detected position of a 30 mm hypoechogenic sphere within the phantom was continuously reported via Clarity’s real-time streaming interface to an in-house tracking and delivery software and subsequently used to adapt the MLC aperture. A portal imager measured MV treatment field/MLC apertures and motion platform positions throughout each experiment to independently quantify system latency and geometric error. Based on the measured range of latency values, a prostate stereotactic body radiation therapy (SBRT) delivery was performed with three realistic motion trajectories. The dosimetric impact of system latency on MLC tracking was directly measured using a 3D dosimeter mounted on the motion platform. Results: For 2D US imaging, the overall system latency, including all delay times from the imaging and delivery chain, ranged from 392 to 424 ms depending on the lateral sector size. For 3D US imaging, the latency ranged from 566 to 1031 ms depending on the elevational sweep. The latency-corrected geometric root-mean squared error was below 0.75 mm (2D US) and below 1.75 mm (3D US). For the prostate SBRT delivery, the impact of a range of system latencies (400–1000 ms) on the MLC tracking performance was minimal in terms of gamma failure rate. Conclusions: Real-time MLC tracking based on a noninvasive US input is technologically feasible. Current system latencies are higher than those for x-ray imaging systems, but US can provide full volumetric image data and the impact of system latency was measured to be small for a prostate SBRT case when using a US-like motion input.

First evaluation of the feasibility of MLC tracking using ultrasound motion estimation

International Nuclear Information System (INIS)

Fast, Martin F.; O’Shea, Tuathan P.; Nill, Simeon; Oelfke, Uwe; Harris, Emma J.

2016-01-01

Purpose: To quantify the performance of the Clarity ultrasound (US) imaging system (Elekta AB, Stockholm, Sweden) for real-time dynamic multileaf collimator (MLC) tracking. Methods: The Clarity calibration and quality assurance phantom was mounted on a motion platform moving with a periodic sine wave trajectory. The detected position of a 30 mm hypoechogenic sphere within the phantom was continuously reported via Clarity’s real-time streaming interface to an in-house tracking and delivery software and subsequently used to adapt the MLC aperture. A portal imager measured MV treatment field/MLC apertures and motion platform positions throughout each experiment to independently quantify system latency and geometric error. Based on the measured range of latency values, a prostate stereotactic body radiation therapy (SBRT) delivery was performed with three realistic motion trajectories. The dosimetric impact of system latency on MLC tracking was directly measured using a 3D dosimeter mounted on the motion platform. Results: For 2D US imaging, the overall system latency, including all delay times from the imaging and delivery chain, ranged from 392 to 424 ms depending on the lateral sector size. For 3D US imaging, the latency ranged from 566 to 1031 ms depending on the elevational sweep. The latency-corrected geometric root-mean squared error was below 0.75 mm (2D US) and below 1.75 mm (3D US). For the prostate SBRT delivery, the impact of a range of system latencies (400–1000 ms) on the MLC tracking performance was minimal in terms of gamma failure rate. Conclusions: Real-time MLC tracking based on a noninvasive US input is technologically feasible. Current system latencies are higher than those for x-ray imaging systems, but US can provide full volumetric image data and the impact of system latency was measured to be small for a prostate SBRT case when using a US-like motion input.

Precise and real-time measurement of 3D tumor motion in lung due to breathing and heartbeat, measured during radiotherapy

International Nuclear Information System (INIS)

Seppenwoolde, Yvette; Shirato, Hiroki; Kitamura, Kei; Shimizu, Shinichi; Herk, Marcel van; Lebesque, Joos V.; Miyasaka, Kazuo

2002-01-01

Purpose: In this work, three-dimensional (3D) motion of lung tumors during radiotherapy in real time was investigated. Understanding the behavior of tumor motion in lung tissue to model tumor movement is necessary for accurate (gated or breath-hold) radiotherapy or CT scanning. Methods: Twenty patients were included in this study. Before treatment, a 2-mm gold marker was implanted in or near the tumor. A real-time tumor tracking system using two fluoroscopy image processor units was installed in the treatment room. The 3D position of the implanted gold marker was determined by using real-time pattern recognition and a calibrated projection geometry. The linear accelerator was triggered to irradiate the tumor only when the gold marker was located within a certain volume. The system provided the coordinates of the gold marker during beam-on and beam-off time in all directions simultaneously, at a sample rate of 30 images per second. The recorded tumor motion was analyzed in terms of the amplitude and curvature of the tumor motion in three directions, the differences in breathing level during treatment, hysteresis (the difference between the inhalation and exhalation trajectory of the tumor), and the amplitude of tumor motion induced by cardiac motion. Results: The average amplitude of the tumor motion was greatest (12±2 mm [SD]) in the cranial-caudal direction for tumors situated in the lower lobes and not attached to rigid structures such as the chest wall or vertebrae. For the lateral and anterior-posterior directions, tumor motion was small both for upper- and lower-lobe tumors (2±1 mm). The time-averaged tumor position was closer to the exhale position, because the tumor spent more time in the exhalation than in the inhalation phase. The tumor motion was modeled as a sinusoidal movement with varying asymmetry. The tumor position in the exhale phase was more stable than the tumor position in the inhale phase during individual treatment fields. However, in many

Detection of lung tumor movement in real-time tumor-tracking radiotherapy

International Nuclear Information System (INIS)

Shimizu, Shinichi; Shirato, Hiroki; Ogura, Shigeaki; Akita-Dosaka, Hirotoshi; Kitamura, Kei; Nishioka, Takeshi; Kagei, Kenji; Nishimura, Masaji; Miyasaka, Kazuo

2001-01-01

Purpose: External radiotherapy for lung tumors requires reducing the uncertainty due to setup error and organ motion. We investigated the three-dimensional movement of lung tumors through an inserted internal marker using a real-time tumor-tracking system and evaluated the efficacy of this system at reducing the internal margin. Methods and Materials: Four patients with lung cancer were analyzed. A 2.0-mm gold marker was inserted into the tumor. The real-time tumor-tracking system calculates and stores three-dimensional coordinates of the marker 30 times/s. The system can trigger the linear accelerator to irradiate the tumor only when the marker is located within the predetermined 'permitted dislocation'. The value was set at ±1 to ±3 mm according to the patient's characteristics. We analyzed 10,413-14,893 data sets for each of the 4 patients. The range of marker movement during normal breathing (beam-off period) was compared with that during gated irradiation (beam-on period) by Student's t test. Results: The range of marker movement during the beam-off period was 5.5-10.0 mm in the lateral direction (x), 6.8-15.9 mm in the craniocaudal direction (y) and 8.1-14.6 mm in the ventrodorsal direction (z). The range during the beam-on period was reduced to within 5.3 mm in all directions in all 4 patients. A significant difference was found between the mean of the range during the beam-off period and the mean of the range during the beam-on period in the x (p=0.007), y (p=0.025), and z (p=0.002) coordinates, respectively. Conclusion: The real-time tumor-tracking radiotherapy system was useful to analyze the movement of an internal marker. Treatment with megavoltage X-rays was properly given when the tumor marker moved into the 'permitted dislocation' zone from the planned position

Tracking Multiple People Online and in Real Time

Science.gov (United States)

2015-12-21

NO. 0704-0188 3. DATES COVERED (From - To) - UU UU UU UU 21-12-2015 Approved for public release; distribution is unlimited. Tracking multiple people ...online and in real time We cast the problem of tracking several people as a graph partitioning problem that takes the form of an NP-hard binary...PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. Duke University 2200 West Main Street Suite 710 Durham, NC 27705 -4010 ABSTRACT Tracking multiple

Real-time tracking with a 3D-flow processor array

International Nuclear Information System (INIS)

Crosetto, D.

1993-01-01

The problem of real-time track-finding has been performed to date with CAM (Content Addressable Memories) or with fast coincidence logic, because the processing scheme was though to have much slower performance. Advances in technology together with a new architectural approach make it feasible to also explore the computing technique for real-time track finding thus giving the advantages of implementing algorithms that can find more parameters such as calculate the sagitta, curvature, pt, etc. with respect to the CAM approach. This report describes real-time track finding using a new computing approach technique based on the 3D-flow array processor system. This system consists of a fixed interconnection architexture scheme, allowing flexible algorithm implementation on a scalable platform. The 3D-Flow parallel processing system for track finding is scalable in size and performance by either increasing the number of processors, or increasing the speed or else the number of pipelined stages. The present article describes the conceptual idea and the design stage of the project

Real-time tracking with a 3D-Flow processor array

International Nuclear Information System (INIS)

Crosetto, D.

1993-06-01

The problem of real-time track-finding has been performed to date with CAM (Content Addressable Memories) or with fast coincidence logic, because the processing scheme was thought to have much slower performance. Advances in technology together with a new architectural approach make it feasible to also explore the computing technique for real-time track finding thus giving the advantages of implementing algorithms that can find more parameters such as calculate the sagitta, curvature, pt, etc., with respect to the CAM approach. The report describes real-time track finding using new computing approach technique based on the 3D-Flow array processor system. This system consists of a fixed interconnection architecture scheme, allowing flexible algorithm implementation on a scalable platform. The 3D-Flow parallel processing system for track finding is scalable in size and performance by either increasing the number of processors, or increasing the speed or else the number of pipelined stages. The present article describes the conceptual idea and the design stage of the project

Using an external surrogate for predictor model training in real-time motion management of lung tumors

Energy Technology Data Exchange (ETDEWEB)

Rottmann, Joerg; Berbeco, Ross [Brigham and Women’s Hospital, Dana-Farber Cancer Institute and Harvard Medical School, Boston, Massachusetts 02115 (United States)

2014-12-15

Purpose: Precise prediction of respiratory motion is a prerequisite for real-time motion compensation techniques such as beam, dynamic couch, or dynamic multileaf collimator tracking. Collection of tumor motion data to train the prediction model is required for most algorithms. To avoid exposure of patients to additional dose from imaging during this procedure, the feasibility of training a linear respiratory motion prediction model with an external surrogate signal is investigated and its performance benchmarked against training the model with tumor positions directly. Methods: The authors implement a lung tumor motion prediction algorithm based on linear ridge regression that is suitable to overcome system latencies up to about 300 ms. Its performance is investigated on a data set of 91 patient breathing trajectories recorded from fiducial marker tracking during radiotherapy delivery to the lung of ten patients. The expected 3D geometric error is quantified as a function of predictor lookahead time, signal sampling frequency and history vector length. Additionally, adaptive model retraining is evaluated, i.e., repeatedly updating the prediction model after initial training. Training length for this is gradually increased with incoming (internal) data availability. To assess practical feasibility model calculation times as well as various minimum data lengths for retraining are evaluated. Relative performance of model training with external surrogate motion data versus tumor motion data is evaluated. However, an internal–external motion correlation model is not utilized, i.e., prediction is solely driven by internal motion in both cases. Results: Similar prediction performance was achieved for training the model with external surrogate data versus internal (tumor motion) data. Adaptive model retraining can substantially boost performance in the case of external surrogate training while it has little impact for training with internal motion data. A minimum

Real-time motional Stark effect in jet

International Nuclear Information System (INIS)

Alves, D.; Stephen, A.; Hawkes, N.; Dalley, S.; Goodyear, A.; Felton, R.; Joffrin, E.; Fernandes, H.

2004-01-01

The increasing importance of real-time measurements and control systems in JET experiments, regarding e.g. Internal Transport Barrier (ITB) and q-profile control, has motivated the development of a real-time motional Stark effect (MSE) system. The MSE diagnostic allows the measurement of local magnetic fields in different locations along the neutral beam path providing, therefore, local measurement of the current and q-profiles. Recently in JET, an upgrade of the MSE diagnostic has been implemented, incorporating a totally new system which allows the use of this diagnostic as a real-time control tool as well as an extended data source for off-line analysis. This paper will briefly describe the technical features of the real-time diagnostic with main focus on the system architecture, which consists of a VME crate hosting three PowerPC processor boards and a fast ADC, all connected via Front Panel Data Port (FPDP). The DSP algorithm implements a lockin-amplifier required to demodulate the JET MSE signals. Some applications for the system will be covered such as: feeding the real-time equilibrium reconstruction code (EQUINOX) and allowing the full coverage analysis of the Neutral Beam time window. A brief comparison between the real-time MSE analysis and the off-line analysis will also be presented

Evaluation of a real-time personnel and material tracking system

International Nuclear Information System (INIS)

Trujillo, A.A.; Hoover, C.E.; Garcia, B.A.

1988-01-01

Past experience in addressing the insider threat has led to the development of general principles for mitigating the insider threat while minimizing adverse impacts on site operations. Among the general principles developed was the requirement of a real-time personnel and material tracking system. A real-time system for personnel and material tracking will aid in mitigating the insider threat by providing critical information regarding the movement and location of personnel and material. In addition, this system can provide an early detection mechanism for potential insider actions. A system integrating Radio Frequency (RF) transmitters for real-time personnel and material tracking has been developed. This system was installed and tested in an operational environment. This test was intended to demonstrate the system's ability to successfully control access to material and areas by personnel, as well as providing information regarding the status of materials in transit and storage

A real-time sub-μrad laser beam tracking system

Science.gov (United States)

Buske, Ivo; Schragner, Ralph; Riede, Wolfgang

2007-10-01

We present a rugged and reliable real-time laser beam tracking system operating with a high speed, high resolution piezo-electric tip/tilt mirror. Characteristics of the piezo mirror and position sensor are investigated. An industrial programmable automation controller is used to develop a real-time digital PID controller. The controller provides a one million field programmable gate array (FPGA) to realize a high closed-loop frequency of 50 kHz. Beam tracking with a root-mean-squared accuracy better than 0.15 μrad has been laboratory confirmed. The system is intended as an add-on module for established mechanical mrad tracking systems.

Real-Time Motion Management of Prostate Cancer Radiotherapy

DEFF Research Database (Denmark)

Pommer, Tobias

, and for prostate cancer treatments, the proximity of the bladder and rectum makes radiotherapy treatment of this site a challenging task. Furthermore, the prostate may move during the radiation delivery and treatment margins are necessary to ensure that it is still receiving the intended dose. The main aim...... of the MLC on the performance of DMLC tracking were investigated. We found that for prostate motion, the main tracking error arose from the finite leaf width affecting the MLCs ability to construct the desired shape. Furthermore, we also attempted to model prostate motion using a random walk model. We found...... that for the slow and drifting motion, the model could satisfactory replicate the motion of the prostate, while the rapid and transient prostate motion observed in some cases was challenging for the model. We therefore added simulated transient motion to the random walk model, which slightly improved the results...

Collaborative real-time motion video analysis by human observer and image exploitation algorithms

Science.gov (United States)

Hild, Jutta; Krüger, Wolfgang; Brüstle, Stefan; Trantelle, Patrick; Unmüßig, Gabriel; Heinze, Norbert; Peinsipp-Byma, Elisabeth; Beyerer, Jürgen

2015-05-01

Motion video analysis is a challenging task, especially in real-time applications. In most safety and security critical applications, a human observer is an obligatory part of the overall analysis system. Over the last years, substantial progress has been made in the development of automated image exploitation algorithms. Hence, we investigate how the benefits of automated video analysis can be integrated suitably into the current video exploitation systems. In this paper, a system design is introduced which strives to combine both the qualities of the human observer's perception and the automated algorithms, thus aiming to improve the overall performance of a real-time video analysis system. The system design builds on prior work where we showed the benefits for the human observer by means of a user interface which utilizes the human visual focus of attention revealed by the eye gaze direction for interaction with the image exploitation system; eye tracker-based interaction allows much faster, more convenient, and equally precise moving target acquisition in video images than traditional computer mouse selection. The system design also builds on prior work we did on automated target detection, segmentation, and tracking algorithms. Beside the system design, a first pilot study is presented, where we investigated how the participants (all non-experts in video analysis) performed in initializing an object tracking subsystem by selecting a target for tracking. Preliminary results show that the gaze + key press technique is an effective, efficient, and easy to use interaction technique when performing selection operations on moving targets in videos in order to initialize an object tracking function.

The INGV Real Time Strong Motion Database

Science.gov (United States)

Massa, Marco; D'Alema, Ezio; Mascandola, Claudia; Lovati, Sara; Scafidi, Davide; Gomez, Antonio; Carannante, Simona; Franceschina, Gianlorenzo; Mirenna, Santi; Augliera, Paolo

2017-04-01

The INGV real time strong motion data sharing is assured by the INGV Strong Motion Database. ISMD (http://ismd.mi.ingv.it) was designed in the last months of 2011 in cooperation among different INGV departments, with the aim to organize the distribution of the INGV strong-motion data using standard procedures for data acquisition and processing. The first version of the web portal was published soon after the occurrence of the 2012 Emilia (Northern Italy), Mw 6.1, seismic sequence. At that time ISMD was the first European real time web portal devoted to the engineering seismology community. After four years of successfully operation, the thousands of accelerometric waveforms collected in the archive need necessary a technological improvement of the system in order to better organize the new data archiving and to make more efficient the answer to the user requests. ISMD 2.0 was based on PostgreSQL (www.postgresql.org), an open source object- relational database. The main purpose of the web portal is to distribute few minutes after the origin time the accelerometric waveforms and related metadata of the Italian earthquakes with ML≥3.0. Data are provided both in raw SAC (counts) and automatically corrected ASCII (gal) formats. The web portal also provide, for each event, a detailed description of the ground motion parameters (i.e. Peak Ground Acceleration, Velocity and Displacement, Arias and Housner Intensities) data converted in velocity and displacement, response spectra up to 10.0 s and general maps concerning the recent and the historical seismicity of the area together with information about its seismic hazard. The focal parameters of the events are provided by the INGV National Earthquake Center (CNT, http://cnt.rm.ingv.it). Moreover, the database provides a detailed site characterization section for each strong motion station, based on geological, geomorphological and geophysical information. At present (i.e. January 2017), ISMD includes 987 (121

FPGA-based architecture for motion recovering in real-time

Science.gov (United States)

Arias-Estrada, Miguel; Maya-Rueda, Selene E.; Torres-Huitzil, Cesar

2002-03-01

A key problem in the computer vision field is the measurement of object motion in a scene. The main goal is to compute an approximation of the 3D motion from the analysis of an image sequence. Once computed, this information can be used as a basis to reach higher level goals in different applications. Motion estimation algorithms pose a significant computational load for the sequential processors limiting its use in practical applications. In this work we propose a hardware architecture for motion estimation in real time based on FPGA technology. The technique used for motion estimation is Optical Flow due to its accuracy, and the density of velocity estimation, however other techniques are being explored. The architecture is composed of parallel modules working in a pipeline scheme to reach high throughput rates near gigaflops. The modules are organized in a regular structure to provide a high degree of flexibility to cover different applications. Some results will be presented and the real-time performance will be discussed and analyzed. The architecture is prototyped in an FPGA board with a Virtex device interfaced to a digital imager.

Motion management during IMAT treatment of mobile lung tumors-A comparison of MLC tracking and gated delivery

DEFF Research Database (Denmark)

Falk, Marianne; Pommer, Tobias; Keall, Paul

2014-01-01

Purpose:To compare real-time dynamic multileaf collimator (MLC) tracking, respiratory amplitude and phase gating, and no compensation for intrafraction motion management during intensity modulated arc therapy (IMAT). Methods: Motion management with MLC tracking and gating was evaluated for four...... tracking reduced the effects of the target movements, although the gated delivery showed a better dosimetric accuracy and enabled a larger reduction of the margins in some cases. MLC tracking did not prolong the treatment time compared to delivery with no motion compensation while gating had a considerably...... of the dosimetric error contributions showed that the gated delivery mainly had errors in target localization, while MLC tracking also had contributions from MLC leaf fitting and leaf adjustment. The average treatment time was about three times longer with gating compared to delivery with MLC tracking (that did...

A paper based inkjet printed real time location tracking TAG

KAUST Repository

Farooqui, Muhammad Fahad; Bilal, Rana Muhammad; Cheema, Hammad; Shamim, Atif

2013-01-01

substrates are discussed. The system enables location tracking through a user-friendly interface accessible through all internet enabled devices. Field tests show an update interval of 15 sec, stationary position error of 6.2m and real time tracking error

Application and API for Real-time Visualization of Ground-motions and Tsunami

Science.gov (United States)

Aoi, S.; Kunugi, T.; Suzuki, W.; Kubo, T.; Nakamura, H.; Azuma, H.; Fujiwara, H.

2015-12-01

Due to the recent progress of seismograph and communication environment, real-time and continuous ground-motion observation becomes technically and economically feasible. K-NET and KiK-net, which are nationwide strong motion networks operated by NIED, cover all Japan by about 1750 stations in total. More than half of the stations transmit the ground-motion indexes and/or waveform data in every second. Traditionally, strong-motion data were recorded by event-triggering based instruments with non-continues telephone line which is connected only after an earthquake. Though the data from such networks mainly contribute to preparations for future earthquakes, huge amount of real-time data from dense network are expected to directly contribute to the mitigation of ongoing earthquake disasters through, e.g., automatic shutdown plants and helping decision-making for initial response. By generating the distribution map of these indexes and uploading them to the website, we implemented the real-time ground motion monitoring system, Kyoshin (strong-motion in Japanese) monitor. This web service (www.kyoshin.bosai.go.jp) started in 2008 and anyone can grasp the current ground motions of Japan. Though this service provides only ground-motion map in GIF format, to take full advantage of real-time strong-motion data to mitigate the ongoing disasters, digital data are important. We have developed a WebAPI to provide real-time data and related information such as ground motions (5 km-mesh) and arrival times estimated from EEW (earthquake early warning). All response data from this WebAPI are in JSON format and are easy to parse. We also developed Kyoshin monitor application for smartphone, 'Kmoni view' using the API. In this application, ground motions estimated from EEW are overlapped on the map with the observed one-second-interval indexes. The application can playback previous earthquakes for demonstration or disaster drill. In mobile environment, data traffic and battery are

A paper based inkjet printed real time location tracking TAG

KAUST Repository

Farooqui, Muhammad Fahad

2013-06-01

This paper presents, for the first time, an inkjet printed, wearable, low-cost, light weight and miniaturized real time locating TAG on an ordinary photo-paper. The 29 grams, 9 cm×8 cm×0.5 cm TAG integrates a GPS/GSM module, a microcontroller with on-paper GPS and GSM antennas. A novel monopole antenna with an L shaped slit is introduced to achieve the required circular polarization for the GPS band. Issues related to integration of active components (e.g. BGA chip) on inkjet-printed paper substrates are discussed. The system enables location tracking through a user-friendly interface accessible through all internet enabled devices. Field tests show an update interval of 15 sec, stationary position error of 6.2m and real time tracking error of 4.7m which is 4 times better than the state-of-the-art. Due to the flexible nature of the paper substrate, the TAG can be designed for different shapes such as a wrist band for child tracking or a collar band for pet tracking applications. © 2013 IEEE.

Interacting with target tracking algorithms in a gaze-enhanced motion video analysis system

Science.gov (United States)

Hild, Jutta; Krüger, Wolfgang; Heinze, Norbert; Peinsipp-Byma, Elisabeth; Beyerer, Jürgen

2016-05-01

Motion video analysis is a challenging task, particularly if real-time analysis is required. It is therefore an important issue how to provide suitable assistance for the human operator. Given that the use of customized video analysis systems is more and more established, one supporting measure is to provide system functions which perform subtasks of the analysis. Recent progress in the development of automated image exploitation algorithms allow, e.g., real-time moving target tracking. Another supporting measure is to provide a user interface which strives to reduce the perceptual, cognitive and motor load of the human operator for example by incorporating the operator's visual focus of attention. A gaze-enhanced user interface is able to help here. This work extends prior work on automated target recognition, segmentation, and tracking algorithms as well as about the benefits of a gaze-enhanced user interface for interaction with moving targets. We also propose a prototypical system design aiming to combine both the qualities of the human observer's perception and the automated algorithms in order to improve the overall performance of a real-time video analysis system. In this contribution, we address two novel issues analyzing gaze-based interaction with target tracking algorithms. The first issue extends the gaze-based triggering of a target tracking process, e.g., investigating how to best relaunch in the case of track loss. The second issue addresses the initialization of tracking algorithms without motion segmentation where the operator has to provide the system with the object's image region in order to start the tracking algorithm.

Real-time x-ray fluoroscopy-based catheter detection and tracking for cardiac electrophysiology interventions

Energy Technology Data Exchange (ETDEWEB)

Ma Yingliang; Housden, R. James; Razavi, Reza; Rhode, Kawal S. [Division of Imaging Sciences and Biomedical Engineering, King' s College London, London SE1 7EH (United Kingdom); Gogin, Nicolas; Cathier, Pascal [Medisys Research Group, Philips Healthcare, Paris 92156 (France); Gijsbers, Geert [Interventional X-ray, Philips Healthcare, Best 5680 DA (Netherlands); Cooklin, Michael; O' Neill, Mark; Gill, Jaswinder; Rinaldi, C. Aldo [Department of Cardiology, Guys and St. Thomas' Hospitals NHS Foundation Trust, London SE1 7EH (United Kingdom)

2013-07-15

Purpose: X-ray fluoroscopically guided cardiac electrophysiology (EP) procedures are commonly carried out to treat patients with arrhythmias. X-ray images have poor soft tissue contrast and, for this reason, overlay of a three-dimensional (3D) roadmap derived from preprocedural volumetric images can be used to add anatomical information. It is useful to know the position of the catheter electrodes relative to the cardiac anatomy, for example, to record ablation therapy locations during atrial fibrillation therapy. Also, the electrode positions of the coronary sinus (CS) catheter or lasso catheter can be used for road map motion correction.Methods: In this paper, the authors present a novel unified computational framework for image-based catheter detection and tracking without any user interaction. The proposed framework includes fast blob detection, shape-constrained searching and model-based detection. In addition, catheter tracking methods were designed based on the customized catheter models input from the detection method. Three real-time detection and tracking methods are derived from the computational framework to detect or track the three most common types of catheters in EP procedures: the ablation catheter, the CS catheter, and the lasso catheter. Since the proposed methods use the same blob detection method to extract key information from x-ray images, the ablation, CS, and lasso catheters can be detected and tracked simultaneously in real-time.Results: The catheter detection methods were tested on 105 different clinical fluoroscopy sequences taken from 31 clinical procedures. Two-dimensional (2D) detection errors of 0.50 {+-} 0.29, 0.92 {+-} 0.61, and 0.63 {+-} 0.45 mm as well as success rates of 99.4%, 97.2%, and 88.9% were achieved for the CS catheter, ablation catheter, and lasso catheter, respectively. With the tracking method, accuracies were increased to 0.45 {+-} 0.28, 0.64 {+-} 0.37, and 0.53 {+-} 0.38 mm and success rates increased to 100%, 99

Reliable 5-min real-time MR technique for left-ventricular-wall motion analysis

International Nuclear Information System (INIS)

Katoh, Marcus; Spuentrup, Elmar; Guenther, Rolf W.; Buecker, Arno; Kuehl, Harald P.; Lipke, Claudia S.A.

2007-01-01

The aim of this study was to investigate the value of a real-time magnetic resonance imaging (MRI) approach for the assessment of left-ventricular-wall motion in patients with insufficient transthoracic echocardiography in terms of accuracy and temporal expenditure. Twenty-five consecutive patients were examined on a 1.5-Tesla whole-body MR system (ACS-NT, Philips Medical Systems, Best, NL) using a real-time and ECG-gated (the current gold standard) steady-state free-precession (SSFP) sequence. Wall motion was analyzed by three observers by consensus interpretation. In addition, the preparation, scanning, and overall examination times were measured. The assessment of the wall motion demonstrated a close agreement between the two modalities resulting in a mean κ coefficient of 0.8. At the same time, each stage of the examination was significantly shortened using the real-time MR approach. Real-time imaging allows for accurate assessment of left-ventricular-wall motion with the added benefit of decreased examination time. Therefore, it may serve as a cost-efficient alternative in patients with insufficient echocardiography. (orig.)

Real-time heart rate measurement for multi-people using compressive tracking

Science.gov (United States)

Liu, Lingling; Zhao, Yuejin; Liu, Ming; Kong, Lingqin; Dong, Liquan; Ma, Feilong; Pang, Zongguang; Cai, Zhi; Zhang, Yachu; Hua, Peng; Yuan, Ruifeng

2017-09-01

The rise of aging population has created a demand for inexpensive, unobtrusive, automated health care solutions. Image PhotoPlethysmoGraphy(IPPG) aids in the development of these solutions by allowing for the extraction of physiological signals from video data. However, the main deficiencies of the recent IPPG methods are non-automated, non-real-time and susceptible to motion artifacts(MA). In this paper, a real-time heart rate(HR) detection method for multiple subjects simultaneously was proposed and realized using the open computer vision(openCV) library, which consists of getting multiple subjects' facial video automatically through a Webcam, detecting the region of interest (ROI) in the video, reducing the false detection rate by our improved Adaboost algorithm, reducing the MA by our improved compress tracking(CT) algorithm, wavelet noise-suppression algorithm for denoising and multi-threads for higher detection speed. For comparison, HR was measured simultaneously using a medical pulse oximetry device for every subject during all sessions. Experimental results on a data set of 30 subjects show that the max average absolute error of heart rate estimation is less than 8 beats per minute (BPM), and the processing speed of every frame has almost reached real-time: the experiments with video recordings of ten subjects under the condition of the pixel resolution of 600× 800 pixels show that the average HR detection time of 10 subjects was about 17 frames per second (fps).

Time-Lapse and Slow-Motion Tracking of Temperature Changes: Response Time of a Thermometer

Science.gov (United States)

Moggio, L.; Onorato, P.; Gratton, L. M.; Oss, S.

2017-01-01

We propose the use of a smartphone based time-lapse and slow-motion video techniques together with tracking analysis as valuable tools for investigating thermal processes such as the response time of a thermometer. The two simple experimental activities presented here, suitable also for high school and undergraduate students, allow one to measure…

REAL TIME TRACKING OBYEK BERGERAK DENGAN WEBCAM BERBASIS WARNA DENGAN METODE BACKGROUND SUBTRACTION

Directory of Open Access Journals (Sweden)

Aris Tri Jaka Harjanta

2017-07-01

Full Text Available Proses tracking obyek pada real time  video adalah salah satu topik yang penting dalam kajian suveillance system (Dhananjaya, Rama, and Thimmaiah 2015. deteksi dan ekstraksi informasi serta pelacakan obyek atau benda bergerak adalah sebagai salah satu bentuk aplikasi dari computer vision. Beberapa aplikasi yang memanfaatkan metode tracking object atau benda bergerak antara lain adalah UAV (Unmanned Aerial Vehicle surveillance atau lebih dikenal dengan mesin/kendaraan tak berawak, Indoor Monitoring system adalah sistem monitoring keadaan dalam ruangan, serta memonitor trafik lalu lintas yang dapat mengamati pergerakan semua benda dalam keadaan real time. Tracking obyek dalam keadaan real time banyak hal yang perlu diperhatikan dan perlu diperhitungkan dimana semua parameter dan noise atau gangguan object di sekitarnya yang tidak perlu kita amati namun berada dalam satu bagian bersama obyek yang kita amati. Dalam penelitian ini metode yang akan digunakan adalah background subtraction untuk pendeteksian serta tracking obyek dan benda bergerak secara real time berbasis warna dengan memanfaatkan kamera webcam dan menggunakan pustaka opensource OpenCv.

Retrospective Reconstruction of High Temporal Resolution Cine Images from Real-Time MRI using Iterative Motion Correction

DEFF Research Database (Denmark)

Hansen, Michael Schacht; Sørensen, Thomas Sangild; Arai, Andrew

2012-01-01

acquisitions in 10 (N = 10) subjects. Acceptable image quality was obtained in all motion-corrected reconstructions, and the resulting mean image quality score was (a) Cartesian real-time: 2.48, (b) Golden Angle real-time: 1.90 (1.00–2.50), (c) Cartesian motion correction: 3.92, (d) Radial motion correction: 4...... and motion correction based on nonrigid registration and can be applied to arbitrary k-space trajectories. The method is demonstrated with real-time Cartesian imaging and Golden Angle radial acquisitions, and the motion-corrected acquisitions are compared with raw real-time images and breath-hold cine...

Development of real-time motion capture system for 3D on-line games linked with virtual character

Science.gov (United States)

Kim, Jong Hyeong; Ryu, Young Kee; Cho, Hyung Suck

2004-10-01

Motion tracking method is being issued as essential part of the entertainment, medical, sports, education and industry with the development of 3-D virtual reality. Virtual human character in the digital animation and game application has been controlled by interfacing devices; mouse, joysticks, midi-slider, and so on. Those devices could not enable virtual human character to move smoothly and naturally. Furthermore, high-end human motion capture systems in commercial market are expensive and complicated. In this paper, we proposed a practical and fast motion capturing system consisting of optic sensors, and linked the data with 3-D game character with real time. The prototype experiment setup is successfully applied to a boxing game which requires very fast movement of human character.

Real-Time Tracking of Knee Adduction Moment in Patients with Knee Osteoarthritis

Science.gov (United States)

Kang, Sang Hoon; Lee, Song Joo; Zhang, Li-Qun

2014-01-01

Background The external knee adduction moment (EKAM) is closely associated with the presence, progression, and severity of knee osteoarthritis (OA). However, there is a lack of convenient and practical method to estimate and track in real-time the EKAM of patients with knee OA for clinical evaluation and gait training, especially outside of gait laboratories. New Method A real-time EKAM estimation method was developed and applied to track and investigate the EKAM and other knee moments during stepping on an elliptical trainer in both healthy subjects and a patient with knee OA. Results Substantial changes were observed in the EKAM and other knee moments during stepping in the patient with knee OA. Comparison with Existing Method(s) This is the first study to develop and test feasibility of real-time tracking method of the EKAM on patients with knee OA using 3-D inverse dynamics. Conclusions The study provides us an accurate and practical method to evaluate in real-time the critical EKAM associated with knee OA, which is expected to help us to diagnose and evaluate patients with knee OA and provide the patients with real-time EKAM feedback rehabilitation training. PMID:24361759

Memory Efficient VLSI Implementation of Real-Time Motion Detection System Using FPGA Platform

Directory of Open Access Journals (Sweden)

Sanjay Singh

2017-06-01

Full Text Available Motion detection is the heart of a potentially complex automated video surveillance system, intended to be used as a standalone system. Therefore, in addition to being accurate and robust, a successful motion detection technique must also be economical in the use of computational resources on selected FPGA development platform. This is because many other complex algorithms of an automated video surveillance system also run on the same platform. Keeping this key requirement as main focus, a memory efficient VLSI architecture for real-time motion detection and its implementation on FPGA platform is presented in this paper. This is accomplished by proposing a new memory efficient motion detection scheme and designing its VLSI architecture. The complete real-time motion detection system using the proposed memory efficient architecture along with proper input/output interfaces is implemented on Xilinx ML510 (Virtex-5 FX130T FPGA development platform and is capable of operating at 154.55 MHz clock frequency. Memory requirement of the proposed architecture is reduced by 41% compared to the standard clustering based motion detection architecture. The new memory efficient system robustly and automatically detects motion in real-world scenarios (both for the static backgrounds and the pseudo-stationary backgrounds in real-time for standard PAL (720 × 576 size color video.

Accuracy Improvement of Real-Time Location Tracking for Construction Workers

Directory of Open Access Journals (Sweden)

Hyunsoo Kim

2018-05-01

Full Text Available Extensive research has been conducted on the real-time locating system (RTLS for tracking construction components, including workers, equipment, and materials, in order to improve construction performance (e.g., productivity improvement or accident prevention. In order to prevent safety accidents and make more sustainable construction job sites, the higher accuracy of RTLS is required. To improve the accuracy of RTLS in construction projects, this paper presents a RTLS using radio frequency identification (RFID. For this goal, this paper develops a location tracking error mitigation algorithm and presents the concept of using assistant tags. The applicability and effectiveness of the developed RTLS are tested under eight different construction environments and the test results confirm the system’s strong potential for improving the accuracy of real-time location tracking in construction projects, thus enhancing construction performance.

Real Time Surface Registration for PET Motion Tracking

DEFF Research Database (Denmark)

Wilm, Jakob; Olesen, Oline Vinter; Paulsen, Rasmus Reinhold

2011-01-01

to create point clouds representing parts of the patient's face. The movement is estimated by a rigid registration of the point clouds. The registration should be done using a robust algorithm that can handle partial overlap and ideally operate in real time. We present an optimized Iterative Closest Point......Head movement during high resolution Positron Emission Tomography brain studies causes blur and artifacts in the images. Therefore, attempts are being made to continuously monitor the pose of the head and correct for this movement. Specifically, our method uses a structured light scanner system...... algorithm that operates at 10 frames per second on partial human face surfaces. © 2011 Springer-Verlag....

Feasibility of Stereo-Infrared Tracking to Monitor Patient Motion During Cardiac SPECT Imaging

OpenAIRE

Beach, Richard D.; Pretorius, P. Hendrik; Boening, Guido; Bruyant, Philippe P.; Feng, Bing; Fulton, Roger R.; Gennert, Michael A.; Nadella, Suman; King, Michael A.

2004-01-01

Patient motion during cardiac SPECT imaging can cause diagnostic imaging artifacts. We investigated the feasibility of monitoring patient motion using the Polaris motion-tracking system. This system uses passive infrared reflection from small spheres to provide real-time position data with vendor stated 0.35 mm accuracy and 0.2 mm repeatability. In our configuration, the Polaris system views through the SPECT gantry toward the patient's head. List-mode event data was temporally synchronized w...

Time-domain prefilter design for enhanced tracking and vibration suppression in machine motion control

Science.gov (United States)

Cole, Matthew O. T.; Shinonawanik, Praween; Wongratanaphisan, Theeraphong

2018-05-01

Structural flexibility can impact negatively on machine motion control systems by causing unmeasured positioning errors and vibration at locations where accurate motion is important for task execution. To compensate for these effects, command signal prefiltering may be applied. In this paper, a new FIR prefilter design method is described that combines finite-time vibration cancellation with dynamic compensation properties. The time-domain formulation exploits the relation between tracking error and the moment values of the prefilter impulse response function. Optimal design solutions for filters having minimum H2 norm are derived and evaluated. The control approach does not require additional actuation or sensing and can be effective even without complete and accurate models of the machine dynamics. Results from implementation and testing on an experimental high-speed manipulator having a Delta robot architecture with directionally compliant end-effector are presented. The results show the importance of prefilter moment values for tracking performance and confirm that the proposed method can achieve significant reductions in both peak and RMS tracking error, as well as settling time, for complex motion patterns.

Real-time DSP implementation for MRF-based video motion detection.

Science.gov (United States)

Dumontier, C; Luthon, F; Charras, J P

1999-01-01

This paper describes the real time implementation of a simple and robust motion detection algorithm based on Markov random field (MRF) modeling, MRF-based algorithms often require a significant amount of computations. The intrinsic parallel property of MRF modeling has led most of implementations toward parallel machines and neural networks, but none of these approaches offers an efficient solution for real-world (i.e., industrial) applications. Here, an alternative implementation for the problem at hand is presented yielding a complete, efficient and autonomous real-time system for motion detection. This system is based on a hybrid architecture, associating pipeline modules with one asynchronous module to perform the whole process, from video acquisition to moving object masks visualization. A board prototype is presented and a processing rate of 15 images/s is achieved, showing the validity of the approach.

Real-time physics-based 3D biped character animation using an inverted pendulum model.

Science.gov (United States)

Tsai, Yao-Yang; Lin, Wen-Chieh; Cheng, Kuangyou B; Lee, Jehee; Lee, Tong-Yee

2010-01-01

We present a physics-based approach to generate 3D biped character animation that can react to dynamical environments in real time. Our approach utilizes an inverted pendulum model to online adjust the desired motion trajectory from the input motion capture data. This online adjustment produces a physically plausible motion trajectory adapted to dynamic environments, which is then used as the desired motion for the motion controllers to track in dynamics simulation. Rather than using Proportional-Derivative controllers whose parameters usually cannot be easily set, our motion tracking adopts a velocity-driven method which computes joint torques based on the desired joint angular velocities. Physically correct full-body motion of the 3D character is computed in dynamics simulation using the computed torques and dynamical model of the character. Our experiments demonstrate that tracking motion capture data with real-time response animation can be achieved easily. In addition, physically plausible motion style editing, automatic motion transition, and motion adaptation to different limb sizes can also be generated without difficulty.

Real-time x-ray fluoroscopy-based catheter detection and tracking for cardiac electrophysiology interventions

International Nuclear Information System (INIS)

Ma Yingliang; Housden, R. James; Razavi, Reza; Rhode, Kawal S.; Gogin, Nicolas; Cathier, Pascal; Gijsbers, Geert; Cooklin, Michael; O'Neill, Mark; Gill, Jaswinder; Rinaldi, C. Aldo

2013-01-01

Purpose: X-ray fluoroscopically guided cardiac electrophysiology (EP) procedures are commonly carried out to treat patients with arrhythmias. X-ray images have poor soft tissue contrast and, for this reason, overlay of a three-dimensional (3D) roadmap derived from preprocedural volumetric images can be used to add anatomical information. It is useful to know the position of the catheter electrodes relative to the cardiac anatomy, for example, to record ablation therapy locations during atrial fibrillation therapy. Also, the electrode positions of the coronary sinus (CS) catheter or lasso catheter can be used for road map motion correction.Methods: In this paper, the authors present a novel unified computational framework for image-based catheter detection and tracking without any user interaction. The proposed framework includes fast blob detection, shape-constrained searching and model-based detection. In addition, catheter tracking methods were designed based on the customized catheter models input from the detection method. Three real-time detection and tracking methods are derived from the computational framework to detect or track the three most common types of catheters in EP procedures: the ablation catheter, the CS catheter, and the lasso catheter. Since the proposed methods use the same blob detection method to extract key information from x-ray images, the ablation, CS, and lasso catheters can be detected and tracked simultaneously in real-time.Results: The catheter detection methods were tested on 105 different clinical fluoroscopy sequences taken from 31 clinical procedures. Two-dimensional (2D) detection errors of 0.50 ± 0.29, 0.92 ± 0.61, and 0.63 ± 0.45 mm as well as success rates of 99.4%, 97.2%, and 88.9% were achieved for the CS catheter, ablation catheter, and lasso catheter, respectively. With the tracking method, accuracies were increased to 0.45 ± 0.28, 0.64 ± 0.37, and 0.53 ± 0.38 mm and success rates increased to 100%, 99.2%, and 96

Siamese convolutional networks for tracking the spine motion

Science.gov (United States)

Liu, Yuan; Sui, Xiubao; Sun, Yicheng; Liu, Chengwei; Hu, Yong

2017-09-01

Deep learning models have demonstrated great success in various computer vision tasks such as image classification and object tracking. However, tracking the lumbar spine by digitalized video fluoroscopic imaging (DVFI), which can quantitatively analyze the motion mode of spine to diagnose lumbar instability, has not yet been well developed due to the lack of steady and robust tracking method. In this paper, we propose a novel visual tracking algorithm of the lumbar vertebra motion based on a Siamese convolutional neural network (CNN) model. We train a full-convolutional neural network offline to learn generic image features. The network is trained to learn a similarity function that compares the labeled target in the first frame with the candidate patches in the current frame. The similarity function returns a high score if the two images depict the same object. Once learned, the similarity function is used to track a previously unseen object without any adapting online. In the current frame, our tracker is performed by evaluating the candidate rotated patches sampled around the previous frame target position and presents a rotated bounding box to locate the predicted target precisely. Results indicate that the proposed tracking method can detect the lumbar vertebra steadily and robustly. Especially for images with low contrast and cluttered background, the presented tracker can still achieve good tracking performance. Further, the proposed algorithm operates at high speed for real time tracking.

Validation of a method for real time foot position and orientation tracking with Microsoft Kinect technology for use in virtual reality and treadmill based gait training programs.

Science.gov (United States)

Paolini, Gabriele; Peruzzi, Agnese; Mirelman, Anat; Cereatti, Andrea; Gaukrodger, Stephen; Hausdorff, Jeffrey M; Della Croce, Ugo

2014-09-01

The use of virtual reality for the provision of motor-cognitive gait training has been shown to be effective for a variety of patient populations. The interaction between the user and the virtual environment is achieved by tracking the motion of the body parts and replicating it in the virtual environment in real time. In this paper, we present the validation of a novel method for tracking foot position and orientation in real time, based on the Microsoft Kinect technology, to be used for gait training combined with virtual reality. The validation of the motion tracking method was performed by comparing the tracking performance of the new system against a stereo-photogrammetric system used as gold standard. Foot position errors were in the order of a few millimeters (average RMSD from 4.9 to 12.1 mm in the medio-lateral and vertical directions, from 19.4 to 26.5 mm in the anterior-posterior direction); the foot orientation errors were also small (average %RMSD from 5.6% to 8.8% in the medio-lateral and vertical directions, from 15.5% to 18.6% in the anterior-posterior direction). The results suggest that the proposed method can be effectively used to track feet motion in virtual reality and treadmill-based gait training programs.

Predictive local receptive fields based respiratory motion tracking for motion-adaptive radiotherapy.

Science.gov (United States)

Yubo Wang; Tatinati, Sivanagaraja; Liyu Huang; Kim Jeong Hong; Shafiq, Ghufran; Veluvolu, Kalyana C; Khong, Andy W H

2017-07-01

Extracranial robotic radiotherapy employs external markers and a correlation model to trace the tumor motion caused by the respiration. The real-time tracking of tumor motion however requires a prediction model to compensate the latencies induced by the software (image data acquisition and processing) and hardware (mechanical and kinematic) limitations of the treatment system. A new prediction algorithm based on local receptive fields extreme learning machines (pLRF-ELM) is proposed for respiratory motion prediction. All the existing respiratory motion prediction methods model the non-stationary respiratory motion traces directly to predict the future values. Unlike these existing methods, the pLRF-ELM performs prediction by modeling the higher-level features obtained by mapping the raw respiratory motion into the random feature space of ELM instead of directly modeling the raw respiratory motion. The developed method is evaluated using the dataset acquired from 31 patients for two horizons in-line with the latencies of treatment systems like CyberKnife. Results showed that pLRF-ELM is superior to that of existing prediction methods. Results further highlight that the abstracted higher-level features are suitable to approximate the nonlinear and non-stationary characteristics of respiratory motion for accurate prediction.

Development of the compact proton beam therapy system dedicated to spot scanning with real-time tumor-tracking technology

Science.gov (United States)

Umezawa, Masumi; Fujimoto, Rintaro; Umekawa, Tooru; Fujii, Yuusuke; Takayanagi, Taisuke; Ebina, Futaro; Aoki, Takamichi; Nagamine, Yoshihiko; Matsuda, Koji; Hiramoto, Kazuo; Matsuura, Taeko; Miyamoto, Naoki; Nihongi, Hideaki; Umegaki, Kikuo; Shirato, Hiroki

2013-04-01

Hokkaido University and Hitachi Ltd. have started joint development of the Gated Spot Scanning Proton Therapy with Real-Time Tumor-Tracking System by integrating real-time tumor tracking technology (RTRT) and the proton therapy system dedicated to discrete spot scanning techniques under the "Funding Program for World-Leading Innovative R&D on Science and Technology (FIRST Program)". In this development, we have designed the synchrotron-based accelerator system by using the advantages of the spot scanning technique in order to realize a more compact and lower cost proton therapy system than the conventional system. In the gated irradiation, we have focused on the issues to maximize irradiation efficiency and minimize the dose errors caused by organ motion. In order to understand the interplay effect between scanning beam delivery and target motion, we conducted a simulation study. The newly designed system consists of the synchrotron, beam transport system, one compact rotating gantry treatment room with robotic couch, and one experimental room for future research. To improve the irradiation efficiency, the new control function which enables multiple gated irradiations per synchrotron cycle has been applied and its efficacy was confirmed by the irradiation time estimation. As for the interplay effect, we confirmed that the selection of a strict gating width and scan direction enables formation of the uniform dose distribution.

Testbeam results of the first real-time embedded tracking system with artificial retina

Energy Technology Data Exchange (ETDEWEB)

Neri, N., E-mail: nicola.neri@mi.infn.it; Abba, A.; Caponio, F.; Citterio, M.; Coelli, S.; Fu, J.; Merli, A.; Monti, M.; Petruzzo, M.

2017-02-11

We present the testbeam results of the first real-time embedded tracking system based on artificial retina algorithm. The tracking system prototype is capable of fast track reconstruction with a latency of the response below 1 μs and track parameter resolutions that are comparable with the offline results. The artificial retina algorithm was implemented in hardware in a custom data acquisition board based on commercial FPGA. The system was tested successfully using a 180 GeV/c proton beam at the CERN SPS with a maximum track rate of about 280 kHz. Online track parameters were found in good agreement with offline results and with the simulated response. - Highlights: • First real-time tracking system based on artificial retina algorithm tested on beam. • Fast track reconstruction within one microsecond latency and offline like quality. • Fast tracking algorithm implemented in commercial FPGAs.

The effect of visual-motion time delays on pilot performance in a pursuit tracking task

Science.gov (United States)

Miller, G. K., Jr.; Riley, D. R.

1976-01-01

A study has been made to determine the effect of visual-motion time delays on pilot performance of a simulated pursuit tracking task. Three interrelated major effects have been identified: task difficulty, motion cues, and time delays. As task difficulty, as determined by airplane handling qualities or target frequency, increases, the amount of acceptable time delay decreases. However, when relatively complete motion cues are included in the simulation, the pilot can maintain his performance for considerably longer time delays. In addition, the number of degrees of freedom of motion employed is a significant factor.

Real-time recursive motion segmentation of video data on a programmable device

NARCIS (Netherlands)

Wittebrood, R.B; Haan, de G.

2001-01-01

We previously reported on a recursive algorithm enabling real-time object-based motion estimation (OME) of standard definition video on a digital signal processor (DSP). The algorithm approximates the motion of the objects in the image with parametric motion models and creates a segmentation mask by

Tracking Accuracy of a Real-Time Fiducial Tracking System for Patient Positioning and Monitoring in Radiation Therapy

International Nuclear Information System (INIS)

Shchory, Tal; Schifter, Dan; Lichtman, Rinat; Neustadter, David; Corn, Benjamin W.

2010-01-01

Purpose: In radiation therapy there is a need to accurately know the location of the target in real time. A novel radioactive tracking technology has been developed to answer this need. The technology consists of a radioactive implanted fiducial marker designed to minimize migration and a linac mounted tracking device. This study measured the static and dynamic accuracy of the new tracking technology in a clinical radiation therapy environment. Methods and Materials: The tracking device was installed on the linac gantry. The radioactive marker was located in a tissue equivalent phantom. Marker location was measured simultaneously by the radioactive tracking system and by a Microscribe G2 coordinate measuring machine (certified spatial accuracy of 0.38 mm). Localization consistency throughout a volume and absolute accuracy in the Fixed coordinate system were measured at multiple gantry angles over volumes of at least 10 cm in diameter centered at isocenter. Dynamic accuracy was measured with the marker located inside a breathing phantom. Results: The mean consistency for the static source was 0.58 mm throughout the tested region at all measured gantry angles. The mean absolute position error in the Fixed coordinate system for all gantry angles was 0.97 mm. The mean real-time tracking error for the dynamic source within the breathing phantom was less than 1 mm. Conclusions: This novel radioactive tracking technology has the potential to be useful in accurate target localization and real-time monitoring for radiation therapy.

Infrared wireless data transfer for real-time motion control

NARCIS (Netherlands)

Gajdusek, M.; Overboom, T.T.; Damen, A.A.H.; Bosch, van den P.P.J.

2009-01-01

In this paper several wireless solution are compared for their suitability for real-time control of a fast motion system. From the comparison, Very Fast Infrared (VFIR) communication link has been found to be an attractive solution for presented wirelessly controlled manipulator. Because standard

Strategies for real-time position control of a single atom in cavity QED

International Nuclear Information System (INIS)

Lynn, T W; Birnbaum, K; Kimble, H J

2005-01-01

Recent realizations of single-atom trapping and tracking in cavity QED open the door for feedback schemes which actively stabilize the motion of a single atom in real time. We present feedback algorithms for cooling the radial component of motion for a single atom trapped by strong coupling to single-photon fields in an optical cavity. Performance of various algorithms is studied through simulations of single-atom trajectories, with full dynamical and measurement noise included. Closed loop feedback algorithms compare favourably to open loop 'switching' analogues, demonstrating the importance of applying actual position information in real time. The high optical information rate in current experiments enables real-time tracking that approaches the standard quantum limit for broadband position measurements, suggesting that realistic active feedback schemes may reach a regime where measurement backaction appreciably alters the motional dynamics

Potential of image-guidance, gating and real-time tracking to improve accuracy in pulmonary stereotactic body radiotherapy

International Nuclear Information System (INIS)

Guckenberger, Matthias; Krieger, Thomas; Richter, Anne; Baier, Kurt; Wilbert, Juergen; Sweeney, Reinhart A.; Flentje, Michael

2009-01-01

Purpose: To evaluate the potential of image-guidance, gating and real-time tumor tracking to improve accuracy in pulmonary stereotactic body radiotherapy (SBRT). Materials and methods: Safety margins for compensation of inter- and intra-fractional uncertainties of the target position were calculated based on SBRT treatments of 43 patients with pre- and post-treatment cone-beam CT imaging. Safety margins for compensation of breathing motion were evaluated for 17 pulmonary tumors using respiratory correlated CT, model-based segmentation of 4D-CT images and voxel-based dose accumulation; the target in the mid-ventilation position was the reference. Results: Because of large inter-fractional base-line shifts of the tumor, stereotactic patient positioning and image-guidance based on the bony anatomy required safety margins of 12 mm and 9 mm, respectively. Four-dimensional image-guidance targeting the tumor itself and intra-fractional tumor tracking reduced margins to <5 mm and <3 mm, respectively. Additional safety margins are required to compensate for breathing motion. A quadratic relationship between tumor motion and margins for motion compensation was observed: safety margins of 2.4 mm and 6 mm were calculated for compensation of 10 mm and 20 mm motion amplitudes in cranio-caudal direction, respectively. Conclusion: Four-dimensional image-guidance with pre-treatment verification of the target position and online correction of errors reduced safety margins most effectively in pulmonary SBRT.

Real-time target tracking of soft tissues in 3D ultrasound images based on robust visual information and mechanical simulation.

Science.gov (United States)

Royer, Lucas; Krupa, Alexandre; Dardenne, Guillaume; Le Bras, Anthony; Marchand, Eric; Marchal, Maud

2017-01-01

In this paper, we present a real-time approach that allows tracking deformable structures in 3D ultrasound sequences. Our method consists in obtaining the target displacements by combining robust dense motion estimation and mechanical model simulation. We perform evaluation of our method through simulated data, phantom data, and real-data. Results demonstrate that this novel approach has the advantage of providing correct motion estimation regarding different ultrasound shortcomings including speckle noise, large shadows and ultrasound gain variation. Furthermore, we show the good performance of our method with respect to state-of-the-art techniques by testing on the 3D databases provided by MICCAI CLUST'14 and CLUST'15 challenges. Copyright © 2016 Elsevier B.V. All rights reserved.

2010 winter games tracks energy in real time

Energy Technology Data Exchange (ETDEWEB)

Anon.

2010-01-15

An online energy tracker was developed by BC Hydro to publicly monitor the real-time energy consumption at the Vancouver 2010 Olympic winter game sites within Vancouver, Richmond, Whistler and Whistler Blackcomb. The venues and associated sites participating in the live energy tracking project were the Richmond Olympic Oval, Canada Hockey Place, Vancouver Olympic/Paralympic Centre, South East False Creek Community Centre, Whistler Blackcomb Roundhouse Lodge and snowmaking facilities, and the Olympic and Paralympic Villages. The system was developed to allow venue managers to optimize their use of electricity on an hourly and daily basis. An energy tracking display board developed by Pulse Energy enabled them to compare their performance to similar facilities in real time, and to determine the greenhouse gas savings achieved as result of building and operating practices. Some venues had the potential to save as much as 15 to 20 per cent in energy costs with corresponding reductions in carbon emissions. Efficiency and conservation was built into the design of many new venues. The retrofits made to several existing buildings will continue to contribute to British Columbia's conservation goals long after the 2010 winter games are over.

Real-time dynamic MLC tracking for inversely optimized arc radiotherapy

DEFF Research Database (Denmark)

Falk, Marianne; af Rosenschöld, Per Munck; Keall, Paul

2010-01-01

Motion compensation with MLC tracking was tested for inversely optimized arc radiotherapy with special attention to the impact of the size of the target displacements and the angle of the leaf trajectory.......Motion compensation with MLC tracking was tested for inversely optimized arc radiotherapy with special attention to the impact of the size of the target displacements and the angle of the leaf trajectory....

Kalman filters for real-time magnetic island phase tracking

NARCIS (Netherlands)

Borgers, D. P.; Lauret, M.; M.R. de Baar,

2013-01-01

For control of neoclassical tearing modes (NTMs) and the resulting rotating magnetic islands in tokamak plasmas, the frequency and phase of the magnetic islands need to be accurately tracked in real-time. In previous experiments on TEXTOR, this was achieved using a phase-locked loop (PLL). For ASDEX

Real-time object detection, tracking and occlusion reasoning

Science.gov (United States)

Divakaran, Ajay; Yu, Qian; Tamrakar, Amir; Sawhney, Harpreet Singh; Zhu, Jiejie; Javed, Omar; Liu, Jingen; Cheng, Hui; Eledath, Jayakrishnan

2018-02-27

A system for object detection and tracking includes technologies to, among other things, detect and track moving objects, such as pedestrians and/or vehicles, in a real-world environment, handle static and dynamic occlusions, and continue tracking moving objects across the fields of view of multiple different cameras.

Multimodal Pilot Behavior in Multi-Axis Tracking Tasks with Time-Varying Motion Cueing Gains

Science.gov (United States)

Zaal, P. M. T; Pool, D. M.

2014-01-01

In a large number of motion-base simulators, adaptive motion filters are utilized to maximize the use of the available motion envelope of the motion system. However, not much is known about how the time-varying characteristics of such adaptive filters affect pilots when performing manual aircraft control. This paper presents the results of a study investigating the effects of time-varying motion filter gains on pilot control behavior and performance. An experiment was performed in a motion-base simulator where participants performed a simultaneous roll and pitch tracking task, while the roll and/or pitch motion filter gains changed over time. Results indicate that performance increases over time with increasing motion gains. This increase is a result of a time-varying adaptation of pilots' equalization dynamics, characterized by increased visual and motion response gains and decreased visual lead time constants. Opposite trends are found for decreasing motion filter gains. Even though the trends in both controlled axes are found to be largely the same, effects are less significant in roll. In addition, results indicate minor cross-coupling effects between pitch and roll, where a cueing variation in one axis affects the behavior adopted in the other axis.

Hard Ware Implementation of Diamond Search Algorithm for Motion Estimation and Object Tracking

International Nuclear Information System (INIS)

Hashimaa, S.M.; Mahmoud, I.I.; Elazm, A.A.

2009-01-01

Object tracking is very important task in computer vision. Fast search algorithms emerged as important search technique to achieve real time tracking results. To enhance the performance of these algorithms, we advocate the hardware implementation of such algorithms. Diamond search block matching motion estimation has been proposed recently to reduce the complexity of motion estimation. In this paper we selected the diamond search algorithm (DS) for implementation using FPGA. This is due to its fundamental role in all fast search patterns. The proposed architecture is simulated and synthesized using Xilinix and modelsim soft wares. The results agree with the algorithm implementation in Matlab environment.

Real-time markerless tracking for augmented reality: the virtual visual servoing framework.

Science.gov (United States)

Comport, Andrew I; Marchand, Eric; Pressigout, Muriel; Chaumette, François

2006-01-01

Tracking is a very important research subject in a real-time augmented reality context. The main requirements for trackers are high accuracy and little latency at a reasonable cost. In order to address these issues, a real-time, robust, and efficient 3D model-based tracking algorithm is proposed for a "video see through" monocular vision system. The tracking of objects in the scene amounts to calculating the pose between the camera and the objects. Virtual objects can then be projected into the scene using the pose. Here, nonlinear pose estimation is formulated by means of a virtual visual servoing approach. In this context, the derivation of point-to-curves interaction matrices are given for different 3D geometrical primitives including straight lines, circles, cylinders, and spheres. A local moving edges tracker is used in order to provide real-time tracking of points normal to the object contours. Robustness is obtained by integrating an M-estimator into the visual control law via an iteratively reweighted least squares implementation. This approach is then extended to address the 3D model-free augmented reality problem. The method presented in this paper has been validated on several complex image sequences including outdoor environments. Results show the method to be robust to occlusion, changes in illumination, and mistracking.

Achieving Real-Time Tracking Mobile Wireless Sensors Using SE-KFA

Science.gov (United States)

Kadhim Hoomod, Haider, Dr.; Al-Chalabi, Sadeem Marouf M.

2018-05-01

Nowadays, Real-Time Achievement is very important in different fields, like: Auto transport control, some medical applications, celestial body tracking, controlling agent movements, detections and monitoring, etc. This can be tested by different kinds of detection devices, which named "sensors" as such as: infrared sensors, ultrasonic sensor, radars in general, laser light sensor, and so like. Ultrasonic Sensor is the most fundamental one and it has great impact and challenges comparing with others especially when navigating (as an agent). In this paper, concerning to the ultrasonic sensor, sensor(s) detecting and delimitation by themselves then navigate inside a limited area to estimating Real-Time using Speed Equation with Kalman Filter Algorithm as an intelligent estimation algorithm. Then trying to calculate the error comparing to the factual rate of tracking. This paper used Ultrasonic Sensor HC-SR04 with Arduino-UNO as Microcontroller.

Real Time Optima Tracking Using Harvesting Models of the Genetic Algorithm

Science.gov (United States)

Baskaran, Subbiah; Noever, D.

1999-01-01

Tracking optima in real time propulsion control, particularly for non-stationary optimization problems is a challenging task. Several approaches have been put forward for such a study including the numerical method called the genetic algorithm. In brief, this approach is built upon Darwinian-style competition between numerical alternatives displayed in the form of binary strings, or by analogy to 'pseudogenes'. Breeding of improved solution is an often cited parallel to natural selection in.evolutionary or soft computing. In this report we present our results of applying a novel model of a genetic algorithm for tracking optima in propulsion engineering and in real time control. We specialize the algorithm to mission profiling and planning optimizations, both to select reduced propulsion needs through trajectory planning and to explore time or fuel conservation strategies.

Real-Time Track Reallocation for Emergency Incidents at Large Railway Stations

Directory of Open Access Journals (Sweden)

Wei Liu

2015-01-01

Full Text Available After track capacity breakdowns at a railway station, train dispatchers need to generate appropriate track reallocation plans to recover the impacted train schedule and minimize the expected total train delay time under stochastic scenarios. This paper focuses on the real-time track reallocation problem when tracks break down at large railway stations. To represent these cases, virtual trains are introduced and activated to occupy the accident tracks. A mathematical programming model is developed, which aims at minimizing the total occupation time of station bottleneck sections to avoid train delays. In addition, a hybrid algorithm between the genetic algorithm and the simulated annealing algorithm is designed. The case study from the Baoji railway station in China verifies the efficiency of the proposed model and the algorithm. Numerical results indicate that, during a daily and shift transport plan from 8:00 to 8:30, if five tracks break down simultaneously, this will disturb train schedules (result in train arrival and departure delays.

Real-Time Order Tracking of Gear Mesh Vibration in High Speed Planetary Gearboxes

Directory of Open Access Journals (Sweden)

Plöger Daniel Fritz

2018-01-01

Full Text Available Possible approaches to real-time order tracking are discussed. Two methods for real-time order tracking are developed and validated experimentally for the entire audible spectrum. An adaptive heterodyne filter bank is compared to a direct integral transform. The performance of both methods is adequate for usage in an active vibration control (AVC algorithm. Vold-Kalman filters are not suitable for AVC. The vibration data of three different planetary gearboxes is analyzed using order tracking. While some of the existing research could be reproduced, the data contradicts statements made by several authors. Lastly, the architecture of a novel AVC algorithm is sketched out.

DMLC motion tracking of moving targets for intensity modulated arc therapy treatment

DEFF Research Database (Denmark)

Zimmerman, Jens; Korreman, Stine; Persson, Gitte

2009-01-01

(DMLC). The aim of this work was to evaluate the dose delivered to moving targets using the RapidArc (Varian Medical Systems, Inc.) technology with and without a DMLC tracking algorithm. MATERIAL AND METHODS: A Varian Clinac iX was equipped with a preclinical RapidArc and a 3D DMLC tracking application......) and state (1). CONCLUSIONS: DMLC tracking together with RapidArc make a feasible combination and is capable of improving the dose distribution delivered to a moving target. It seems to be of importance to minimize noise influencing the tracking, to gain the full benefit from the application........ A motion platform was placed on the couch, with the detectors on top: a PTW seven29 and a Scandidos Delta4. One lung plan and one prostate plan were delivered. Motion was monitored using a Real-time Position Management (RPM) system. Reference measurements were performed for both plans with both detectors...

Real-time motion analytics during brain MRI improve data quality and reduce costs.

Science.gov (United States)

Dosenbach, Nico U F; Koller, Jonathan M; Earl, Eric A; Miranda-Dominguez, Oscar; Klein, Rachel L; Van, Andrew N; Snyder, Abraham Z; Nagel, Bonnie J; Nigg, Joel T; Nguyen, Annie L; Wesevich, Victoria; Greene, Deanna J; Fair, Damien A

2017-11-01

Head motion systematically distorts clinical and research MRI data. Motion artifacts have biased findings from many structural and functional brain MRI studies. An effective way to remove motion artifacts is to exclude MRI data frames affected by head motion. However, such post-hoc frame censoring can lead to data loss rates of 50% or more in our pediatric patient cohorts. Hence, many scanner operators collect additional 'buffer data', an expensive practice that, by itself, does not guarantee sufficient high-quality MRI data for a given participant. Therefore, we developed an easy-to-setup, easy-to-use Framewise Integrated Real-time MRI Monitoring (FIRMM) software suite that provides scanner operators with head motion analytics in real-time, allowing them to scan each subject until the desired amount of low-movement data has been collected. Our analyses show that using FIRMM to identify the ideal scan time for each person can reduce total brain MRI scan times and associated costs by 50% or more. Copyright © 2017 The Authors. Published by Elsevier Inc. All rights reserved.

Optical eye tracking system for real-time noninvasive tumor localization in external beam radiotherapy.

Science.gov (United States)

Via, Riccardo; Fassi, Aurora; Fattori, Giovanni; Fontana, Giulia; Pella, Andrea; Tagaste, Barbara; Riboldi, Marco; Ciocca, Mario; Orecchia, Roberto; Baroni, Guido

2015-05-01

External beam radiotherapy currently represents an important therapeutic strategy for the treatment of intraocular tumors. Accurate target localization and efficient compensation of involuntary eye movements are crucial to avoid deviations in dose distribution with respect to the treatment plan. This paper describes an eye tracking system (ETS) based on noninvasive infrared video imaging. The system was designed for capturing the tridimensional (3D) ocular motion and provides an on-line estimation of intraocular lesions position based on a priori knowledge coming from volumetric imaging. Eye tracking is performed by localizing cornea and pupil centers on stereo images captured by two calibrated video cameras, exploiting eye reflections produced by infrared illumination. Additionally, torsional eye movements are detected by template matching in the iris region of eye images. This information allows estimating the 3D position and orientation of the eye by means of an eye local reference system. By combining ETS measurements with volumetric imaging for treatment planning [computed tomography (CT) and magnetic resonance (MR)], one is able to map the position of the lesion to be treated in local eye coordinates, thus enabling real-time tumor referencing during treatment setup and irradiation. Experimental tests on an eye phantom and seven healthy subjects were performed to assess ETS tracking accuracy. Measurements on phantom showed an overall median accuracy within 0.16 mm and 0.40° for translations and rotations, respectively. Torsional movements were affected by 0.28° median uncertainty. On healthy subjects, the gaze direction error ranged between 0.19° and 0.82° at a median working distance of 29 cm. The median processing time of the eye tracking algorithm was 18.60 ms, thus allowing eye monitoring up to 50 Hz. A noninvasive ETS prototype was designed to perform real-time target localization and eye movement monitoring during ocular radiotherapy treatments. The

Real-time visual tracking of less textured three-dimensional objects on mobile platforms

Science.gov (United States)

Seo, Byung-Kuk; Park, Jungsik; Park, Hanhoon; Park, Jong-Il

2012-12-01

Natural feature-based approaches are still challenging for mobile applications (e.g., mobile augmented reality), because they are feasible only in limited environments such as highly textured and planar scenes/objects, and they need powerful mobile hardware for fast and reliable tracking. In many cases where conventional approaches are not effective, three-dimensional (3-D) knowledge of target scenes would be beneficial. We present a well-established framework for real-time visual tracking of less textured 3-D objects on mobile platforms. Our framework is based on model-based tracking that efficiently exploits partially known 3-D scene knowledge such as object models and a background's distinctive geometric or photometric knowledge. Moreover, we elaborate on implementation in order to make it suitable for real-time vision processing on mobile hardware. The performance of the framework is tested and evaluated on recent commercially available smartphones, and its feasibility is shown by real-time demonstrations.

Real-time identification of vehicle motion-modes using neural networks

Science.gov (United States)

Wang, Lifu; Zhang, Nong; Du, Haiping

2015-01-01

A four-wheel ground vehicle has three body-dominated motion-modes, that is, bounce, roll, and pitch motion-modes. Real-time identification of these motion-modes can make vehicle suspensions, in particular, active suspensions, target on the dominant motion-mode and apply appropriate control strategies to improve its performance with less power consumption. Recently, a motion-mode energy method (MEM) was developed to identify the vehicle body motion-modes. However, this method requires the measurement of full vehicle states and road inputs, which are not always available in practice. This paper proposes an alternative approach to identify vehicle primary motion-modes with acceptable accuracy by employing neural networks (NNs). The effectiveness of the trained NNs is verified on a 10-DOF full-car model under various types of excitation inputs. The results confirm that the proposed method is effective in determining vehicle primary motion-modes with comparable accuracy to the MEM method. Experimental data is further used to validate the proposed method.

Real-Time Generic Face Tracking in the Wild with CUDA

NARCIS (Netherlands)

Cheng, Shiyang; Asthana, Akshay; Asthana, Ashish; Zafeiriou, Stefanos; Shen, Jie; Pantic, Maja

We present a robust real-time face tracking system based on the Constrained Local Models framework by adopting the novel regression-based Discriminative Response Map Fitting (DRMF) method. By exploiting the algorithm's potential parallelism, we present a hybrid CPU-GPU implementation capable of

The effect of visual-motion time-delays on pilot performance in a simulated pursuit tracking task

Science.gov (United States)

Miller, G. K., Jr.; Riley, D. R.

1977-01-01

An experimental study was made to determine the effect on pilot performance of time delays in the visual and motion feedback loops of a simulated pursuit tracking task. Three major interrelated factors were identified: task difficulty either in the form of airplane handling qualities or target frequency, the amount and type of motion cues, and time delay itself. In general, the greater the task difficulty, the smaller the time delay that could exist without degrading pilot performance. Conversely, the greater the motion fidelity, the greater the time delay that could be tolerated. The effect of motion was, however, pilot dependent.

Three axis electronic flight motion simulator real time control system design and implementation.

Science.gov (United States)

Gao, Zhiyuan; Miao, Zhonghua; Wang, Xuyong; Wang, Xiaohua

2014-12-01

A three axis electronic flight motion simulator is reported in this paper including the modelling, the controller design as well as the hardware implementation. This flight motion simulator could be used for inertial navigation test and high precision inertial navigation system with good dynamic and static performances. A real time control system is designed, several control system implementation problems were solved including time unification with parallel port interrupt, high speed finding-zero method of rotary inductosyn, zero-crossing management with continuous rotary, etc. Tests were carried out to show the effectiveness of the proposed real time control system.

Three axis electronic flight motion simulator real time control system design and implementation

Energy Technology Data Exchange (ETDEWEB)

Gao, Zhiyuan; Miao, Zhonghua, E-mail: zhonghua-miao@163.com; Wang, Xiaohua [School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200072 (China); Wang, Xuyong [School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240 (China)

2014-12-15

A three axis electronic flight motion simulator is reported in this paper including the modelling, the controller design as well as the hardware implementation. This flight motion simulator could be used for inertial navigation test and high precision inertial navigation system with good dynamic and static performances. A real time control system is designed, several control system implementation problems were solved including time unification with parallel port interrupt, high speed finding-zero method of rotary inductosyn, zero-crossing management with continuous rotary, etc. Tests were carried out to show the effectiveness of the proposed real time control system.

PRIMAS: a real-time 3D motion-analysis system

Science.gov (United States)

Sabel, Jan C.; van Veenendaal, Hans L. J.; Furnee, E. Hans

1994-03-01

The paper describes a CCD TV-camera-based system for real-time multicamera 2D detection of retro-reflective targets and software for accurate and fast 3D reconstruction. Applications of this system can be found in the fields of sports, biomechanics, rehabilitation research, and various other areas of science and industry. The new feature of real-time 3D opens an even broader perspective of application areas; animations in virtual reality are an interesting example. After presenting an overview of the hardware and the camera calibration method, the paper focuses on the real-time algorithms used for matching of the images and subsequent 3D reconstruction of marker positions. When using a calibrated setup of two cameras, it is now possible to track at least ten markers at 100 Hz. Limitations in the performance are determined by the visibility of the markers, which could be improved by adding a third camera.

Real Time 3D Facial Movement Tracking Using a Monocular Camera

Directory of Open Access Journals (Sweden)

Yanchao Dong

2016-07-01

Full Text Available The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference.

Real-time particle tracking at 10,000 fps using optical fiber illumination.

Science.gov (United States)

Otto, Oliver; Czerwinski, Fabian; Gornall, Joanne L; Stober, Gunter; Oddershede, Lene B; Seidel, Ralf; Keyser, Ulrich F

2010-10-25

We introduce optical fiber illumination for real-time tracking of optically trapped micrometer-sized particles with microsecond time resolution. Our light source is a high-radiance mercury arc lamp and a 600 μm optical fiber for short-distance illumination of the sample cell. Particle tracking is carried out with a software implemented cross-correlation algorithm following image acquisition from a CMOS camera. Our image data reveals that fiber illumination results in a signal-to-noise ratio usually one order of magnitude higher compared to standard Köhler illumination. We demonstrate position determination of a single optically trapped colloid with up to 10,000 frames per second over hours. We calibrate our optical tweezers and compare the results with quadrant photo diode measurements. Finally, we determine the positional accuracy of our setup to 2 nm by calculating the Allan variance. Our results show that neither illumination nor software algorithms limit the speed of real-time particle tracking with CMOS technology.

Donor Tracker: An Innovative Real-Time Tracking System for Blood ...

African Journals Online (AJOL)

In this paper, we explore the possibility of using location-aware computing to track blood donors in Mauritius and locate the nearest donor in cases of emergencies and whenever fresh blood is ... Keywords: Context-awareness, location-awareness, mobile and ubiquitous computing, location sensing technique, real-time.

Registration of clinical volumes to beams-eye-view images for real-time tracking

Energy Technology Data Exchange (ETDEWEB)

Bryant, Jonathan H.; Rottmann, Joerg; Lewis, John H.; Mishra, Pankaj; Berbeco, Ross I., E-mail: rberbeco@lroc.harvard.edu [Department of Radiation Oncology, Brigham and Women’s Hospital, Dana-Farber Cancer Institute and Harvard Medical School, Boston, Massachusetts 02115 (United States); Keall, Paul J. [Radiation Physics Laboratory, Sydney Medical School, University of Sydney, Sydney, New South Wales 2006 (Australia)

2014-12-15

Purpose: The authors combine the registration of 2D beam’s eye view (BEV) images and 3D planning computed tomography (CT) images, with relative, markerless tumor tracking to provide automatic absolute tracking of physician defined volumes such as the gross tumor volume (GTV). Methods: During treatment of lung SBRT cases, BEV images were continuously acquired with an electronic portal imaging device (EPID) operating in cine mode. For absolute registration of physician-defined volumes, an intensity based 2D/3D registration to the planning CT was performed using the end-of-exhale (EoE) phase of the four dimensional computed tomography (4DCT). The volume was converted from Hounsfield units into electron density by a calibration curve and digitally reconstructed radiographs (DRRs) were generated for each beam geometry. Using normalized cross correlation between the DRR and an EoE BEV image, the best in-plane rigid transformation was found. The transformation was applied to physician-defined contours in the planning CT, mapping them into the EPID image domain. A robust multiregion method of relative markerless lung tumor tracking quantified deviations from the EoE position. Results: The success of 2D/3D registration was demonstrated at the EoE breathing phase. By registering at this phase and then employing a separate technique for relative tracking, the authors are able to successfully track target volumes in the BEV images throughout the entire treatment delivery. Conclusions: Through the combination of EPID/4DCT registration and relative tracking, a necessary step toward the clinical implementation of BEV tracking has been completed. The knowledge of tumor volumes relative to the treatment field is important for future applications like real-time motion management, adaptive radiotherapy, and delivered dose calculations.

Model-Based Motion Tracking of Infants

DEFF Research Database (Denmark)

Olsen, Mikkel Damgaard; Herskind, Anna; Nielsen, Jens Bo

2014-01-01

Even though motion tracking is a widely used technique to analyze and measure human movements, only a few studies focus on motion tracking of infants. In recent years, a number of studies have emerged focusing on analyzing the motion pattern of infants, using computer vision. Most of these studies...... are based on 2D images, but few are based on 3D information. In this paper, we present a model-based approach for tracking infants in 3D. The study extends a novel study on graph-based motion tracking of infants and we show that the extension improves the tracking results. A 3D model is constructed...

Note: Reliable and non-contact 6D motion tracking system based on 2D laser scanners for cargo transportation

Energy Technology Data Exchange (ETDEWEB)

Kim, Young-Keun, E-mail: ykkim@handong.edu [Department of Mechanical and Control Engineering, Handong Global University, Pohang (Korea, Republic of); Kim, Kyung-Soo [Department of Mechanical Engineering, KAIST, Daejeon 305-701 (Korea, Republic of)

2014-10-15

Maritime transportation demands an accurate measurement system to track the motion of oscillating container boxes in real time. However, it is a challenge to design a sensor system that can provide both reliable and non-contact methods of 6-DOF motion measurements of a remote object for outdoor applications. In the paper, a sensor system based on two 2D laser scanners is proposed for detecting the relative 6-DOF motion of a crane load in real time. Even without implementing a camera, the proposed system can detect the motion of a remote object using four laser beam points. Because it is a laser-based sensor, the system is expected to be highly robust to sea weather conditions.

Expanding the use of real-time electromagnetic tracking in radiation oncology.

Science.gov (United States)

Shah, Amish P; Kupelian, Patrick A; Willoughby, Twyla R; Meeks, Sanford L

2011-11-15

In the past 10 years, techniques to improve radiotherapy delivery, such as intensity-modulated radiation therapy (IMRT), image-guided radiation therapy (IGRT) for both inter- and intrafraction tumor localization, and hypofractionated delivery techniques such as stereotactic body radiation therapy (SBRT), have evolved tremendously. This review article focuses on only one part of that evolution, electromagnetic tracking in radiation therapy. Electromagnetic tracking is still a growing technology in radiation oncology and, as such, the clinical applications are limited, the expense is high, and the reimbursement is insufficient to cover these costs. At the same time, current experience with electromagnetic tracking applied to various clinical tumor sites indicates that the potential benefits of electromagnetic tracking could be significant for patients receiving radiation therapy. Daily use of these tracking systems is minimally invasive and delivers no additional ionizing radiation to the patient, and these systems can provide explicit tumor motion data. Although there are a number of technical and fiscal issues that need to be addressed, electromagnetic tracking systems are expected to play a continued role in improving the precision of radiation delivery.

Real-time vehicle detection and tracking in video based on faster R-CNN

Science.gov (United States)

Zhang, Yongjie; Wang, Jian; Yang, Xin

2017-08-01

Vehicle detection and tracking is a significant part in auxiliary vehicle driving system. Using the traditional detection method based on image information has encountered enormous difficulties, especially in complex background. To solve this problem, a detection method based on deep learning, Faster R-CNN, which has very high detection accuracy and flexibility, is introduced. An algorithm of target tracking with the combination of Camshift and Kalman filter is proposed for vehicle tracking. The computation time of Faster R-CNN cannot achieve realtime detection. We use multi-thread technique to detect and track vehicle by parallel computation for real-time application.

Pilot study on real-time motion detection in UAS video data by human observer and image exploitation algorithm

Science.gov (United States)

Hild, Jutta; Krüger, Wolfgang; Brüstle, Stefan; Trantelle, Patrick; Unmüßig, Gabriel; Voit, Michael; Heinze, Norbert; Peinsipp-Byma, Elisabeth; Beyerer, Jürgen

2017-05-01

Real-time motion video analysis is a challenging and exhausting task for the human observer, particularly in safety and security critical domains. Hence, customized video analysis systems providing functions for the analysis of subtasks like motion detection or target tracking are welcome. While such automated algorithms relieve the human operators from performing basic subtasks, they impose additional interaction duties on them. Prior work shows that, e.g., for interaction with target tracking algorithms, a gaze-enhanced user interface is beneficial. In this contribution, we present an investigation on interaction with an independent motion detection (IDM) algorithm. Besides identifying an appropriate interaction technique for the user interface - again, we compare gaze-based and traditional mouse-based interaction - we focus on the benefit an IDM algorithm might provide for an UAS video analyst. In a pilot study, we exposed ten subjects to the task of moving target detection in UAS video data twice, once performing with automatic support, once performing without it. We compare the two conditions considering performance in terms of effectiveness (correct target selections). Additionally, we report perceived workload (measured using the NASA-TLX questionnaire) and user satisfaction (measured using the ISO 9241-411 questionnaire). The results show that a combination of gaze input and automated IDM algorithm provides valuable support for the human observer, increasing the number of correct target selections up to 62% and reducing workload at the same time.

Analysis of intra-fraction prostate motion and derivation of duration-dependent margins for radiotherapy using real-time 4D ultrasound

Directory of Open Access Journals (Sweden)

Eric Pei Ping Pang

2018-01-01

Full Text Available Background and purpose: During radiotherapy, prostate motion changes over time. Quantifying and accounting for this motion is essential. This study aimed to assess intra-fraction prostate motion and derive duration-dependent planning margins for two treatment techniques. Material and methods: A four-dimension (4D transperineal ultrasound Clarity® system was used to track prostate motion. We analysed 1913 fractions from 60 patients undergoing volumetric-modulated arc therapy (VMAT to the prostate. The mean VMAT treatment duration was 3.4 min. Extended monitoring was conducted weekly to simulate motion during intensity-modulated radiation therapy (IMRT treatment (an additional seven minutes. A motion-time trend analysis was conducted and the mean intra-fraction motion between VMAT and IMRT treatments compared. Duration-dependent margins were calculated and anisotropic margins for VMAT and IMRT treatments were derived. Results: There were statistically significant differences in the mean intra-fraction motion between VMAT and the simulated IMRT duration in the inferior (0.1 mm versus 0.3 mm and posterior (−0.2 versus −0.4 mm directions respectively (p ≪ 0.01. An intra-fraction motion trend inferiorly and posteriorly was observed. The recommended minimum anisotropic margins are 1.7 mm/2.7 mm (superior/inferior; 0.8 mm (left/right, 1.7 mm/2.9 mm (anterior/posterior for VMAT treatments and 2.9 mm/4.3 mm (superior/inferior, 1.5 mm (left/right, 2.8 mm/4.8 mm (anterior/posterior for IMRT treatments. Smaller anisotropic margins were required for VMAT compared to IMRT (differences ranging from 1.2 to 1.6 mm superiorly/inferiorly, 0.7 mm laterally and 1.1–1.9 mm anteriorly/posteriorly. Conclusions: VMAT treatment is preferred over IMRT as prostate motion increases with time. Larger margins should be employed in the inferior and posterior directions for both treatment durations. Duration-dependent margins should

Optical eye tracking system for real-time noninvasive tumor localization in external beam radiotherapy

International Nuclear Information System (INIS)

Via, Riccardo; Fassi, Aurora; Fattori, Giovanni; Fontana, Giulia; Pella, Andrea; Tagaste, Barbara; Ciocca, Mario; Riboldi, Marco; Baroni, Guido; Orecchia, Roberto

2015-01-01

Purpose: External beam radiotherapy currently represents an important therapeutic strategy for the treatment of intraocular tumors. Accurate target localization and efficient compensation of involuntary eye movements are crucial to avoid deviations in dose distribution with respect to the treatment plan. This paper describes an eye tracking system (ETS) based on noninvasive infrared video imaging. The system was designed for capturing the tridimensional (3D) ocular motion and provides an on-line estimation of intraocular lesions position based on a priori knowledge coming from volumetric imaging. Methods: Eye tracking is performed by localizing cornea and pupil centers on stereo images captured by two calibrated video cameras, exploiting eye reflections produced by infrared illumination. Additionally, torsional eye movements are detected by template matching in the iris region of eye images. This information allows estimating the 3D position and orientation of the eye by means of an eye local reference system. By combining ETS measurements with volumetric imaging for treatment planning [computed tomography (CT) and magnetic resonance (MR)], one is able to map the position of the lesion to be treated in local eye coordinates, thus enabling real-time tumor referencing during treatment setup and irradiation. Experimental tests on an eye phantom and seven healthy subjects were performed to assess ETS tracking accuracy. Results: Measurements on phantom showed an overall median accuracy within 0.16 mm and 0.40° for translations and rotations, respectively. Torsional movements were affected by 0.28° median uncertainty. On healthy subjects, the gaze direction error ranged between 0.19° and 0.82° at a median working distance of 29 cm. The median processing time of the eye tracking algorithm was 18.60 ms, thus allowing eye monitoring up to 50 Hz. Conclusions: A noninvasive ETS prototype was designed to perform real-time target localization and eye movement monitoring

Radiotherapy beyond cancer: Target localization in real-time MRI and treatment planning for cardiac radiosurgery

International Nuclear Information System (INIS)

Ipsen, S.; Blanck, O.; Rades, D.; Oborn, B.; Bode, F.; Liney, G.; Hunold, P.; Schweikard, A.; Keall, P. J.

2014-01-01

Purpose: Atrial fibrillation (AFib) is the most common cardiac arrhythmia that affects millions of patients world-wide. AFib is usually treated with minimally invasive, time consuming catheter ablation techniques. While recently noninvasive radiosurgery to the pulmonary vein antrum (PVA) in the left atrium has been proposed for AFib treatment, precise target location during treatment is challenging due to complex respiratory and cardiac motion. A MRI linear accelerator (MRI-Linac) could solve the problems of motion tracking and compensation using real-time image guidance. In this study, the authors quantified target motion ranges on cardiac magnetic resonance imaging (MRI) and analyzed the dosimetric benefits of margin reduction assuming real-time motion compensation was applied. Methods: For the imaging study, six human subjects underwent real-time cardiac MRI under free breathing. The target motion was analyzed retrospectively using a template matching algorithm. The planning study was conducted on a CT of an AFib patient with a centrally located esophagus undergoing catheter ablation, representing an ideal case for cardiac radiosurgery. The target definition was similar to the ablation lesions at the PVA created during catheter treatment. Safety margins of 0 mm (perfect tracking) to 8 mm (untracked respiratory motion) were added to the target, defining the planning target volume (PTV). For each margin, a 30 Gy single fraction IMRT plan was generated. Additionally, the influence of 1 and 3 T magnetic fields on the treatment beam delivery was simulated using Monte Carlo calculations to determine the dosimetric impact of MRI guidance for two different Linac positions. Results: Real-time cardiac MRI showed mean respiratory target motion of 10.2 mm (superior–inferior), 2.4 mm (anterior–posterior), and 2 mm (left–right). The planning study showed that increasing safety margins to encompass untracked respiratory motion leads to overlapping structures even in the

Radiotherapy beyond cancer: Target localization in real-time MRI and treatment planning for cardiac radiosurgery

Energy Technology Data Exchange (ETDEWEB)

Ipsen, S. [Radiation Physics Laboratory, Sydney Medical School, The University of Sydney, Sydney, New South Wales 2006, Australia and Institute for Robotics and Cognitive Systems, University of Luebeck, Luebeck 23562 (Germany); Blanck, O.; Rades, D. [Department of Radiation Oncology, University of Luebeck and University Medical Center Schleswig-Holstein, Campus Luebeck, Luebeck 23562 (Germany); Oborn, B. [Illawarra Cancer Care Centre (ICCC), Wollongong, New South Wales 2500, Australia and Centre for Medical Radiation Physics (CMRP), University of Wollongong, Wollongong, New South Wales 2500 (Australia); Bode, F. [Medical Department II, University of Luebeck and University Medical Center Schleswig-Holstein, Campus Luebeck, Luebeck 23562 (Germany); Liney, G. [Ingham Institute for Applied Medical Research, Liverpool Hospital, Liverpool, New South Wales 2170 (Australia); Hunold, P. [Department of Radiology and Nuclear Medicine, University of Luebeck and University Medical Center Schleswig-Holstein, Campus Luebeck, Luebeck 23562 (Germany); Schweikard, A. [Institute for Robotics and Cognitive Systems, University of Luebeck, Luebeck 23562 (Germany); Keall, P. J., E-mail: paul.keall@sydney.edu.au [Radiation Physics Laboratory, Sydney Medical School, The University of Sydney, Sydney, New South Wales 2006 (Australia)

2014-12-15

Purpose: Atrial fibrillation (AFib) is the most common cardiac arrhythmia that affects millions of patients world-wide. AFib is usually treated with minimally invasive, time consuming catheter ablation techniques. While recently noninvasive radiosurgery to the pulmonary vein antrum (PVA) in the left atrium has been proposed for AFib treatment, precise target location during treatment is challenging due to complex respiratory and cardiac motion. A MRI linear accelerator (MRI-Linac) could solve the problems of motion tracking and compensation using real-time image guidance. In this study, the authors quantified target motion ranges on cardiac magnetic resonance imaging (MRI) and analyzed the dosimetric benefits of margin reduction assuming real-time motion compensation was applied. Methods: For the imaging study, six human subjects underwent real-time cardiac MRI under free breathing. The target motion was analyzed retrospectively using a template matching algorithm. The planning study was conducted on a CT of an AFib patient with a centrally located esophagus undergoing catheter ablation, representing an ideal case for cardiac radiosurgery. The target definition was similar to the ablation lesions at the PVA created during catheter treatment. Safety margins of 0 mm (perfect tracking) to 8 mm (untracked respiratory motion) were added to the target, defining the planning target volume (PTV). For each margin, a 30 Gy single fraction IMRT plan was generated. Additionally, the influence of 1 and 3 T magnetic fields on the treatment beam delivery was simulated using Monte Carlo calculations to determine the dosimetric impact of MRI guidance for two different Linac positions. Results: Real-time cardiac MRI showed mean respiratory target motion of 10.2 mm (superior–inferior), 2.4 mm (anterior–posterior), and 2 mm (left–right). The planning study showed that increasing safety margins to encompass untracked respiratory motion leads to overlapping structures even in the

Radiotherapy beyond cancer: target localization in real-time MRI and treatment planning for cardiac radiosurgery.

Science.gov (United States)

Ipsen, S; Blanck, O; Oborn, B; Bode, F; Liney, G; Hunold, P; Rades, D; Schweikard, A; Keall, P J

2014-12-01

Atrial fibrillation (AFib) is the most common cardiac arrhythmia that affects millions of patients world-wide. AFib is usually treated with minimally invasive, time consuming catheter ablation techniques. While recently noninvasive radiosurgery to the pulmonary vein antrum (PVA) in the left atrium has been proposed for AFib treatment, precise target location during treatment is challenging due to complex respiratory and cardiac motion. A MRI linear accelerator (MRI-Linac) could solve the problems of motion tracking and compensation using real-time image guidance. In this study, the authors quantified target motion ranges on cardiac magnetic resonance imaging (MRI) and analyzed the dosimetric benefits of margin reduction assuming real-time motion compensation was applied. For the imaging study, six human subjects underwent real-time cardiac MRI under free breathing. The target motion was analyzed retrospectively using a template matching algorithm. The planning study was conducted on a CT of an AFib patient with a centrally located esophagus undergoing catheter ablation, representing an ideal case for cardiac radiosurgery. The target definition was similar to the ablation lesions at the PVA created during catheter treatment. Safety margins of 0 mm (perfect tracking) to 8 mm (untracked respiratory motion) were added to the target, defining the planning target volume (PTV). For each margin, a 30 Gy single fraction IMRT plan was generated. Additionally, the influence of 1 and 3 T magnetic fields on the treatment beam delivery was simulated using Monte Carlo calculations to determine the dosimetric impact of MRI guidance for two different Linac positions. Real-time cardiac MRI showed mean respiratory target motion of 10.2 mm (superior-inferior), 2.4 mm (anterior-posterior), and 2 mm (left-right). The planning study showed that increasing safety margins to encompass untracked respiratory motion leads to overlapping structures even in the ideal scenario, compromising

ADAPTIVE BACKGROUND DENGAN METODE GAUSSIAN MIXTURE MODELS UNTUK REAL-TIME TRACKING

Directory of Open Access Journals (Sweden)

Silvia Rostianingsih

2008-01-01

Full Text Available Nowadays, motion tracking application is widely used for many purposes, such as detecting traffic jam and counting how many people enter a supermarket or a mall. A method to separate background and the tracked object is required for motion tracking. It will not be hard to develop the application if the tracking is performed on a static background, but it will be difficult if the tracked object is at a place with a non-static background, because the changing part of the background can be recognized as a tracking area. In order to handle the problem an application can be made to separate background where that separation can adapt to change that occur. This application is made to produce adaptive background using Gaussian Mixture Models (GMM as its method. GMM method clustered the input pixel data with pixel color value as it’s basic. After the cluster formed, dominant distributions are choosen as background distributions. This application is made by using Microsoft Visual C 6.0. The result of this research shows that GMM algorithm could made adaptive background satisfactory. This proofed by the result of the tests that succeed at all condition given. This application can be developed so the tracking process integrated in adaptive background maker process. Abstract in Bahasa Indonesia : Saat ini, aplikasi motion tracking digunakan secara luas untuk banyak tujuan, seperti mendeteksi kemacetan dan menghitung berapa banyak orang yang masuk ke sebuah supermarket atau sebuah mall. Sebuah metode untuk memisahkan antara background dan obyek yang di-track dibutuhkan untuk melakukan motion tracking. Membuat aplikasi tracking pada background yang statis bukanlah hal yang sulit, namun apabila tracking dilakukan pada background yang tidak statis akan lebih sulit, dikarenakan perubahan background dapat dikenali sebagai area tracking. Untuk mengatasi masalah tersebut, dapat dibuat suatu aplikasi untuk memisahkan background dimana aplikasi tersebut dapat

Evaluation of classifier topologies for the real-time classification of simultaneous limb motions.

Science.gov (United States)

Ortiz-Catalan, Max; Branemark, Rickard; Hakansson, Bo

2013-01-01

The prediction of motion intent through the decoding of myoelectric signals has the potential to improve the functionally of limb prostheses. Considerable research on individual motion classifiers has been done to exploit this idea. A drawback with the individual prediction approach, however, is its limitation to serial control, which is slow, cumbersome, and unnatural. In this work, different classifier topologies suitable for the decoding of mixed classes, and thus capable of predicting simultaneous motions, were investigated in real-time. These topologies resulted in higher offline accuracies than previously achieved, but more importantly, positive indications of their suitability for real-time systems were found. Furthermore, in order to facilitate further development, benchmarking, and cooperation, the algorithms and data generated in this study are freely available as part of BioPatRec, an open source framework for the development of advanced prosthetic control strategies.

Self-Motion Perception: Assessment by Real-Time Computer Generated Animations

Science.gov (United States)

Parker, Donald E.

1999-01-01

Our overall goal is to develop materials and procedures for assessing vestibular contributions to spatial cognition. The specific objective of the research described in this paper is to evaluate computer-generated animations as potential tools for studying self-orientation and self-motion perception. Specific questions addressed in this study included the following. First, does a non- verbal perceptual reporting procedure using real-time animations improve assessment of spatial orientation? Are reports reliable? Second, do reports confirm expectations based on stimuli to vestibular apparatus? Third, can reliable reports be obtained when self-motion description vocabulary training is omitted?

Monitoring tumor motion by real time 2D/3D registration during radiotherapy.

Science.gov (United States)

Gendrin, Christelle; Furtado, Hugo; Weber, Christoph; Bloch, Christoph; Figl, Michael; Pawiro, Supriyanto Ardjo; Bergmann, Helmar; Stock, Markus; Fichtinger, Gabor; Georg, Dietmar; Birkfellner, Wolfgang

2012-02-01

In this paper, we investigate the possibility to use X-ray based real time 2D/3D registration for non-invasive tumor motion monitoring during radiotherapy. The 2D/3D registration scheme is implemented using general purpose computation on graphics hardware (GPGPU) programming techniques and several algorithmic refinements in the registration process. Validation is conducted off-line using a phantom and five clinical patient data sets. The registration is performed on a region of interest (ROI) centered around the planned target volume (PTV). The phantom motion is measured with an rms error of 2.56 mm. For the patient data sets, a sinusoidal movement that clearly correlates to the breathing cycle is shown. Videos show a good match between X-ray and digitally reconstructed radiographs (DRR) displacement. Mean registration time is 0.5 s. We have demonstrated that real-time organ motion monitoring using image based markerless registration is feasible. Copyright © 2011 Elsevier Ireland Ltd. All rights reserved.

Real-time tracking for virtual environments using scaat kalman filtering and unsynchronised cameras

DEFF Research Database (Denmark)

Rasmussen, Niels Tjørnly; Störring, Morritz; Moeslund, Thomas B.

2006-01-01

This paper presents a real-time outside-in camera-based tracking system for wireless 3D pose tracking of a user’s head and hand in a virtual environment. The system uses four unsynchronised cameras as sensors and passive retroreflective markers arranged in rigid bodies as targets. In order to ach...

TH-CD-207A-03: A Surface Deformation Driven Respiratory Model for Organ Motion Tracking in Lung Cancer Radiotherapy

International Nuclear Information System (INIS)

Chen, H; Zhen, X; Zhou, L; Gu, X

2016-01-01

Purpose: To propose and validate a novel real-time surface-mesh-based internal organ-external surface motion and deformation tracking method for lung cancer radiotherapy. Methods: Deformation vector fields (DVFs) which characterizes the internal and external motion are obtained by registering the internal organ and tumor contours and external surface meshes to a reference phase in the 4D CT images using a recent developed local topology preserved non-rigid point matching algorithm (TOP). A composite matrix is constructed by combing the estimated internal and external DVFs. Principle component analysis (PCA) is then applied on the composite matrix to extract principal motion characteristics and finally yield the respiratory motion model parameters which correlates the internal and external motion and deformation. The accuracy of the respiratory motion model is evaluated using a 4D NURBS-based cardiac-torso (NCAT) synthetic phantom and three lung cancer cases. The center of mass (COM) difference is used to measure the tumor motion tracking accuracy, and the Dice’s coefficient (DC), percent error (PE) and Housdourf’s distance (HD) are used to measure the agreement between the predicted and ground truth tumor shape. Results: The mean COM is 0.84±0.49mm and 0.50±0.47mm for the phantom and patient data respectively. The mean DC, PE and HD are 0.93±0.01, 0.13±0.03 and 1.24±0.34 voxels for the phantom, and 0.91±0.04, 0.17±0.07 and 3.93±2.12 voxels for the three lung cancer patients, respectively. Conclusions: We have proposed and validate a real-time surface-mesh-based organ motion and deformation tracking method with an internal-external motion modeling. The preliminary results conducted on a synthetic 4D NCAT phantom and 4D CT images from three lung cancer cases show that the proposed method is reliable and accurate in tracking both the tumor motion trajectory and deformation, which can serve as a potential tool for real-time organ motion and deformation

TH-CD-207A-03: A Surface Deformation Driven Respiratory Model for Organ Motion Tracking in Lung Cancer Radiotherapy

Energy Technology Data Exchange (ETDEWEB)

Chen, H; Zhen, X; Zhou, L [Southern Medical University, Guangzhou, Guangdong (China); Gu, X [UT Southwestern Medical Center, Dallas, TX (United States)

2016-06-15

Purpose: To propose and validate a novel real-time surface-mesh-based internal organ-external surface motion and deformation tracking method for lung cancer radiotherapy. Methods: Deformation vector fields (DVFs) which characterizes the internal and external motion are obtained by registering the internal organ and tumor contours and external surface meshes to a reference phase in the 4D CT images using a recent developed local topology preserved non-rigid point matching algorithm (TOP). A composite matrix is constructed by combing the estimated internal and external DVFs. Principle component analysis (PCA) is then applied on the composite matrix to extract principal motion characteristics and finally yield the respiratory motion model parameters which correlates the internal and external motion and deformation. The accuracy of the respiratory motion model is evaluated using a 4D NURBS-based cardiac-torso (NCAT) synthetic phantom and three lung cancer cases. The center of mass (COM) difference is used to measure the tumor motion tracking accuracy, and the Dice’s coefficient (DC), percent error (PE) and Housdourf’s distance (HD) are used to measure the agreement between the predicted and ground truth tumor shape. Results: The mean COM is 0.84±0.49mm and 0.50±0.47mm for the phantom and patient data respectively. The mean DC, PE and HD are 0.93±0.01, 0.13±0.03 and 1.24±0.34 voxels for the phantom, and 0.91±0.04, 0.17±0.07 and 3.93±2.12 voxels for the three lung cancer patients, respectively. Conclusions: We have proposed and validate a real-time surface-mesh-based organ motion and deformation tracking method with an internal-external motion modeling. The preliminary results conducted on a synthetic 4D NCAT phantom and 4D CT images from three lung cancer cases show that the proposed method is reliable and accurate in tracking both the tumor motion trajectory and deformation, which can serve as a potential tool for real-time organ motion and deformation

Real-Time Motion Planning and Safe Navigation in Dynamic Multi-Robot Environments

National Research Council Canada - National Science Library

Bruce, James R

2006-01-01

.... While motion planning has been used for high level robot navigation, or limited to semi-static or single-robot domains, it has often been dismissed for the real-time low-level control of agents due...

A real time tracking vision system and its application to robotics

International Nuclear Information System (INIS)

Inoue, Hirochika

1994-01-01

Among various sensing channels the vision is most important for making robot intelligent. If provided with a high speed visual tracking capability, the robot-environment interaction becomes dynamic instead of static, and thus the potential repertoire of robot behavior becomes very rich. For this purpose we developed a real-time tracking vision system. The fundamental operation on which our system based is the calculation of correlation between local images. Use of special chip for correlation and the multi-processor configuration enable the robot to track more than hundreds cues in full video rate. In addition to the fundamental visual performance, applications for robot behavior control are also introduced. (author)

TH-AB-202-10: Quantifying the Accuracy and Precision of Six Degree-Of-Freedom Motion Estimation for Use in Real-Time Tumor Motion Monitoring During Radiotherapy

Energy Technology Data Exchange (ETDEWEB)

Kim, J [The University of Sydney, Sydney, New South Wales (Australia); Nguyen, D; O’Brien, R; Keall, P [University of Sydney, Sydney, NSW (Australia); Huang, C [Sydney Medical School, Camperdown (Australia); Caillet, V [The University of Sydney, Sydney, NSW (Australia); Poulsen, P [Aarhus University Hospital, Aarhus (Denmark); Booth, J [Royal North Shore Hospital, Sydney (Australia)

2016-06-15

Purpose: Kilovoltage intrafraction monitoring (KIM) scheme has been successfully used to simultaneously monitor 3D tumor motion during radiotherapy. Recently, an iterative closest point (ICP) algorithm was implemented in KIM to also measure rotations about three axes, enabling real-time tracking of tumor motion in six degrees-of-freedom (DoF). This study aims to evaluate the accuracy of the six DoF motion estimates of KIM by comparing it with the corresponding motion (i) measured by the Calypso; and (ii) derived from kV/MV triangulation. Methods: (i) Various motions (static and dynamic) were applied to a CIRS phantom with three embedded electromagnetic transponders (Calypso Medical) using a 5D motion platform (HexaMotion) and a rotating treatment couch while both KIM and Calypso were used to concurrently track the phantom motion in six DoF. (ii) KIM was also used to retrospectively estimate six DoF motion from continuous sets of kV projections of a prostate, implanted with three gold fiducial markers (2 patients with 80 fractions in total), acquired during the treatment. Corresponding motion was obtained from kV/MV triangulation using a closed form least squares method based on three markers’ positions. Only the frames where all three markers were present were used in the analysis. The mean differences between the corresponding motion estimates were calculated for each DoF. Results: Experimental results showed that the mean of absolute differences in six DoF phantom motion measured by Calypso and KIM were within 1.1° and 0.7 mm. kV/MV triangulation derived six DoF prostate tumor better agreed with KIM estimated motion with the mean (s.d.) difference of up to 0.2° (1.36°) and 0.2 (0.25) mm for rotation and translation, respectively. Conclusion: These results suggest that KIM can provide an accurate six DoF intrafraction tumor during radiotherapy.

A Real-time Face/Hand Tracking Method for Chinese Sign Language Recognition

Institute of Scientific and Technical Information of China (English)

无

2002-01-01

This paper introduces a new Chinese Sign Language recognition (CSLR) system and a method of real-time tracking face and hand applied in the system. In the method, an improved agent algorithm is used to extract the region of face and hand and track them. Kalman filter is introduced to forecast the position and rectangle of search, and self-adapting of target color is designed to counteract the effect of illumination.

An evaluation of intrafraction motion of the prostate in the prone and supine positions using electromagnetic tracking

International Nuclear Information System (INIS)

Shah, Amish P.; Kupelian, Patrick A.; Willoughby, Twyla R.; Langen, Katja M.; Meeks, Sanford L.

2011-01-01

Purpose: To evaluate differences in target motion during prostate irradiation in the prone versus supine position using electromagnetic tracking to measure prostate mobility. Materials/methods: Twenty patients received prostate radiotherapy in the supine position utilizing the Calypso Localization System (registered) for prostate positioning and monitoring. For each patient, 10 treatment fractions were followed by a session in which the patient was repositioned prone, and prostate mobility was tracked. The fraction of time that the prostate was displaced by >3, 5, 7, and 10 mm was calculated for each patient, for both positions (400 tracking sessions). Results: Clear patterns of respiratory motion were seen in the prone tracks due to the influence of increased abdominal motion. Averaged over all patients, the prostate was displaced >3 and 5 mm for 37.8% and 10.1% of the total tracking time in the prone position, respectively. In the supine position, the prostate was displaced >3 and 5 mm for 12.6% and 2.9%, respectively. With both patient setups, inferior and posterior drifts of the prostate position were observed. Averaged over all prone tracking sessions, the prostate was displaced >3 mm in the posterior and inferior directions for 11.7% and 9.5% of the total time, respectively. Conclusions: With real-time tracking of the prostate, it is possible to study the effects of different setup positions on the prostate mobility. The percentage of time the prostate moved >3 and 5 mm was increased by a factor of three in the prone versus supine position. For larger displacements (>7 mm) no difference in prostate mobility was observed between prone and supine positions. To reduce rectal toxicity, radiotherapy in the prone position may be a suitable alternative provided respiratory motion is accounted for during treatment. Acute and late toxicity results remain to be evaluated for both patient positions.

Real-Time Capable Micro-Doppler Signature Decomposition of Walking Human Limbs

OpenAIRE

Abdulatif, Sherif; Aziz, Fady; Kleiner, Bernhard; Schneider, Urs

2017-01-01

Unique micro-Doppler signature ($\\boldsymbol{\\mu}$-D) of a human body motion can be analyzed as the superposition of different body parts $\\boldsymbol{\\mu}$-D signatures. Extraction of human limbs $\\boldsymbol{\\mu}$-D signatures in real-time can be used to detect, classify and track human motion especially for safety application. In this paper, two methods are combined to simulate $\\boldsymbol{\\mu}$-D signatures of a walking human. Furthermore, a novel limbs $\\mu$-D signature time independent...

Real time tracking in liver SBRT: comparison of CyberKnife and Vero by planning structure-based γ-evaluation and dose-area-histograms.

Science.gov (United States)

Sothmann, T; Blanck, O; Poels, K; Werner, R; Gauer, T

2016-02-21

The purpose of this study was to evaluate and compare two clinical tracking systems for radiosurgery with regard to their dosimetric and geometrical accuracy in liver SBRT: the robot-based CyberKnife and the gimbal-based Vero. Both systems perform real-time tumour tracking by correlating internal tumour and external surrogate motion. CyberKnife treatment plans were delivered to a high resolution 2D detector array mounted on a 4D motion platform, with the platform simulating (a) tumour motion trajectories extracted from the corresponding CyberKnife predictor log files and (b) the tumour motion trajectories with superimposed baseline-drift. Static reference and tracked dose measurements were compared and dosimetric as well as geometrical uncertainties analyzed by a planning structure-based evaluation. For (a), γ-passing rates inside the CTV (γ-criteria of 1% / 1 mm) ranged from 95% to 100% (CyberKnife) and 98% to 100% (Vero). However, dosimetric accuracy decreases in the presence of the baseline-drift. γ-passing rates for (b) ranged from 26% to 92% and 94% to 99%, respectively; i.e. the effect was more pronounced for CyberKnife. In contrast, the Vero system led to maximum dose deviations in the OAR between  +1.5 Gy to +6.0 Gy (CyberKnife: +0.5 Gy to +3.5 Gy). Potential dose shifts were interpreted as motion-induced geometrical tracking errors. Maximum observed shift ranges were  -1.0 mm to  +0.7 mm (lateral) /-0.6 mm to +0.1 mm (superior-inferior) for CyberKnife and  -0.8 mm to +0.2 mm /-0.8 mm to +0.4 mm for Vero. These values illustrate that CyberKnife and Vero provide high precision tracking of regular breathing patterns. Even for the modified motion trajectory, the obtained dose distributions appear to be clinical acceptable with regard to literature QA γ-criteria of 3% / 3 mm.

Real-time multiple objects tracking on Raspberry-Pi-based smart embedded camera

Science.gov (United States)

Dziri, Aziz; Duranton, Marc; Chapuis, Roland

2016-07-01

Multiple-object tracking constitutes a major step in several computer vision applications, such as surveillance, advanced driver assistance systems, and automatic traffic monitoring. Because of the number of cameras used to cover a large area, these applications are constrained by the cost of each node, the power consumption, the robustness of the tracking, the processing time, and the ease of deployment of the system. To meet these challenges, the use of low-power and low-cost embedded vision platforms to achieve reliable tracking becomes essential in networks of cameras. We propose a tracking pipeline that is designed for fixed smart cameras and which can handle occlusions between objects. We show that the proposed pipeline reaches real-time processing on a low-cost embedded smart camera composed of a Raspberry-Pi board and a RaspiCam camera. The tracking quality and the processing speed obtained with the proposed pipeline are evaluated on publicly available datasets and compared to the state-of-the-art methods.

A Finite State Machine Approach to Algorithmic Lateral Inhibition for Real-Time Motion Detection †

Directory of Open Access Journals (Sweden)

María T. López

2018-05-01

Full Text Available Many researchers have explored the relationship between recurrent neural networks and finite state machines. Finite state machines constitute the best-characterized computational model, whereas artificial neural networks have become a very successful tool for modeling and problem solving. The neurally-inspired lateral inhibition method, and its application to motion detection tasks, have been successfully implemented in recent years. In this paper, control knowledge of the algorithmic lateral inhibition (ALI method is described and applied by means of finite state machines, in which the state space is constituted from the set of distinguishable cases of accumulated charge in a local memory. The article describes an ALI implementation for a motion detection task. For the implementation, we have chosen to use one of the members of the 16-nm Kintex UltraScale+ family of Xilinx FPGAs. FPGAs provide the necessary accuracy, resolution, and precision to run neural algorithms alongside current sensor technologies. The results offered in this paper demonstrate that this implementation provides accurate object tracking performance on several datasets, obtaining a high F-score value (0.86 for the most complex sequence used. Moreover, it outperforms implementations of a complete ALI algorithm and a simplified version of the ALI algorithm—named “accumulative computation”—which was run about ten years ago, now reaching real-time processing times that were simply not achievable at that time for ALI.

Real-Time 3D Motion capture by monocular vision and virtual rendering

OpenAIRE

Gomez Jauregui , David Antonio; Horain , Patrick

2012-01-01

International audience; Avatars in networked 3D virtual environments allow users to interact over the Internet and to get some feeling of virtual telepresence. However, avatar control may be tedious. Motion capture systems based on 3D sensors have recently reached the consumer market, but webcams and camera-phones are more widespread and cheaper. The proposed demonstration aims at animating a user's avatar from real time 3D motion capture by monoscopic computer vision, thus allowing virtual t...

The Fast Tracker Real Time Processor: high quality real-time tracking at ATLAS

CERN Document Server

Stabile, A; The ATLAS collaboration

2011-01-01

As the LHC luminosity is ramped up to the design level of 1x1034 cm−2 s−1 and beyond, the high rates, multiplicities, and energies of particles seen by the detectors will pose a unique challenge. Only a tiny fraction of the produced collisions can be stored on tape and immense real-time data reduction is needed. An effective trigger system must maintain high trigger efficiencies for the most important physics and at the same time suppress the enormous QCD backgrounds. This requires massive computing power to minimize the online execution time of complex algorithms. A multi-level trigger is an effective solution for an otherwise impossible problem. The Fast Tracker (FTK)[1], [2] is a proposed upgrade to the current ATLAS trigger system that will operate at full Level-1 output rates and provide high quality tracks reconstructed over the entire detector by the start of processing in Level-2. FTK is a dedicated Super Computer based on a mixture of advanced technologies. The architecture broadly employs powerf...

An adaptive approach to human motion tracking from video

Science.gov (United States)

Wu, Lifang; Chen, Chang Wen

2010-07-01

Vision based human motion tracking has drawn considerable interests recently because of its extensive applications. In this paper, we propose an approach to tracking the body motion of human balancing on each foot. The ability to balance properly is an important indication of neurological condition. Comparing with many other human motion tracking, there is much less occlusion in human balancing tracking. This less constrained problem allows us to combine a 2D model of human body with image analysis techniques to develop an efficient motion tracking algorithm. First we define a hierarchical 2D model consisting of six components including head, body and four limbs. Each of the four limbs involves primary component (upper arms and legs) and secondary component (lower arms and legs) respectively. In this model, we assume each of the components can be represented by quadrangles and every component is connected to one of others by a joint. By making use of inherent correlation between different components, we design a top-down updating framework and an adaptive algorithm with constraints of foreground regions for robust and efficient tracking. The approach has been tested using the balancing movement in HumanEva-I/II dataset. The average tracking time is under one second, which is much shorter than most of current schemes.

Respiratory motion tracking using Microsoft’s Kinect v2 camera

Directory of Open Access Journals (Sweden)

Ernst Floris

2015-09-01

Full Text Available In image-guided radiotherapy, monitoring and compensating for respiratory motion is of high importance. We have analysed the possibility to use Microsoft’s Kinect v2 sensor as a low-cost tracking camera. In our experiment, eleven circular markers were printed onto a Lycra shirt and were tracked in the camera’s color image using cross correlation-based template matching. The 3D position of the marker was determined using this information and the mean distance of all template pixels from the sensor. In an experiment with four volunteers (male and female we could demonstrate that real time position tracking is possible in 3D. By averaging over the depth values inside the template, it was possible to increase the Kinect’s depth resolution from 1 mm to 0.1 mm. The noise level was reduced to a standard deviation of 0.4 mm. Temperature sensitivity of the measured depth values was observed for about 10-15 minutes after system start.

Implementation and performance of an optical motion tracking system for high resolution brain PET imaging

Science.gov (United States)

Lopresti, B. J.; Russo, A.; Jones, W. F.; Fisher, T.; Crouch, D. G.; Altenburger, D. E.; Townsend, D. W.

1999-12-01

Head motion during PET scanning is widely regarded as a source of image degradation and resolution loss. Recent improvements in the spatial resolution of state-of-the-art tomographs may be compromised by patient motion during scanning, as these high resolution data will be increasingly susceptible to smaller movements of the head. The authors have developed an opto-electronic motion tracking system based on commercially-available technology that is capable of very accurate real-time measurements of the position and orientation of the patient's head. These positions are transformed to the reference frame of the PET scanner, and could potentially be used to provide motion correction of list-mode emission data on an event-by-event basis.

Real time tracking by LOPF algorithm with mixture model

Science.gov (United States)

Meng, Bo; Zhu, Ming; Han, Guangliang; Wu, Zhiguo

2007-11-01

A new particle filter-the Local Optimum Particle Filter (LOPF) algorithm is presented for tracking object accurately and steadily in visual sequences in real time which is a challenge task in computer vision field. In order to using the particles efficiently, we first use Sobel algorithm to extract the profile of the object. Then, we employ a new Local Optimum algorithm to auto-initialize some certain number of particles from these edge points as centre of the particles. The main advantage we do this in stead of selecting particles randomly in conventional particle filter is that we can pay more attentions on these more important optimum candidates and reduce the unnecessary calculation on those negligible ones, in addition we can overcome the conventional degeneracy phenomenon in a way and decrease the computational costs. Otherwise, the threshold is a key factor that affecting the results very much. So here we adapt an adaptive threshold choosing method to get the optimal Sobel result. The dissimilarities between the target model and the target candidates are expressed by a metric derived from the Bhattacharyya coefficient. Here, we use both the counter cue to select the particles and the color cur to describe the targets as the mixture target model. The effectiveness of our scheme is demonstrated by real visual tracking experiments. Results from simulations and experiments with real video data show the improved performance of the proposed algorithm when compared with that of the standard particle filter. The superior performance is evident when the target encountering the occlusion in real video where the standard particle filter usually fails.

Development and operation of a real-time simulation at the NASA Ames Vertical Motion Simulator

Science.gov (United States)

Sweeney, Christopher; Sheppard, Shirin; Chetelat, Monique

1993-01-01

The Vertical Motion Simulator (VMS) facility at the NASA Ames Research Center combines the largest vertical motion capability in the world with a flexible real-time operating system allowing research to be conducted quickly and effectively. Due to the diverse nature of the aircraft simulated and the large number of simulations conducted annually, the challenge for the simulation engineer is to develop an accurate real-time simulation in a timely, efficient manner. The SimLab facility and the software tools necessary for an operating simulation will be discussed. Subsequent sections will describe the development process through operation of the simulation; this includes acceptance of the model, validation, integration and production phases.

MO-FG-CAMPUS-JeP3-04: Feasibility Study of Real-Time Ultrasound Monitoring for Abdominal Stereotactic Body Radiation Therapy

Energy Technology Data Exchange (ETDEWEB)

Su, Lin; Kien Ng, Sook; Zhang, Ying; Herman, Joseph; Wong, John; Ding, Kai [Department of Radiation Oncology, John Hopkins University, Baltimore, MD (United States); Ji, Tianlong [Department of Radiation Oncology, The First Hospital of China Medical University, Shenyang, Liaoning (China); Iordachita, Iulian [Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD (United States); Tutkun Sen, H.; Kazanzides, Peter; Lediju Bell, Muyinatu A. [Department of Computer Science, Johns Hopkins University, Baltimore, MD (United States)

2016-06-15

Purpose: Ultrasound is ideal for real-time monitoring in radiotherapy with high soft tissue contrast, non-ionization, portability, and cost effectiveness. Few studies investigated clinical application of real-time ultrasound monitoring for abdominal stereotactic body radiation therapy (SBRT). This study aims to demonstrate the feasibility of real-time monitoring of 3D target motion using 4D ultrasound. Methods: An ultrasound probe holding system was designed to allow clinician to freely move and lock ultrasound probe. For phantom study, an abdominal ultrasound phantom was secured on a 2D programmable respiratory motion stage. One side of the stage was elevated than another side to generate 3D motion. The motion stage made periodic breath-hold movement. Phantom movement tracked by infrared camera was considered as ground truth. For volunteer study three healthy subjects underwent the same setup for abdominal SBRT with active breath control (ABC). 4D ultrasound B-mode images were acquired for both phantom and volunteers for real-time monitoring. 10 breath-hold cycles were monitored for each experiment. For phantom, the target motion tracked by ultrasound was compared with motion tracked by infrared camera. For healthy volunteers, the reproducibility of ABC breath-hold was evaluated. Results: Volunteer study showed the ultrasound system fitted well to the clinical SBRT setup. The reproducibility for 10 breath-holds is less than 2 mm in three directions for all three volunteers. For phantom study the motion between inspiration and expiration captured by camera (ground truth) is 2.35±0.02 mm, 1.28±0.04 mm, 8.85±0.03 mm in LR, AP, SI directly, respectively. The motion monitored by ultrasound is 2.21±0.07 mm, 1.32±0.12mm, 9.10±0.08mm, respectively. The motion monitoring error in any direction is less than 0.5 mm. Conclusion: The volunteer study proved the clinical feasibility of real-time ultrasound monitoring for abdominal SBRT. The phantom and volunteer ABC

MO-FG-CAMPUS-JeP3-04: Feasibility Study of Real-Time Ultrasound Monitoring for Abdominal Stereotactic Body Radiation Therapy

International Nuclear Information System (INIS)

Su, Lin; Kien Ng, Sook; Zhang, Ying; Herman, Joseph; Wong, John; Ding, Kai; Ji, Tianlong; Iordachita, Iulian; Tutkun Sen, H.; Kazanzides, Peter; Lediju Bell, Muyinatu A.

2016-01-01

Purpose: Ultrasound is ideal for real-time monitoring in radiotherapy with high soft tissue contrast, non-ionization, portability, and cost effectiveness. Few studies investigated clinical application of real-time ultrasound monitoring for abdominal stereotactic body radiation therapy (SBRT). This study aims to demonstrate the feasibility of real-time monitoring of 3D target motion using 4D ultrasound. Methods: An ultrasound probe holding system was designed to allow clinician to freely move and lock ultrasound probe. For phantom study, an abdominal ultrasound phantom was secured on a 2D programmable respiratory motion stage. One side of the stage was elevated than another side to generate 3D motion. The motion stage made periodic breath-hold movement. Phantom movement tracked by infrared camera was considered as ground truth. For volunteer study three healthy subjects underwent the same setup for abdominal SBRT with active breath control (ABC). 4D ultrasound B-mode images were acquired for both phantom and volunteers for real-time monitoring. 10 breath-hold cycles were monitored for each experiment. For phantom, the target motion tracked by ultrasound was compared with motion tracked by infrared camera. For healthy volunteers, the reproducibility of ABC breath-hold was evaluated. Results: Volunteer study showed the ultrasound system fitted well to the clinical SBRT setup. The reproducibility for 10 breath-holds is less than 2 mm in three directions for all three volunteers. For phantom study the motion between inspiration and expiration captured by camera (ground truth) is 2.35±0.02 mm, 1.28±0.04 mm, 8.85±0.03 mm in LR, AP, SI directly, respectively. The motion monitored by ultrasound is 2.21±0.07 mm, 1.32±0.12mm, 9.10±0.08mm, respectively. The motion monitoring error in any direction is less than 0.5 mm. Conclusion: The volunteer study proved the clinical feasibility of real-time ultrasound monitoring for abdominal SBRT. The phantom and volunteer ABC

Towards frameless maskless SRS through real-time 6DoF robotic motion compensation

Science.gov (United States)

Belcher, Andrew H.; Liu, Xinmin; Chmura, Steven; Yenice, Kamil; Wiersma, Rodney D.

2017-12-01

Stereotactic radiosurgery (SRS) uses precise dose placement to treat conditions of the CNS. Frame-based SRS uses a metal head ring fixed to the patient’s skull to provide high treatment accuracy, but patient comfort and clinical workflow may suffer. Frameless SRS, while potentially more convenient, may increase uncertainty of treatment accuracy and be physiologically confining to some patients. By incorporating highly precise robotics and advanced software algorithms into frameless treatments, we present a novel frameless and maskless SRS system where a robot provides real-time 6DoF head motion stabilization allowing positional accuracies to match or exceed those of traditional frame-based SRS. A 6DoF parallel kinematics robot was developed and integrated with a real-time infrared camera in a closed loop configuration. A novel compensation algorithm was developed based on an iterative closest-path correction approach. The robotic SRS system was tested on six volunteers, whose motion was monitored and compensated for in real-time over 15 min simulated treatments. The system’s effectiveness in maintaining the target’s 6DoF position within preset thresholds was determined by comparing volunteer head motion with and without compensation. Comparing corrected and uncorrected motion, the 6DoF robotic system showed an overall improvement factor of 21 in terms of maintaining target position within 0.5 mm and 0.5 degree thresholds. Although the system’s effectiveness varied among the volunteers examined, for all volunteers tested the target position remained within the preset tolerances 99.0% of the time when robotic stabilization was used, compared to 4.7% without robotic stabilization. The pre-clinical robotic SRS compensation system was found to be effective at responding to sub-millimeter and sub-degree cranial motions for all volunteers examined. The system’s success with volunteers has demonstrated its capability for implementation with frameless and

Towards frameless maskless SRS through real-time 6DoF robotic motion compensation.

Science.gov (United States)

Belcher, Andrew H; Liu, Xinmin; Chmura, Steven; Yenice, Kamil; Wiersma, Rodney D

2017-11-13

Stereotactic radiosurgery (SRS) uses precise dose placement to treat conditions of the CNS. Frame-based SRS uses a metal head ring fixed to the patient's skull to provide high treatment accuracy, but patient comfort and clinical workflow may suffer. Frameless SRS, while potentially more convenient, may increase uncertainty of treatment accuracy and be physiologically confining to some patients. By incorporating highly precise robotics and advanced software algorithms into frameless treatments, we present a novel frameless and maskless SRS system where a robot provides real-time 6DoF head motion stabilization allowing positional accuracies to match or exceed those of traditional frame-based SRS. A 6DoF parallel kinematics robot was developed and integrated with a real-time infrared camera in a closed loop configuration. A novel compensation algorithm was developed based on an iterative closest-path correction approach. The robotic SRS system was tested on six volunteers, whose motion was monitored and compensated for in real-time over 15 min simulated treatments. The system's effectiveness in maintaining the target's 6DoF position within preset thresholds was determined by comparing volunteer head motion with and without compensation. Comparing corrected and uncorrected motion, the 6DoF robotic system showed an overall improvement factor of 21 in terms of maintaining target position within 0.5 mm and 0.5 degree thresholds. Although the system's effectiveness varied among the volunteers examined, for all volunteers tested the target position remained within the preset tolerances 99.0% of the time when robotic stabilization was used, compared to 4.7% without robotic stabilization. The pre-clinical robotic SRS compensation system was found to be effective at responding to sub-millimeter and sub-degree cranial motions for all volunteers examined. The system's success with volunteers has demonstrated its capability for implementation with frameless and maskless SRS

Parallel Motion Simulation of Large-Scale Real-Time Crowd in a Hierarchical Environmental Model

Directory of Open Access Journals (Sweden)

Xin Wang

2012-01-01

Full Text Available This paper presents a parallel real-time crowd simulation method based on a hierarchical environmental model. A dynamical model of the complex environment should be constructed to simulate the state transition and propagation of individual motions. By modeling of a virtual environment where virtual crowds reside, we employ different parallel methods on a topological layer, a path layer and a perceptual layer. We propose a parallel motion path matching method based on the path layer and a parallel crowd simulation method based on the perceptual layer. The large-scale real-time crowd simulation becomes possible with these methods. Numerical experiments are carried out to demonstrate the methods and results.

An improved optical flow tracking technique for real-time MR-guided beam therapies in moving organs

Science.gov (United States)

Zachiu, C.; Papadakis, N.; Ries, M.; Moonen, C.; de Senneville, B. Denis

2015-12-01

Magnetic resonance (MR) guided high intensity focused ultrasound and external beam radiotherapy interventions, which we shall refer to as beam therapies/interventions, are promising techniques for the non-invasive ablation of tumours in abdominal organs. However, therapeutic energy delivery in these areas becomes challenging due to the continuous displacement of the organs with respiration. Previous studies have addressed this problem by coupling high-framerate MR-imaging with a tracking technique based on the algorithm proposed by Horn and Schunck (H and S), which was chosen due to its fast convergence rate and highly parallelisable numerical scheme. Such characteristics were shown to be indispensable for the real-time guidance of beam therapies. In its original form, however, the algorithm is sensitive to local grey-level intensity variations not attributed to motion such as those that occur, for example, in the proximity of pulsating arteries. In this study, an improved motion estimation strategy which reduces the impact of such effects is proposed. Displacements are estimated through the minimisation of a variation of the H and S functional for which the quadratic data fidelity term was replaced with a term based on the linear L1norm, resulting in what we have called an L2-L1 functional. The proposed method was tested in the livers and kidneys of two healthy volunteers under free-breathing conditions, on a data set comprising 3000 images equally divided between the volunteers. The results show that, compared to the existing approaches, our method demonstrates a greater robustness to local grey-level intensity variations introduced by arterial pulsations. Additionally, the computational time required by our implementation make it compatible with the work-flow of real-time MR-guided beam interventions. To the best of our knowledge this study was the first to analyse the behaviour of an L1-based optical flow functional in an applicative context: real-time MR

A Real Time Differential GPS Tracking System for NASA Sounding Rockets

Science.gov (United States)

Bull, Barton; Bauer, Frank (Technical Monitor)

2000-01-01

Sounding rockets are suborbital launch vehicles capable of carrying scientific payloads to several hundred miles in altitude. These missions return a variety of scientific data including: chemical makeup and physical processes taking place in the atmosphere, natural radiation surrounding the Earth, data on the Sun, stars, galaxies and many other phenomena. In addition, sounding rockets provide a reasonably economical means of conducting engineering tests for instruments and devices to be used on satellites and other spacecraft prior to their use in these more expensive missions. Typically around thirty of these rockets are launched each year, from established ranges at Wallops Island, Virginia; Poker Flat Research Range, Alaska; White Sands Missile Range, New Mexico and from a number of ranges outside the United States. Many times launches are conducted from temporary launch ranges in remote parts of the world requiring considerable expense to transport and operate tracking radars. In order to support these missions, an inverse differential GPS system has been developed. The flight system consists of a small, inexpensive receiver, a preamplifier and a wrap-around antenna. A rugged, compact, portable ground station extracts GPS data from the raw payload telemetry stream, performs a real time differential solution and graphically displays the rocket's path relative to a predicted trajectory plot. In addition to generating a real time navigation solution, the system has been used for payload recovery, timing, data timetagging, precise tracking of multiple payloads and slaving of optical tracking systems for over the horizon acquisition. This paper discusses, in detail, the flight and ground hardware, as well as data processing and operational aspects of the system, and provides evidence of the system accuracy.

Articulated Human Motion Tracking Using Sequential Immune Genetic Algorithm

Directory of Open Access Journals (Sweden)

Yi Li

2013-01-01

Full Text Available We formulate human motion tracking as a high-dimensional constrained optimization problem. A novel generative method is proposed for human motion tracking in the framework of evolutionary computation. The main contribution is that we introduce immune genetic algorithm (IGA for pose optimization in latent space of human motion. Firstly, we perform human motion analysis in the learnt latent space of human motion. As the latent space is low dimensional and contents the prior knowledge of human motion, it makes pose analysis more efficient and accurate. Then, in the search strategy, we apply IGA for pose optimization. Compared with genetic algorithm and other evolutionary methods, its main advantage is the ability to use the prior knowledge of human motion. We design an IGA-based method to estimate human pose from static images for initialization of motion tracking. And we propose a sequential IGA (S-IGA algorithm for motion tracking by incorporating the temporal continuity information into the traditional IGA. Experimental results on different videos of different motion types show that our IGA-based pose estimation method can be used for initialization of motion tracking. The S-IGA-based motion tracking method can achieve accurate and stable tracking of 3D human motion.

Automatic Prostate Tracking and Motion Assessment in Volumetric Modulated Arc Therapy With an Electronic Portal Imaging Device

International Nuclear Information System (INIS)

Azcona, Juan Diego; Li, Ruijiang; Mok, Edward; Hancock, Steven; Xing, Lei

2013-01-01

Purpose: To assess the prostate intrafraction motion in volumetric modulated arc therapy treatments using cine megavoltage (MV) images acquired with an electronic portal imaging device (EPID). Methods and Materials: Ten prostate cancer patients were treated with volumetric modulated arc therapy using a Varian TrueBeam linear accelerator equipped with an EPID for acquiring cine MV images during treatment. Cine MV images acquisition was scheduled for single or multiple treatment fractions (between 1 and 8). A novel automatic fiducial detection algorithm that can handle irregular multileaf collimator apertures, field edges, fast leaf and gantry movement, and MV image noise and artifacts in patient anatomy was used. All sets of images (approximately 25,000 images in total) were analyzed to measure the positioning accuracy of implanted fiducial markers and assess the prostate movement. Results: Prostate motion can vary greatly in magnitude among different patients. Different motion patterns were identified, showing its unpredictability. The mean displacement and standard deviation of the intrafraction motion was generally less than 2.0 ± 2.0 mm in each of the spatial directions. In certain patients, however, the percentage of the treatment time in which the prostate is displaced more than 5 mm from its planned position in at least 1 spatial direction was 10% or more. The maximum prostate displacement observed was 13.3 mm. Conclusion: Prostate tracking and motion assessment was performed with MV imaging and an EPID. The amount of prostate motion observed suggests that patients will benefit from its real-time monitoring. Megavoltage imaging can provide the basis for real-time prostate tracking using conventional linear accelerators

Visual recognition and tracking of objects for robot sensing

International Nuclear Information System (INIS)

Lowe, D.G.

1994-01-01

An overview is presented of a number of techniques used for recognition and motion tracking of articulated 3-D objects. With recent advances in robust methods for model-based vision and improved performance of computer systems, it will soon be possible to build low-cost, high-reliability systems for model-based motion tracking. Such systems can be expected to open up a wide range of applications in robotics by providing machines with real-time information about their environment. This paper describes a number of techniques for efficiently matching parameterized 3-D models to image features. The matching methods are robust with respect to missing and ambiguous features as well as measurement errors. Unlike most previous work on model-based motion tracking, this system provides for the integrated treatment of matching and measurement errors during motion tracking. The initial application is in a system for real-time motion tracking of articulated 3-D objects. With the future addition of an indexing component, these same techniques can also be used for general model-based recognition. The current real-time implementation is based on matching straight line segments, but some preliminary experiments on matching arbitrary curves are also described. (author)

Real-time tumor-tracking radiotherapy for adrenal tumors

International Nuclear Information System (INIS)

Katoh, Norio; Onimaru, Rikiya; Sakuhara, Yusuke; Abo, Daisuke; Shimizu, Shinichi; Taguchi, Hiroshi; Watanabe, Yoshiaki; Shinohara, Nobuo; Ishikawa, Masayori; Shirato, Hiroki

2008-01-01

Purpose: To investigate the three-dimensional movement of internal fiducial markers near the adrenal tumors using a real-time tumor-tracking radiotherapy (RTRT) system and to examine the feasibility of high-dose hypofractionated radiotherapy for the adrenal tumors. Materials and methods: The subjects considered in this study were 10 markers of the 9 patients treated with RTRT. A total of 72 days in the prone position and 61 treatment days in the supine position for nine of the 10 markers were analyzed. All but one patient were prescribed 48 Gy in eight fractions at the isocenter. Results: The average absolute amplitude of the marker movement in the prone position was 6.1 ± 4.4 mm (range 2.3-14.4), 11.1 ± 7.1 mm (3.5-25.2), and 7.0 ± 3.5 mm (3.9-12.5) in the left-right (LR), craniocaudal (CC), and anterior-posterior (AP) directions, respectively. The average absolute amplitude in the supine position was 3.4 ± 2.9 mm (0.6-9.1), 9.9 ± 9.8 mm (1.1-27.1), and 5.4 ± 5.2 mm (1.7-26.6) in the LR, CC, and AP directions, respectively. Of the eight markers, which were examined in both the prone and supine positions, there was no significant difference in the average absolute amplitude between the two positions. No symptomatic adverse effects were observed within the median follow-up period of 16 months (range 5-21 months). The actuarial freedom-from-local-progression rate was 100% at 12 months. Conclusions: Three-dimensional motion of a fiducial marker near the adrenal tumors was detected. Hypofractionated RTRT for adrenal tumors was feasible for patients with metastatic tumors

SU-E-J-61: Monitoring Tumor Motion in Real-Time with EPID Imaging During Cervical Cancer Treatment

International Nuclear Information System (INIS)

Mao, W; Hrycushko, B; Yan, Y; Foster, R; Albuquerque, K

2015-01-01

Purpose: Traditional external beam radiotherapy for cervical cancer requires setup by external skin marks. In order to improve treatment accuracy and reduce planning margin for more conformal therapy, it is essential to monitor tumor positions interfractionally and intrafractionally. We demonstrate feasibility of monitoring cervical tumor motion online using EPID imaging from Beam’s Eye View. Methods: Prior to treatment, 1∼2 cylindrical radio opaque markers were implanted into inferior aspect of cervix tumor. During external beam treatments on a Varian 2100C by 4-field 3D plans, treatment beam images were acquired continuously by an EPID. A Matlab program was developed to locate internal markers on MV images. Based on 2D marker positions obtained from different treatment fields, their 3D positions were estimated for every treatment fraction. Results: There were 398 images acquired during different treatment fractions of three cervical cancer patients. Markers were successfully located on every frame of image at an analysis speed of about 1 second per frame. Intrafraction motions were evaluated by comparing marker positions relative to the position on the first frame of image. The maximum intrafraction motion of the markers was 1.6 mm. Interfraction motions were evaluated by comparing 3D marker positions at different treatment fractions. The maximum interfraction motion was up to 10 mm. Careful comparison found that this is due to patient positioning since the bony structures shifted with the markers. Conclusion: This method provides a cost-free and simple solution for online tumor tracking for cervical cancer treatment since it is feasible to acquire and export EPID images with fast analysis in real time. This method does not need any extra equipment or deliver extra dose to patients. The online tumor motion information will be very useful to reduce planning margins and improve treatment accuracy, which is particularly important for SBRT treatment with long

SU-E-J-61: Monitoring Tumor Motion in Real-Time with EPID Imaging During Cervical Cancer Treatment

Energy Technology Data Exchange (ETDEWEB)

Mao, W; Hrycushko, B; Yan, Y; Foster, R; Albuquerque, K [UT Southwestern Medical Center, Dallas, TX (United States)

2015-06-15

Purpose: Traditional external beam radiotherapy for cervical cancer requires setup by external skin marks. In order to improve treatment accuracy and reduce planning margin for more conformal therapy, it is essential to monitor tumor positions interfractionally and intrafractionally. We demonstrate feasibility of monitoring cervical tumor motion online using EPID imaging from Beam’s Eye View. Methods: Prior to treatment, 1∼2 cylindrical radio opaque markers were implanted into inferior aspect of cervix tumor. During external beam treatments on a Varian 2100C by 4-field 3D plans, treatment beam images were acquired continuously by an EPID. A Matlab program was developed to locate internal markers on MV images. Based on 2D marker positions obtained from different treatment fields, their 3D positions were estimated for every treatment fraction. Results: There were 398 images acquired during different treatment fractions of three cervical cancer patients. Markers were successfully located on every frame of image at an analysis speed of about 1 second per frame. Intrafraction motions were evaluated by comparing marker positions relative to the position on the first frame of image. The maximum intrafraction motion of the markers was 1.6 mm. Interfraction motions were evaluated by comparing 3D marker positions at different treatment fractions. The maximum interfraction motion was up to 10 mm. Careful comparison found that this is due to patient positioning since the bony structures shifted with the markers. Conclusion: This method provides a cost-free and simple solution for online tumor tracking for cervical cancer treatment since it is feasible to acquire and export EPID images with fast analysis in real time. This method does not need any extra equipment or deliver extra dose to patients. The online tumor motion information will be very useful to reduce planning margins and improve treatment accuracy, which is particularly important for SBRT treatment with long

Fish tracking by combining motion based segmentation and particle filtering

Science.gov (United States)

Bichot, E.; Mascarilla, L.; Courtellemont, P.

2006-01-01

In this paper, we suggest a new importance sampling scheme to improve a particle filtering based tracking process. This scheme relies on exploitation of motion segmentation. More precisely, we propagate hypotheses from particle filtering to blobs of similar motion to target. Hence, search is driven toward regions of interest in the state space and prediction is more accurate. We also propose to exploit segmentation to update target model. Once the moving target has been identified, a representative model is learnt from its spatial support. We refer to this model in the correction step of the tracking process. The importance sampling scheme and the strategy to update target model improve the performance of particle filtering in complex situations of occlusions compared to a simple Bootstrap approach as shown by our experiments on real fish tank sequences.

Real-time axial motion detection and correction for single photon emission computed tomography using a linear prediction filter

International Nuclear Information System (INIS)

Saba, V.; Setayeshi, S.; Ghannadi-Maragheh, M.

2011-01-01

We have developed an algorithm for real-time detection and complete correction of the patient motion effects during single photon emission computed tomography. The algorithm is based on a linear prediction filter (LPC). The new prediction of projection data algorithm (PPDA) detects most motions-such as those of the head, legs, and hands-using comparison of the predicted and measured frame data. When the data acquisition for a specific frame is completed, the accuracy of the acquired data is evaluated by the PPDA. If patient motion is detected, the scanning procedure is stopped. After the patient rests in his or her true position, data acquisition is repeated only for the corrupted frame and the scanning procedure is continued. Various experimental data were used to validate the motion detection algorithm; on the whole, the proposed method was tested with approximately 100 test cases. The PPDA shows promising results. Using the PPDA enables us to prevent the scanner from collecting disturbed data during the scan and replaces them with motion-free data by real-time rescanning for the corrupted frames. As a result, the effects of patient motion is corrected in real time. (author)

Real-time tumor motion estimation using respiratory surrogate via memory-based learning

International Nuclear Information System (INIS)

Li Ruijiang; Xing Lei; Lewis, John H; Berbeco, Ross I

2012-01-01

Respiratory tumor motion is a major challenge in radiation therapy for thoracic and abdominal cancers. Effective motion management requires an accurate knowledge of the real-time tumor motion. External respiration monitoring devices (optical, etc) provide a noninvasive, non-ionizing, low-cost and practical approach to obtain the respiratory signal. Due to the highly complex and nonlinear relations between tumor and surrogate motion, its ultimate success hinges on the ability to accurately infer the tumor motion from respiratory surrogates. Given their widespread use in the clinic, such a method is critically needed. We propose to use a powerful memory-based learning method to find the complex relations between tumor motion and respiratory surrogates. The method first stores the training data in memory and then finds relevant data to answer a particular query. Nearby data points are assigned high relevance (or weights) and conversely distant data are assigned low relevance. By fitting relatively simple models to local patches instead of fitting one single global model, it is able to capture highly nonlinear and complex relations between the internal tumor motion and external surrogates accurately. Due to the local nature of weighting functions, the method is inherently robust to outliers in the training data. Moreover, both training and adapting to new data are performed almost instantaneously with memory-based learning, making it suitable for dynamically following variable internal/external relations. We evaluated the method using respiratory motion data from 11 patients. The data set consists of simultaneous measurement of 3D tumor motion and 1D abdominal surface (used as the surrogate signal in this study). There are a total of 171 respiratory traces, with an average peak-to-peak amplitude of ∼15 mm and average duration of ∼115 s per trace. Given only 5 s (roughly one breath) pretreatment training data, the method achieved an average 3D error of 1.5 mm and 95

Real-time tumor motion estimation using respiratory surrogate via memory-based learning

Science.gov (United States)

Li, Ruijiang; Lewis, John H.; Berbeco, Ross I.; Xing, Lei

2012-08-01

Respiratory tumor motion is a major challenge in radiation therapy for thoracic and abdominal cancers. Effective motion management requires an accurate knowledge of the real-time tumor motion. External respiration monitoring devices (optical, etc) provide a noninvasive, non-ionizing, low-cost and practical approach to obtain the respiratory signal. Due to the highly complex and nonlinear relations between tumor and surrogate motion, its ultimate success hinges on the ability to accurately infer the tumor motion from respiratory surrogates. Given their widespread use in the clinic, such a method is critically needed. We propose to use a powerful memory-based learning method to find the complex relations between tumor motion and respiratory surrogates. The method first stores the training data in memory and then finds relevant data to answer a particular query. Nearby data points are assigned high relevance (or weights) and conversely distant data are assigned low relevance. By fitting relatively simple models to local patches instead of fitting one single global model, it is able to capture highly nonlinear and complex relations between the internal tumor motion and external surrogates accurately. Due to the local nature of weighting functions, the method is inherently robust to outliers in the training data. Moreover, both training and adapting to new data are performed almost instantaneously with memory-based learning, making it suitable for dynamically following variable internal/external relations. We evaluated the method using respiratory motion data from 11 patients. The data set consists of simultaneous measurement of 3D tumor motion and 1D abdominal surface (used as the surrogate signal in this study). There are a total of 171 respiratory traces, with an average peak-to-peak amplitude of ∼15 mm and average duration of ∼115 s per trace. Given only 5 s (roughly one breath) pretreatment training data, the method achieved an average 3D error of 1.5 mm and 95

MO-A-BRD-08: Radiosurgery Beyond Cancer: Real-Time Target Localization and Treatment Planning for Cardiac Radiosurgery Under MRI Guidance

Energy Technology Data Exchange (ETDEWEB)

Ipsen, S [University of Luebeck, Luebeck, SH (Germany); University of Sydney, Camperdown (Australia); Blanck, O [CyberKnife Zentrum Norddeutschland, Guestrow, MV (Germany); Oborn, B [Illawarra Cancer Care Centre, Wollongong, NSW (Australia); Bode, F [Medical Clinic II, Section for Electrophysiology, UKSH, Luebeck, SH (Germany); Liney, G [Ingham Institute for Applied Medical Research, Liverpool, NSW (United Kingdom); Keall, P [University of Sydney, Camperdown (Australia)

2014-06-15

Purpose: Atrial fibrillation (AF) is the most common cardiac arrhythmia, affecting >2.5M Americans and >4.5M Europeans. AF is usually treated with minimally-invasive, time consuming catheter ablation techniques. Radiosurgery of the pulmonary veins (PV) has been proposed for AF treatment, however is challenging due to the complex respiratory and cardiac motion patterns. We hypothesize that an MRI-linac could solve the difficult real-time targeting and adaptation problem. In this study we quantified target motion ranges on cardiac MRI and analyzed the dosimetric benefits of margin reduction assuming real-time MRI tracking was applied. Methods: For the motion study, four human subjects underwent real-time cardiac MRI under free breathing. The target motion on coronal and axial cine planes was analyzed using a template matching algorithm. For the planning study, an ablation line at each PV antrum was defined as target on an AF patient scheduled for catheter ablation. Various safety margins ranging from 0mm (perfect tracking) to 8mm (untracked motion) were added to the target defining the PTV. 30Gy single fraction IMRT plans were then generated. Finally, the influence of a 1T magnetic field on treatment beam delivery was calculated using the Geant4 Monte Carlo algorithm to simulate the dosimetric impact of MRI guidance. Results: The motion study showed the mean respiratory motion of the target area on MRI was 8.4mm (SI), 1.7mm (AP) and 0.3mm (LR). Cardiac motion was small (<2mm). The planning study showed that with increasing safety margins to encompass untracked motion, dose tolerances for OARs such as the esophagus and airways were exceeded by >100%. The magnetic field had little impact on the dose distribution. Conclusion: Our results indicate that real-time MRI tracking of the PVs seems feasible. Accurate image guidance for high-dose AF radiosurgery is essential since safety margins covering untracked target motion will result in unacceptable treatment plans.

Development of a frameless stereotactic radiosurgery system based on real-time 6D position monitoring and adaptive head motion compensation

Energy Technology Data Exchange (ETDEWEB)

Wiersma, Rodney D; Wen Zhifei; Sadinski, Meredith; Farrey, Karl; Yenice, Kamil M [Department of Radiation and Cellular Oncology, University of Chicago, Chicago, IL 60637 (United States)], E-mail: rwiersma@uchicago.edu

2010-01-21

Stereotactic radiosurgery delivers radiation with great spatial accuracy. To achieve sub-millimeter accuracy for intracranial SRS, a head ring is rigidly fixated to the skull to create a fixed reference. For some patients, the invasiveness of the ring can be highly uncomfortable and not well tolerated. In addition, placing and removing the ring requires special expertise from a neurosurgeon, and patient setup time for SRS can often be long. To reduce the invasiveness, hardware limitations and setup time, we are developing a system for performing accurate head positioning without the use of a head ring. The proposed method uses real-time 6D optical position feedback for turning on and off the treatment beam (gating) and guiding a motor-controlled 3D head motion compensation stage. The setup consists of a central control computer, an optical patient motion tracking system and a 3D motion compensation stage attached to the front of the LINAC couch. A styrofoam head cast was custom-built for patient support and was mounted on the compensation stage. The motion feedback of the markers was processed by the control computer, and the resulting motion of the target was calculated using a rigid body model. If the target deviated beyond a preset position of 0.2 mm, an automatic position correction was performed with stepper motors to adjust the head position via the couch mount motion platform. In the event the target deviated more than 1 mm, a safety relay switch was activated and the treatment beam was turned off. The feasibility of the concept was tested using five healthy volunteers. Head motion data were acquired with and without the use of motion compensation over treatment times of 15 min. On average, test subjects exceeded the 0.5 mm tolerance 86% of the time and the 1.0 mm tolerance 45% of the time without motion correction. With correction, this percentage was reduced to 5% and 2% for the 0.5 mm and 1.0 mm tolerances, respectively.

Development of a frameless stereotactic radiosurgery system based on real-time 6D position monitoring and adaptive head motion compensation

International Nuclear Information System (INIS)

Wiersma, Rodney D; Wen Zhifei; Sadinski, Meredith; Farrey, Karl; Yenice, Kamil M

2010-01-01

Stereotactic radiosurgery delivers radiation with great spatial accuracy. To achieve sub-millimeter accuracy for intracranial SRS, a head ring is rigidly fixated to the skull to create a fixed reference. For some patients, the invasiveness of the ring can be highly uncomfortable and not well tolerated. In addition, placing and removing the ring requires special expertise from a neurosurgeon, and patient setup time for SRS can often be long. To reduce the invasiveness, hardware limitations and setup time, we are developing a system for performing accurate head positioning without the use of a head ring. The proposed method uses real-time 6D optical position feedback for turning on and off the treatment beam (gating) and guiding a motor-controlled 3D head motion compensation stage. The setup consists of a central control computer, an optical patient motion tracking system and a 3D motion compensation stage attached to the front of the LINAC couch. A styrofoam head cast was custom-built for patient support and was mounted on the compensation stage. The motion feedback of the markers was processed by the control computer, and the resulting motion of the target was calculated using a rigid body model. If the target deviated beyond a preset position of 0.2 mm, an automatic position correction was performed with stepper motors to adjust the head position via the couch mount motion platform. In the event the target deviated more than 1 mm, a safety relay switch was activated and the treatment beam was turned off. The feasibility of the concept was tested using five healthy volunteers. Head motion data were acquired with and without the use of motion compensation over treatment times of 15 min. On average, test subjects exceeded the 0.5 mm tolerance 86% of the time and the 1.0 mm tolerance 45% of the time without motion correction. With correction, this percentage was reduced to 5% and 2% for the 0.5 mm and 1.0 mm tolerances, respectively.

SU-G-JeP1-01: A Combination of Real Time Electromagnetic Localization and Tracking with Cone Beam Computed Tomography in Stereotactic Radiosurgery for Brain Tumors

International Nuclear Information System (INIS)

Muralidhar, K Raja; Pangam, Suresh; Ponaganti, Srinivas; Krishna, Jayarama; Sujana, Kolla V; Komanduri, Priya K

2016-01-01

Purpose: 1. online verification of patient position during treatment using calypso electromagnetic localization and tracking system. 2. Verification and comparison of positional accuracy between cone beam computed tomography and calypso system. 3. Presenting the advantage of continuation localization in Stereotactic radiosurgery treatments. Methods: Ten brain tumor cases were taken for this study. Patients with head mask were under gone Computed Tomography (CT). Before scanning, mask was cut on the fore head area to keep surface beacons on the skin. Slice thickness of 0.65 mm were taken for this study. x, y, z coordinates of these beacons in TPS were entered into tracking station. Varian True Beam accelerator, equipped with On Board Imager was used to take Cone beam Computed Tomography (CBCT) to localize the patient. Simultaneously Surface beacons were used to localize and track the patient throughout the treatment. The localization values were compared in both systems. For localization CBCT considered as reference. Tracking was done throughout the treatment using Calypso tracking system using electromagnetic array. This array was in tracking position during imaging and treatment. Flattening Filter free beams of 6MV photons along with Volumetric Modulated Arc Therapy was used for the treatment. The patient movement was observed throughout the treatment ranging from 2 min to 4 min. Results: The average variation observed between calypso system and CBCT localization was less than 0.5 mm. These variations were due to manual errors while keeping beacon on the patient. Less than 0.05 cm intra-fraction motion was observed throughout the treatment with the help of continuous tracking. Conclusion: Calypso target localization system is one of the finest tools to perform radiosurgery in combination with CBCT. This non radiographic method of tracking is a real beneficial method to treat patients confidently while observing real-time motion information of the patient.

SU-G-JeP1-01: A Combination of Real Time Electromagnetic Localization and Tracking with Cone Beam Computed Tomography in Stereotactic Radiosurgery for Brain Tumors

Energy Technology Data Exchange (ETDEWEB)

Muralidhar, K Raja; Pangam, Suresh; Ponaganti, Srinivas; Krishna, Jayarama; Sujana, Kolla V; Komanduri, Priya K [American Oncology Institute, Hyderabad, Telangana (India)

2016-06-15

Purpose: 1. online verification of patient position during treatment using calypso electromagnetic localization and tracking system. 2. Verification and comparison of positional accuracy between cone beam computed tomography and calypso system. 3. Presenting the advantage of continuation localization in Stereotactic radiosurgery treatments. Methods: Ten brain tumor cases were taken for this study. Patients with head mask were under gone Computed Tomography (CT). Before scanning, mask was cut on the fore head area to keep surface beacons on the skin. Slice thickness of 0.65 mm were taken for this study. x, y, z coordinates of these beacons in TPS were entered into tracking station. Varian True Beam accelerator, equipped with On Board Imager was used to take Cone beam Computed Tomography (CBCT) to localize the patient. Simultaneously Surface beacons were used to localize and track the patient throughout the treatment. The localization values were compared in both systems. For localization CBCT considered as reference. Tracking was done throughout the treatment using Calypso tracking system using electromagnetic array. This array was in tracking position during imaging and treatment. Flattening Filter free beams of 6MV photons along with Volumetric Modulated Arc Therapy was used for the treatment. The patient movement was observed throughout the treatment ranging from 2 min to 4 min. Results: The average variation observed between calypso system and CBCT localization was less than 0.5 mm. These variations were due to manual errors while keeping beacon on the patient. Less than 0.05 cm intra-fraction motion was observed throughout the treatment with the help of continuous tracking. Conclusion: Calypso target localization system is one of the finest tools to perform radiosurgery in combination with CBCT. This non radiographic method of tracking is a real beneficial method to treat patients confidently while observing real-time motion information of the patient.

Towards real-time detection and tracking of spatio-temporal features: Blob-filaments in fusion plasma

International Nuclear Information System (INIS)

Wu, Lingfei; Wu, Kesheng; Sim, Alex; Churchill, Michael; Choi, Jong Youl

2016-01-01

A novel algorithm and implementation of real-time identification and tracking of blob-filaments in fusion reactor data is presented. Similar spatio-temporal features are important in many other applications, for example, ignition kernels in combustion and tumor cells in a medical image. This work presents an approach for extracting these features by dividing the overall task into three steps: local identification of feature cells, grouping feature cells into extended feature, and tracking movement of feature through overlapping in space. Through our extensive work in parallelization, we demonstrate that this approach can effectively make use of a large number of compute nodes to detect and track blob-filaments in real time in fusion plasma. Here, on a set of 30GB fusion simulation data, we observed linear speedup on 1024 processes and completed blob detection in less than three milliseconds using Edison, a Cray XC30 system at NERSC.

WiFi-Based Real-Time Calibration-Free Passive Human Motion Detection

Directory of Open Access Journals (Sweden)

Liangyi Gong

2015-12-01

Full Text Available With the rapid development of WLAN technology, wireless device-free passive human detection becomes a newly-developing technique and holds more potential to worldwide and ubiquitous smart applications. Recently, indoor fine-grained device-free passive human motion detection based on the PHY layer information is rapidly developed. Previous wireless device-free passive human detection systems either rely on deploying specialized systems with dense transmitter-receiver links or elaborate off-line training process, which blocks rapid deployment and weakens system robustness. In the paper, we explore to research a novel fine-grained real-time calibration-free device-free passive human motion via physical layer information, which is independent of indoor scenarios and needs no prior-calibration and normal profile. We investigate sensitivities of amplitude and phase to human motion, and discover that phase feature is more sensitive to human motion, especially to slow human motion. Aiming at lightweight and robust device-free passive human motion detection, we develop two novel and practical schemes: short-term averaged variance ratio (SVR and long-term averaged variance ratio (LVR. We realize system design with commercial WiFi devices and evaluate it in typical multipath-rich indoor scenarios. As demonstrated in the experiments, our approach can achieve a high detection rate and low false positive rate.

WiFi-Based Real-Time Calibration-Free Passive Human Motion Detection.

Science.gov (United States)

Gong, Liangyi; Yang, Wu; Man, Dapeng; Dong, Guozhong; Yu, Miao; Lv, Jiguang

2015-12-21

With the rapid development of WLAN technology, wireless device-free passive human detection becomes a newly-developing technique and holds more potential to worldwide and ubiquitous smart applications. Recently, indoor fine-grained device-free passive human motion detection based on the PHY layer information is rapidly developed. Previous wireless device-free passive human detection systems either rely on deploying specialized systems with dense transmitter-receiver links or elaborate off-line training process, which blocks rapid deployment and weakens system robustness. In the paper, we explore to research a novel fine-grained real-time calibration-free device-free passive human motion via physical layer information, which is independent of indoor scenarios and needs no prior-calibration and normal profile. We investigate sensitivities of amplitude and phase to human motion, and discover that phase feature is more sensitive to human motion, especially to slow human motion. Aiming at lightweight and robust device-free passive human motion detection, we develop two novel and practical schemes: short-term averaged variance ratio (SVR) and long-term averaged variance ratio (LVR). We realize system design with commercial WiFi devices and evaluate it in typical multipath-rich indoor scenarios. As demonstrated in the experiments, our approach can achieve a high detection rate and low false positive rate.

Optimal transcostal high-intensity focused ultrasound with combined real-time 3D movement tracking and correction

International Nuclear Information System (INIS)

Marquet, F; Aubry, J F; Pernot, M; Fink, M; Tanter, M

2011-01-01

Recent studies have demonstrated the feasibility of transcostal high intensity focused ultrasound (HIFU) treatment in liver. However, two factors limit thermal necrosis of the liver through the ribs: the energy deposition at focus is decreased by the respiratory movement of the liver and the energy deposition on the skin is increased by the presence of highly absorbing bone structures. Ex vivo ablations were conducted to validate the feasibility of a transcostal real-time 3D movement tracking and correction mode. Experiments were conducted through a chest phantom made of three human ribs immersed in water and were placed in front of a 300 element array working at 1 MHz. A binarized apodization law introduced recently in order to spare the rib cage during treatment has been extended here with real-time electronic steering of the beam. Thermal simulations have been conducted to determine the steering limits. In vivo 3D-movement detection was performed on pigs using an ultrasonic sequence. The maximum error on the transcostal motion detection was measured to be 0.09 ± 0.097 mm on the anterior–posterior axis. Finally, a complete sequence was developed combining real-time 3D transcostal movement correction and spiral trajectory of the HIFU beam, allowing the system to treat larger areas with optimized efficiency. Lesions as large as 1 cm in diameter have been produced at focus in excised liver, whereas no necroses could be obtained with the same emitted power without correcting the movement of the tissue sample.

Development of algorithms for real time track selection in the TOTEM experiment

CERN Document Server

Minafra, Nicola; Radicioni, E

The TOTEM experiment at the LHC has been designed to measure the total proton-proton cross-section with a luminosity independent method and to study elastic and diffractive scattering at energy up to 14 TeV in the center of mass. Elastic interactions are detected by Roman Pot stations, placed at 147m and 220m along the two exiting beams. At the present time, data acquired by these detectors are stored on disk without any data reduction by the data acquisition chain. In this thesis several tracking and selection algorithms, suitable for real-time implementation in the firmware of the back-end electronics, have been proposed and tested using real data.

Real-time tracking and fast retrieval of persons in multiple surveillance cameras of a shopping mall

NARCIS (Netherlands)

Bouma, H.; Baan, J.; Landsmeer, S.; Kruszynski, K.J.; Antwerpen, G. van; Dijk, J.

2013-01-01

The capability to track individuals in CCTV cameras is important for e.g. surveillance applications at large areas such as train stations, airports and shopping centers. However, it is laborious to track and trace people over multiple cameras. In this paper, we present a system for real-time

Real-time probabilistic covariance tracking with efficient model update.

Science.gov (United States)

Wu, Yi; Cheng, Jian; Wang, Jinqiao; Lu, Hanqing; Wang, Jun; Ling, Haibin; Blasch, Erik; Bai, Li

2012-05-01

The recently proposed covariance region descriptor has been proven robust and versatile for a modest computational cost. The covariance matrix enables efficient fusion of different types of features, where the spatial and statistical properties, as well as their correlation, are characterized. The similarity between two covariance descriptors is measured on Riemannian manifolds. Based on the same metric but with a probabilistic framework, we propose a novel tracking approach on Riemannian manifolds with a novel incremental covariance tensor learning (ICTL). To address the appearance variations, ICTL incrementally learns a low-dimensional covariance tensor representation and efficiently adapts online to appearance changes of the target with only O(1) computational complexity, resulting in a real-time performance. The covariance-based representation and the ICTL are then combined with the particle filter framework to allow better handling of background clutter, as well as the temporary occlusions. We test the proposed probabilistic ICTL tracker on numerous benchmark sequences involving different types of challenges including occlusions and variations in illumination, scale, and pose. The proposed approach demonstrates excellent real-time performance, both qualitatively and quantitatively, in comparison with several previously proposed trackers.

Wavelet transform and real-time learning method for myoelectric signal in motion discrimination

International Nuclear Information System (INIS)

Liu Haihua; Chen Xinhao; Chen Yaguang

2005-01-01

This paper discusses the applicability of the Wavelet transform for analyzing an EMG signal and discriminating motion classes. In many previous works, researchers have dealt with steady EMG and have proposed suitable analyzing methods for the EMG, for example FFT and STFT. Therefore, it is difficult for the previous approaches to discriminate motions from the EMG in the different phases of muscle activity, i.e., pre-activity, in activity, postactivity phases, as well as the period of motion transition from one to another. In this paper, we introduce the Wavelet transform using the Coiflet mother wavelet into our real-time EMG prosthetic hand controller for discriminating motions from steady and unsteady EMG. A preliminary experiment to discriminate three hand motions from four channel EMG in the initial pre-activity and in activity phase is carried out to show the effectiveness of the approach. However, future research efforts are necessary to discriminate more motions much precisely

Real time track finding in a drift chamber with a VLSI neural network

International Nuclear Information System (INIS)

Lindsey, C.S.; Denby, B.; Haggerty, H.; Johns, K.

1992-01-01

In a test setup, a hardware neural network determined track parameters of charged particles traversing a drift chamber. Voltages proportional to the drift times in 6 cells of the 3-layer chamber were inputs to the Intel ETANN neural network chip which had been trained to give the slope and intercept of tracks. We compare network track parameters to those obtained from off-line track fits. To our knowledge this is the first on-line application of a VLSI neural network to a high energy physics detector. This test explored the potential of the chip and the practical problems of using it in a real world setting. We compare the chip performance to a neural network simulation on a conventional computer. We discuss possible applications of the chip in high energy physics detector triggers. (orig.)

The study of key issues about integration of GNSS and strong-motion records for real-time earthquake monitoring

Science.gov (United States)

Tu, Rui; Zhang, Pengfei; Zhang, Rui; Liu, Jinhai

2016-08-01

This paper has studied the key issues about integration of GNSS and strong-motion records for real-time earthquake monitoring. The validations show that the consistence of the coordinate system must be considered firstly to exclude the system bias between GNSS and strong-motion. The GNSS sampling rate is suggested about 1-5 Hz, and we should give the strong-motion's baseline shift with a larger dynamic noise as its variation is very swift. The initialization time of solving the baseline shift is less than one minute, and ambiguity resolution strategy is not greatly improved the solution. The data quality is very important for the solution, we advised to use multi-frequency and multi-system observations. These ideas give an important guide for real-time earthquake monitoring and early warning by the tight integration of GNSS and strong-motion records.

SU-G-JeP1-07: Development of a Programmable Motion Testbed for the Validation of Ultrasound Tracking Algorithms

Energy Technology Data Exchange (ETDEWEB)

Shepard, A; Matrosic, C; Zagzebski, J; Bednarz, B [University of Wisconsin, Madison, WI (United States)

2016-06-15

Purpose: To develop an advanced testbed that combines a 3D motion stage and ultrasound phantom to optimize and validate 2D and 3D tracking algorithms for real-time motion management during radiation therapy. Methods: A Siemens S2000 Ultrasound scanner utilizing a 9L4 transducer was coupled with the Washington University 4D Phantom to simulate patient motion. The transducer was securely fastened to the 3D stage and positioned to image three cylinders of varying contrast in a Gammex 404GS LE phantom. The transducer was placed within a water bath above the phantom in order to maintain sufficient coupling for the entire range of simulated motion. A programmed motion sequence was used to move the transducer during image acquisition and a cine video was acquired for one minute to allow for long sequence tracking. Images were analyzed using a normalized cross-correlation block matching tracking algorithm and compared to the known motion of the transducer relative to the phantom. Results: The setup produced stable ultrasound motion traces consistent with those programmed into the 3D motion stage. The acquired ultrasound images showed minimal artifacts and an image quality that was more than suitable for tracking algorithm verification. Comparisons of a block matching tracking algorithm with the known motion trace for the three features resulted in an average tracking error of 0.59 mm. Conclusion: The high accuracy and programmability of the 4D phantom allows for the acquisition of ultrasound motion sequences that are highly customizable; allowing for focused analysis of some common pitfalls of tracking algorithms such as partial feature occlusion or feature disappearance, among others. The design can easily be modified to adapt to any probe such that the process can be extended to 3D acquisition. Further development of an anatomy specific phantom better resembling true anatomical landmarks could lead to an even more robust validation. This work is partially funded by NIH

SU-G-JeP1-07: Development of a Programmable Motion Testbed for the Validation of Ultrasound Tracking Algorithms

International Nuclear Information System (INIS)

Shepard, A; Matrosic, C; Zagzebski, J; Bednarz, B

2016-01-01

Purpose: To develop an advanced testbed that combines a 3D motion stage and ultrasound phantom to optimize and validate 2D and 3D tracking algorithms for real-time motion management during radiation therapy. Methods: A Siemens S2000 Ultrasound scanner utilizing a 9L4 transducer was coupled with the Washington University 4D Phantom to simulate patient motion. The transducer was securely fastened to the 3D stage and positioned to image three cylinders of varying contrast in a Gammex 404GS LE phantom. The transducer was placed within a water bath above the phantom in order to maintain sufficient coupling for the entire range of simulated motion. A programmed motion sequence was used to move the transducer during image acquisition and a cine video was acquired for one minute to allow for long sequence tracking. Images were analyzed using a normalized cross-correlation block matching tracking algorithm and compared to the known motion of the transducer relative to the phantom. Results: The setup produced stable ultrasound motion traces consistent with those programmed into the 3D motion stage. The acquired ultrasound images showed minimal artifacts and an image quality that was more than suitable for tracking algorithm verification. Comparisons of a block matching tracking algorithm with the known motion trace for the three features resulted in an average tracking error of 0.59 mm. Conclusion: The high accuracy and programmability of the 4D phantom allows for the acquisition of ultrasound motion sequences that are highly customizable; allowing for focused analysis of some common pitfalls of tracking algorithms such as partial feature occlusion or feature disappearance, among others. The design can easily be modified to adapt to any probe such that the process can be extended to 3D acquisition. Further development of an anatomy specific phantom better resembling true anatomical landmarks could lead to an even more robust validation. This work is partially funded by NIH

Real-Time Observation of Internal Motion within Ultrafast Dissipative Optical Soliton Molecules

Science.gov (United States)

Krupa, Katarzyna; Nithyanandan, K.; Andral, Ugo; Tchofo-Dinda, Patrice; Grelu, Philippe

2017-06-01

Real-time access to the internal ultrafast dynamics of complex dissipative optical systems opens new explorations of pulse-pulse interactions and dynamic patterns. We present the first direct experimental evidence of the internal motion of a dissipative optical soliton molecule generated in a passively mode-locked erbium-doped fiber laser. We map the internal motion of a soliton pair molecule by using a dispersive Fourier-transform imaging technique, revealing different categories of internal pulsations, including vibrationlike and phase drifting dynamics. Our experiments agree well with numerical predictions and bring insights to the analogy between self-organized states of lights and states of the matter.

A graphics processing unit accelerated motion correction algorithm and modular system for real-time fMRI.

Science.gov (United States)

Scheinost, Dustin; Hampson, Michelle; Qiu, Maolin; Bhawnani, Jitendra; Constable, R Todd; Papademetris, Xenophon

2013-07-01

Real-time functional magnetic resonance imaging (rt-fMRI) has recently gained interest as a possible means to facilitate the learning of certain behaviors. However, rt-fMRI is limited by processing speed and available software, and continued development is needed for rt-fMRI to progress further and become feasible for clinical use. In this work, we present an open-source rt-fMRI system for biofeedback powered by a novel Graphics Processing Unit (GPU) accelerated motion correction strategy as part of the BioImage Suite project ( www.bioimagesuite.org ). Our system contributes to the development of rt-fMRI by presenting a motion correction algorithm that provides an estimate of motion with essentially no processing delay as well as a modular rt-fMRI system design. Using empirical data from rt-fMRI scans, we assessed the quality of motion correction in this new system. The present algorithm performed comparably to standard (non real-time) offline methods and outperformed other real-time methods based on zero order interpolation of motion parameters. The modular approach to the rt-fMRI system allows the system to be flexible to the experiment and feedback design, a valuable feature for many applications. We illustrate the flexibility of the system by describing several of our ongoing studies. Our hope is that continuing development of open-source rt-fMRI algorithms and software will make this new technology more accessible and adaptable, and will thereby accelerate its application in the clinical and cognitive neurosciences.

Extended neural network-based scheme for real-time force tracking with magnetorheological dampers

DEFF Research Database (Denmark)

Weber, Felix; Bhowmik, Subrata; Høgsberg, Jan Becker

2014-01-01

This paper validates numerically and experimentally a new neural network-based real-time force tracking scheme for magnetorheological (MR) dampers on a five-storey shear frame with MR damper. The inverse model is trained with absolute values of measured velocity and force because the targeted...... the pre-yield to the post-yield region. A control-oriented approach is presented to compensate for these drawbacks. The resulting control force tracking scheme is validated for the emulation of viscous damping, clipped viscous damping with negative stiffness, and friction damping with negative stiffness...

Using Opaque Image Blur for Real-Time Depth-of-Field Rendering and Image-Based Motion Blur

DEFF Research Database (Denmark)

Kraus, Martin

2013-01-01

While depth of field is an important cinematographic means, its use in real-time computer graphics is still limited by the computational costs that are necessary to achieve a sufficient image quality. Specifically, color bleeding artifacts between objects at different depths are most effectively...... that the opaque image blur can also be used to add motion blur effects to images in real time....

Using dual-energy x-ray imaging to enhance automated lung tumor tracking during real-time adaptive radiotherapy

Energy Technology Data Exchange (ETDEWEB)

Menten, Martin J., E-mail: martin.menten@icr.ac.uk; Fast, Martin F.; Nill, Simeon; Oelfke, Uwe, E-mail: uwe.oelfke@icr.ac.uk [Joint Department of Physics at The Institute of Cancer Research and The Royal Marsden NHS Foundation Trust, London SM2 5NG (United Kingdom)

2015-12-15

Purpose: Real-time, markerless localization of lung tumors with kV imaging is often inhibited by ribs obscuring the tumor and poor soft-tissue contrast. This study investigates the use of dual-energy imaging, which can generate radiographs with reduced bone visibility, to enhance automated lung tumor tracking for real-time adaptive radiotherapy. Methods: kV images of an anthropomorphic breathing chest phantom were experimentally acquired and radiographs of actual lung cancer patients were Monte-Carlo-simulated at three imaging settings: low-energy (70 kVp, 1.5 mAs), high-energy (140 kVp, 2.5 mAs, 1 mm additional tin filtration), and clinical (120 kVp, 0.25 mAs). Regular dual-energy images were calculated by weighted logarithmic subtraction of high- and low-energy images and filter-free dual-energy images were generated from clinical and low-energy radiographs. The weighting factor to calculate the dual-energy images was determined by means of a novel objective score. The usefulness of dual-energy imaging for real-time tracking with an automated template matching algorithm was investigated. Results: Regular dual-energy imaging was able to increase tracking accuracy in left–right images of the anthropomorphic phantom as well as in 7 out of 24 investigated patient cases. Tracking accuracy remained comparable in three cases and decreased in five cases. Filter-free dual-energy imaging was only able to increase accuracy in 2 out of 24 cases. In four cases no change in accuracy was observed and tracking accuracy worsened in nine cases. In 9 out of 24 cases, it was not possible to define a tracking template due to poor soft-tissue contrast regardless of input images. The mean localization errors using clinical, regular dual-energy, and filter-free dual-energy radiographs were 3.85, 3.32, and 5.24 mm, respectively. Tracking success was dependent on tumor position, tumor size, imaging beam angle, and patient size. Conclusions: This study has highlighted the influence of

Using dual-energy x-ray imaging to enhance automated lung tumor tracking during real-time adaptive radiotherapy

International Nuclear Information System (INIS)

Menten, Martin J.; Fast, Martin F.; Nill, Simeon; Oelfke, Uwe

2015-01-01

Purpose: Real-time, markerless localization of lung tumors with kV imaging is often inhibited by ribs obscuring the tumor and poor soft-tissue contrast. This study investigates the use of dual-energy imaging, which can generate radiographs with reduced bone visibility, to enhance automated lung tumor tracking for real-time adaptive radiotherapy. Methods: kV images of an anthropomorphic breathing chest phantom were experimentally acquired and radiographs of actual lung cancer patients were Monte-Carlo-simulated at three imaging settings: low-energy (70 kVp, 1.5 mAs), high-energy (140 kVp, 2.5 mAs, 1 mm additional tin filtration), and clinical (120 kVp, 0.25 mAs). Regular dual-energy images were calculated by weighted logarithmic subtraction of high- and low-energy images and filter-free dual-energy images were generated from clinical and low-energy radiographs. The weighting factor to calculate the dual-energy images was determined by means of a novel objective score. The usefulness of dual-energy imaging for real-time tracking with an automated template matching algorithm was investigated. Results: Regular dual-energy imaging was able to increase tracking accuracy in left–right images of the anthropomorphic phantom as well as in 7 out of 24 investigated patient cases. Tracking accuracy remained comparable in three cases and decreased in five cases. Filter-free dual-energy imaging was only able to increase accuracy in 2 out of 24 cases. In four cases no change in accuracy was observed and tracking accuracy worsened in nine cases. In 9 out of 24 cases, it was not possible to define a tracking template due to poor soft-tissue contrast regardless of input images. The mean localization errors using clinical, regular dual-energy, and filter-free dual-energy radiographs were 3.85, 3.32, and 5.24 mm, respectively. Tracking success was dependent on tumor position, tumor size, imaging beam angle, and patient size. Conclusions: This study has highlighted the influence of

Using dual-energy x-ray imaging to enhance automated lung tumor tracking during real-time adaptive radiotherapy.

Science.gov (United States)

Menten, Martin J; Fast, Martin F; Nill, Simeon; Oelfke, Uwe

2015-12-01

Real-time, markerless localization of lung tumors with kV imaging is often inhibited by ribs obscuring the tumor and poor soft-tissue contrast. This study investigates the use of dual-energy imaging, which can generate radiographs with reduced bone visibility, to enhance automated lung tumor tracking for real-time adaptive radiotherapy. kV images of an anthropomorphic breathing chest phantom were experimentally acquired and radiographs of actual lung cancer patients were Monte-Carlo-simulated at three imaging settings: low-energy (70 kVp, 1.5 mAs), high-energy (140 kVp, 2.5 mAs, 1 mm additional tin filtration), and clinical (120 kVp, 0.25 mAs). Regular dual-energy images were calculated by weighted logarithmic subtraction of high- and low-energy images and filter-free dual-energy images were generated from clinical and low-energy radiographs. The weighting factor to calculate the dual-energy images was determined by means of a novel objective score. The usefulness of dual-energy imaging for real-time tracking with an automated template matching algorithm was investigated. Regular dual-energy imaging was able to increase tracking accuracy in left-right images of the anthropomorphic phantom as well as in 7 out of 24 investigated patient cases. Tracking accuracy remained comparable in three cases and decreased in five cases. Filter-free dual-energy imaging was only able to increase accuracy in 2 out of 24 cases. In four cases no change in accuracy was observed and tracking accuracy worsened in nine cases. In 9 out of 24 cases, it was not possible to define a tracking template due to poor soft-tissue contrast regardless of input images. The mean localization errors using clinical, regular dual-energy, and filter-free dual-energy radiographs were 3.85, 3.32, and 5.24 mm, respectively. Tracking success was dependent on tumor position, tumor size, imaging beam angle, and patient size. This study has highlighted the influence of patient anatomy on the success rate of real-time

Electromagnetic guided couch and multileaf collimator tracking on a TrueBeam accelerator

DEFF Research Database (Denmark)

Hansen, Rune; Ravkilde, Thomas; Worm, Esben Schjødt

2016-01-01

Purpose: Couch and MLC tracking are two promising methods for real-time motion compensation during radiation therapy. So far, couch and MLC tracking experiments have mainly been performed by different research groups, and no direct comparison of couch and MLC tracking of volumetric modulated arc...... to characterize the geometric and dosimetric performance of electromagnetic guided couch and MLC tracking on a TrueBeam accelerator equipped with a Millennium MLC. The tracking system latency was determined without motion prediction as the time lag between sinusoidal target motion and the compensating motion...

Comparison of 2D and 3D modeled tumor motion estimation/prediction for dynamic tumor tracking during arc radiotherapy

Science.gov (United States)

Liu, Wu; Ma, Xiangyu; Yan, Huagang; Chen, Zhe; Nath, Ravinder; Li, Haiyun

2017-05-01

Many real-time imaging techniques have been developed to localize a target in 3D space or in a 2D beam’s eye view (BEV) plane for intrafraction motion tracking in radiation therapy. With tracking system latency, the 3D-modeled method is expected to be more accurate even in terms of 2D BEV tracking error. No quantitative analysis, however, has been reported. In this study, we simulated co-planar arc deliveries using respiratory motion data acquired from 42 patients to quantitatively compare the accuracy between 2D BEV and 3D-modeled tracking in arc therapy and to determine whether 3D information is needed for motion tracking. We used our previously developed low kV dose adaptive MV-kV imaging and motion compensation framework as a representative of 3D-modeled methods. It optimizes the balance between additional kV imaging dose and 3D tracking accuracy and solves the MLC blockage issue. With simulated Gaussian marker detection errors (zero mean and 0.39 mm standard deviation) and ~155/310/460 ms tracking system latencies, the mean percentage of time that the target moved  >2 mm from the predicted 2D BEV position are 1.1%/4.0%/7.8% and 1.3%/5.8%/11.6% for the 3D-modeled and 2D-only tracking, respectively. The corresponding average BEV RMS errors are 0.67/0.90/1.13 mm and 0.79/1.10/1.37 mm. Compared to the 2D method, the 3D method reduced the average RMS unresolved motion along the beam direction from ~3 mm to ~1 mm, resulting in on average only  <1% dosimetric advantage in the depth direction. Only for a small fraction of the patients, when tracking latency is long, the 3D-modeled method showed significant improvement of BEV tracking accuracy, indicating potential dosimetric advantage. However, if the tracking latency is short (~150 ms or less), those improvements are limited. Therefore, 2D BEV tracking has sufficient targeting accuracy for most clinical cases. The 3D technique is, however, still important in solving the MLC blockage problem

Performance of a Motion Tracking System During Cyberknife Robotic Radiosurgery

International Nuclear Information System (INIS)

Cavedon, Carlo; Francescon, Paolo; Cora, Stefania; Moschini, Giuliano; Rossi, Paolo

2009-01-01

Cyberknife (Accuracy Inc., Ca) is a robotic radio-surgery system that includes a compact 6 MV linac delivering up to 800 cGy per minute, and an automate arm to aim at any part of the body from any angle. An essential tool is the guidance system based on x-ray imaging cameras located on supports around the patient. A Cyberknife system has been operational at the Vicenza (Italy) Hospital for years and is mainly employed for treating benign and malignant tumors, and Arterior-Venous Malformations. In radiation therapy, delivery of high doses to targets that move with respiration is challenging because of possible spatial inaccuracies. The purpose of this work was to estimate the accuracy of the prediction algorithm used to compensate for system latency in a real-time respiratory tracking system. We have analyzed respiratory signals of 30 patients who had lung or liver Cyberknife treatments. The 'Synchrony'(Accuracy Inc.) motion tracking system we use is based on the correlation between the position of LED markers, detected in real time, and the position of internal markers, sampled through x-ray imaging. The position of the external LED signals, though read in real time, must be predicted to compensate for a few hundred ms time lag in the feedback loop that redirects the beam to the current target position. The respiratory signals were described by employing their frequency power spectrum, as recently proposed by other authors. Prediction errors above 1.5 mm, lasting for periods longer than 5 seconds were observed for irregular breathers. These episodes correlate to the presence of a bimodal distribution in the power spectral density, and of very low frequencies contribution. A more refined approach would include a personalized choice of the prediction algorithm based on the very first minutes of treatment. Patient training aimed at reducing breathing irregularities might also result in improved spatial accuracy.

Development of radiation hardened robot for nuclear facility - Development of real-time stereo object tracking system using the optical correlator

Energy Technology Data Exchange (ETDEWEB)

Kim, Eun Soo; Lee, S. H.; Lee, J. S. [Kwangwoon University, Seoul (Korea)

2000-03-01

Object tracking, through Centroide method used in the KAERI-M1 Stereo Robot Vision System developed at Atomic Research Center, is too sensitive to target's light variation and because it has a fragility which can't reflect the surrounding background, the application in the actual condition is very limited. Also the correlation method can constitute a relatively stable object tracker in noise features but the digital calculation amount is too massive in image correlation so real time materialization is limited. So the development of Optical Correlation based on Stereo Object Tracking System using high speed optical information processing technique will put stable the real time stereo object tracking system and substantial atomic industrial stereo robot vision system to practical use. This research is about developing real time stereo object tracking algorithm using optical correlation system through the technique which can be applied to Atomic Research Center's KAERI-M1 Stereo Vision Robot which will be used in atomic facility remote operations. And revise the stereo disparity using real time optical correlation technique, and materializing the application of the stereo object tracking algorithm to KAERI-M1 Stereo Robot. 19 refs., 45 figs., 2 tabs. (Author)

Proton spin tracking with symplectic integration of orbit motion

Energy Technology Data Exchange (ETDEWEB)

Luo, Y. [Brookhaven National Lab. (BNL), Upton, NY (United States); Dutheil, Y. [Brookhaven National Lab. (BNL), Upton, NY (United States); Huang, H. [Brookhaven National Lab. (BNL), Upton, NY (United States); Meot, F. [Brookhaven National Lab. (BNL), Upton, NY (United States); Ranjbar, V. [Brookhaven National Lab. (BNL), Upton, NY (United States)

2015-05-03

Symplectic integration had been adopted for orbital motion tracking in code SimTrack. SimTrack has been extensively used for dynamic aperture calculation with beam-beam interaction for the Relativistic Heavy Ion Collider (RHIC). Recently proton spin tracking has been implemented on top of symplectic orbital motion in this code. In this article, we will explain the implementation of spin motion based on Thomas-BMT equation, and the benchmarking with other spin tracking codes currently used for RHIC. Examples to calculate spin closed orbit and spin tunes are presented too.

Fast motion-including dose error reconstruction for VMAT with and without MLC tracking

DEFF Research Database (Denmark)

Ravkilde, Thomas; Keall, Paul J.; Grau, Cai

2014-01-01

of the algorithm for reconstruction of dose and motion-induced dose errors throughout the tracking and non-tracking beam deliveries was quantified. Doses were reconstructed with a mean dose difference relative to the measurements of -0.5% (5.5% standard deviation) for cumulative dose. More importantly, the root...... validate a simple model for fast motion-including dose error reconstruction applicable to intrafractional QA of MLC tracking treatments of moving targets. MLC tracking experiments were performed on a standard linear accelerator with prototype MLC tracking software guided by an electromagnetic transponder......-mean-square deviation between reconstructed and measured motion-induced 3%/3 mm γ failure rates (dose error) was 2.6%. The mean computation time for each calculation of dose and dose error was 295 ms. The motion-including dose reconstruction allows accurate temporal and spatial pinpointing of errors in absorbed dose...

Robotic real-time translational and rotational head motion correction during frameless stereotactic radiosurgery

Energy Technology Data Exchange (ETDEWEB)

Liu, Xinmin; Belcher, Andrew H.; Grelewicz, Zachary; Wiersma, Rodney D., E-mail: rwiersma@uchicago.edu [Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637 (United States)

2015-06-15

Purpose: To develop a control system to correct both translational and rotational head motion deviations in real-time during frameless stereotactic radiosurgery (SRS). Methods: A novel feedback control with a feed-forward algorithm was utilized to correct for the coupling of translation and rotation present in serial kinematic robotic systems. Input parameters for the algorithm include the real-time 6DOF target position, the frame pitch pivot point to target distance constant, and the translational and angular Linac beam off (gating) tolerance constants for patient safety. Testing of the algorithm was done using a 4D (XY Z + pitch) robotic stage, an infrared head position sensing unit and a control computer. The measured head position signal was processed and a resulting command was sent to the interface of a four-axis motor controller, through which four stepper motors were driven to perform motion compensation. Results: The control of the translation of a brain target was decoupled with the control of the rotation. For a phantom study, the corrected position was within a translational displacement of 0.35 mm and a pitch displacement of 0.15° 100% of the time. For a volunteer study, the corrected position was within displacements of 0.4 mm and 0.2° over 98.5% of the time, while it was 10.7% without correction. Conclusions: The authors report a control design approach for both translational and rotational head motion correction. The experiments demonstrated that control performance of the 4D robotic stage meets the submillimeter and subdegree accuracy required by SRS.

Robotic real-time translational and rotational head motion correction during frameless stereotactic radiosurgery

International Nuclear Information System (INIS)

Liu, Xinmin; Belcher, Andrew H.; Grelewicz, Zachary; Wiersma, Rodney D.

2015-01-01

Purpose: To develop a control system to correct both translational and rotational head motion deviations in real-time during frameless stereotactic radiosurgery (SRS). Methods: A novel feedback control with a feed-forward algorithm was utilized to correct for the coupling of translation and rotation present in serial kinematic robotic systems. Input parameters for the algorithm include the real-time 6DOF target position, the frame pitch pivot point to target distance constant, and the translational and angular Linac beam off (gating) tolerance constants for patient safety. Testing of the algorithm was done using a 4D (XY Z + pitch) robotic stage, an infrared head position sensing unit and a control computer. The measured head position signal was processed and a resulting command was sent to the interface of a four-axis motor controller, through which four stepper motors were driven to perform motion compensation. Results: The control of the translation of a brain target was decoupled with the control of the rotation. For a phantom study, the corrected position was within a translational displacement of 0.35 mm and a pitch displacement of 0.15° 100% of the time. For a volunteer study, the corrected position was within displacements of 0.4 mm and 0.2° over 98.5% of the time, while it was 10.7% without correction. Conclusions: The authors report a control design approach for both translational and rotational head motion correction. The experiments demonstrated that control performance of the 4D robotic stage meets the submillimeter and subdegree accuracy required by SRS

Printed Tag Real-time Tracking

KAUST Repository

Bilal, Rana M.

2014-09-18

Disclosed are various embodiments for monitoring tracking devices capable of seamless indoor and outdoor tracking transitions. A tracking device may comprise, for example, printable circuitry and antennas combined with one or more receivers/transceivers on a substrate. The tracking device may be configured, for example, to localize the tracking device via GPS or an alternative localization strategy based on a determination of whether GPS communication is available. A modified RSSI fingerprinting methodology may be used to accurately determine a location of the tracking device using Wi-Fi access points. A device monitoring service may communicate with internal and/or external mapping API\\'s to render a device monitoring user interface comprising a visual representation of the location of the tracking device.

Real-time construction and visualisation of drift-free video mosaics from unconstrained camera motion

Directory of Open Access Journals (Sweden)

Mateusz Brzeszcz

2015-08-01

Full Text Available This work proposes a novel approach for real-time video mosaicking facilitating drift-free mosaic construction and visualisation, with integrated frame blending and redundancy management, that is shown to be flexible to a range of varying mosaic scenarios. The approach supports unconstrained camera motion with in-sequence loop closing, variation in camera focal distance (zoom and recovery from video sequence breaks. Real-time performance, over extended duration sequences, is realised via novel aspects of frame management within the mosaic representation and thus avoiding the high data redundancy associated with temporally dense, spatially overlapping video frame inputs. This managed set of image frames is visualised in real time using a dynamic mosaic representation of overlapping textured graphics primitives in place of the traditional globally constructed, and hence frequently reconstructed, mosaic image. Within this formulation, subsequent optimisation occurring during online construction can thus efficiency adjust relative frame positions via simple primitive position transforms. Effective visualisation is similarly facilitated by online inter-frame blending to overcome the illumination and colour variance associated with modern camera hardware. The evaluation illustrates overall robustness in video mosaic construction under a diverse range of conditions including indoor and outdoor environments, varying illumination and presence of in-scene motion on varying computational platforms.

Real-time piscicide tracking using Rhodamine WT dye for support of application, transport, and deactivation strategies in riverine environments

Science.gov (United States)

Jackson, Patrick Ryan; Lageman, Jonathan D.

2013-01-01

Piscicide applications in riverine environments are complicated by the advection and dispersion of the piscicide by the flowing water. Proper deactivation of the fish toxin is required outside of the treatment reach to ensure that there is minimal collateral damage to fisheries downstream or in connecting and adjacent water bodies. In urban settings and highly managed waterways, further complications arise from the influence of industrial intakes and outfalls, stormwater outfalls, lock and dam operations, and general unsteady flow conditions. These complications affect the local hydrodynamics and ultimately the transport and fate of the piscicide. This report presents two techniques using Rhodamine WT dye for real-time tracking of a piscicide plume—or any passive contaminant—in rivers and waterways in natural and urban settings. Passive contaminants are those that are present in such low concentration that there is no effect (such as buoyancy) on the fluid dynamics of the receiving water body. These methods, when combined with data logging and archiving, allow for visualization and documentation of the application and deactivation process. Real-time tracking and documentation of rotenone applications in rivers and urban waterways was accomplished by encasing the rotenone plume in a plume of Rhodamine WT dye and using vessel-mounted submersible fluorometers together with acoustic Doppler current profilers (ADCP) and global positioning system (GPS) receivers to track the dye and map the water currents responsible for advection and dispersion. In this study, two methods were used to track rotenone plumes: (1) simultaneous injection of dye with rotenone and (2) delineation of the upstream and downstream boundaries of the treatment zone with dye. All data were logged and displayed on a shipboard laptop computer, so that survey personnel provided real-time feedback about the extent of the rotenone plume to rotenone application and deactivation personnel. Further

Ultrasound motion tracking for radiation therapy; Ultraschallbewegungstracking fuer die Strahlentherapie

Energy Technology Data Exchange (ETDEWEB)

Jenne, J. [Fraunhofer-Institut fuer Bildgestuetzte Medizin MEVIS, Bremen (Germany); Mediri GmbH, Heidelberg (Germany); Schwaab, J. [Mediri GmbH, Heidelberg (Germany)

2015-11-15

In modern radiotherapy the radiation dose can be applied with an accuracy in the range of 1-2 mm provided that the exact position of the target is known. If, however, the target (the tumor) is located in the lungs or the abdomen, respiration or peristalsis can cause substantial movement of the target. Various methods for intrafractional motion detection and compensation are currently under consideration or are already applied in clinical practice. Sonography is one promising option, which is now on the brink of clinical implementation. Ultrasound is particularly suited for this purpose due to the high soft tissue contrast, real-time capability, the absence of ionizing radiation and low acquisition costs. Ultrasound motion tracking is an image-based approach, i.e. the target volume or an adjacent structure is directly monitored and the motion is tracked automatically on the ultrasound image. Diverse algorithms are presently available that provide the real-time target coordinates from 2D as well as 3D images. Definition of a suitable sonographic window is not, however, trivial and a gold standard for positioning and mounting of the transducer has not yet been developed. Furthermore, processing of the coordinate information in the therapy unit and the dynamic adaptation of the radiation field are challenging tasks. It is not clear whether ultrasound motion tracking will become established in the clinical routine although all technical prerequisites can be considered as fulfilled, such that exciting progress in this field of research is still to be expected. (orig.) [German] In der modernen Strahlentherapie kann die Dosis mit einer Genauigkeit von 1-2 mm appliziert werden, sofern die Position der Zielstruktur genau bekannt ist. Liegt diese Zielstruktur (der Tumor) jedoch in der Lunge oder im Abdomen, koennen u. a. die Atmung oder die Peristaltik zu einer substanziellen Bewegung des Zielvolumens fuehren. Verschiedene Methoden zur intrafraktionellen Bewegungsdetektion

Demo: Distributed Real-Time Generative 3D Hand Tracking using Edge GPGPU Acceleration

DEFF Research Database (Denmark)

Qammaz, Ammar; Kosta, Sokol; Kyriazis, Nikolaos

2018-01-01

computations locally. The network connection takes the place of a GPGPU accelerator and sharing resources with a larger workstation becomes the acceleration mechanism. The unique properties of a generative optimizer are examined and constitute a challenging use-case, since the requirement for real......This work demonstrates a real-time 3D hand tracking application that runs via computation offloading. The proposed framework enables the application to run on low-end mobile devices such as laptops and tablets, despite the fact that they lack the sufficient hardware to perform the required...

Four-dimensional dose distributions of step-and-shoot IMRT delivered with real-time tumor tracking for patients with irregular breathing: Constant dose rate vs dose rate regulation

International Nuclear Information System (INIS)

Yang Xiaocheng; Han-Oh, Sarah; Gui Minzhi; Niu Ying; Yu, Cedric X.; Yi Byongyong

2012-01-01

Purpose: Dose-rate-regulated tracking (DRRT) is a tumor tracking strategy that programs the MLC to track the tumor under regular breathing and adapts to breathing irregularities during delivery using dose rate regulation. Constant-dose-rate tracking (CDRT) is a strategy that dynamically repositions the beam to account for intrafractional 3D target motion according to real-time information of target location obtained from an independent position monitoring system. The purpose of this study is to illustrate the differences in the effectiveness and delivery accuracy between these two tracking methods in the presence of breathing irregularities. Methods: Step-and-shoot IMRT plans optimized at a reference phase were extended to remaining phases to generate 10-phased 4D-IMRT plans using segment aperture morphing (SAM) algorithm, where both tumor displacement and deformation were considered. A SAM-based 4D plan has been demonstrated to provide better plan quality than plans not considering target deformation. However, delivering such a plan requires preprogramming of the MLC aperture sequence. Deliveries of the 4D plans using DRRT and CDRT tracking approaches were simulated assuming the breathing period is either shorter or longer than the planning day, for 4 IMRT cases: two lung and two pancreatic cases with maximum GTV centroid motion greater than 1 cm were selected. In DRRT, dose rate was regulated to speed up or slow down delivery as needed such that each planned segment is delivered at the planned breathing phase. In CDRT, MLC is separately controlled to follow the tumor motion, but dose rate was kept constant. In addition to breathing period change, effect of breathing amplitude variation on target and critical tissue dose distribution is also evaluated. Results: Delivery of preprogrammed 4D plans by the CDRT method resulted in an average of 5% increase in target dose and noticeable increase in organs at risk (OAR) dose when patient breathing is either 10% faster or

WiFi-Based Real-Time Calibration-Free Passive Human Motion Detection †

Science.gov (United States)

Gong, Liangyi; Yang, Wu; Man, Dapeng; Dong, Guozhong; Yu, Miao; Lv, Jiguang

2015-01-01

With the rapid development of WLAN technology, wireless device-free passive human detection becomes a newly-developing technique and holds more potential to worldwide and ubiquitous smart applications. Recently, indoor fine-grained device-free passive human motion detection based on the PHY layer information is rapidly developed. Previous wireless device-free passive human detection systems either rely on deploying specialized systems with dense transmitter-receiver links or elaborate off-line training process, which blocks rapid deployment and weakens system robustness. In the paper, we explore to research a novel fine-grained real-time calibration-free device-free passive human motion via physical layer information, which is independent of indoor scenarios and needs no prior-calibration and normal profile. We investigate sensitivities of amplitude and phase to human motion, and discover that phase feature is more sensitive to human motion, especially to slow human motion. Aiming at lightweight and robust device-free passive human motion detection, we develop two novel and practical schemes: short-term averaged variance ratio (SVR) and long-term averaged variance ratio (LVR). We realize system design with commercial WiFi devices and evaluate it in typical multipath-rich indoor scenarios. As demonstrated in the experiments, our approach can achieve a high detection rate and low false positive rate. PMID:26703612

XpertTrack: Precision Autonomous Measuring Device Developed for Real Time Shipments Tracker.

Science.gov (United States)

Viman, Liviu; Daraban, Mihai; Fizesan, Raul; Iuonas, Mircea

2016-03-10

This paper proposes a software and hardware solution for real time condition monitoring applications. The proposed device, called XpertTrack, exchanges data through the GPRS protocol over a GSM network and monitories temperature and vibrations of critical merchandise during commercial shipments anywhere on the globe. Another feature of this real time tracker is to provide GPS and GSM positioning with a precision of 10 m or less. In order to interpret the condition of the merchandise, the data acquisition, analysis and visualization are done with 0.1 °C accuracy for the temperature sensor, and 10 levels of shock sensitivity for the acceleration sensor. In addition to this, the architecture allows increasing the number and the types of sensors, so that companies can use this flexible solution to monitor a large percentage of their fleet.

Histopathologic Consideration of Fiducial Gold Markers Inserted for Real-Time Tumor-Tracking Radiotherapy Against Lung Cancer

International Nuclear Information System (INIS)

Imura, Mikado; Yamazaki, Koichi; Kubota, Kanako C.; Itoh, Tomoo; Onimaru, Rikiya; Cho, Yasushi; Hida, Yasuhiro; Kaga, Kichizo; Onodera, Yuya; Ogura, Shigeaki; Dosaka-Akita, Hirotoshi; Shirato, Hiroki; Nishimura, Masaharu

2008-01-01

Purpose: Internal fiducial gold markers, safely inserted with bronchoscopy, have been used in real-time tumor-tracking radiotherapy for lung cancer. We investigated the histopathologic findings at several points after the insertion of the gold markers. Methods and Materials: Sixteen gold markers were inserted for preoperative marking in 7 patients who subsequently underwent partial resection of tumors by video-assisted thoracoscopic surgery within 7 days. Results: Fibrotic changes and hyperplasia of type 2 pneumocytes around the markers were seen 5 or 7 days after insertion, and fibrin exudation without fibrosis was detected 1 or 2 days after insertion. Conclusions: Because fibroblastic changes start approximately 5 days after gold marker insertion, real-time tumor-tracking radiotherapy should be started >5 days after gold marker insertion

Disappearance of the inversion effect during memory-guided tracking of scrambled biological motion.

Science.gov (United States)

Jiang, Changhao; Yue, Guang H; Chen, Tingting; Ding, Jinhong

2016-08-01

The human visual system is highly sensitive to biological motion. Even when a point-light walker is temporarily occluded from view by other objects, our eyes are still able to maintain tracking continuity. To investigate how the visual system establishes a correspondence between the biological-motion stimuli visible before and after the disruption, we used the occlusion paradigm with biological-motion stimuli that were intact or scrambled. The results showed that during visually guided tracking, both the observers' predicted times and predictive smooth pursuit were more accurate for upright biological motion (intact and scrambled) than for inverted biological motion. During memory-guided tracking, however, the processing advantage for upright as compared with inverted biological motion was not found in the scrambled condition, but in the intact condition only. This suggests that spatial location information alone is not sufficient to build and maintain the representational continuity of the biological motion across the occlusion, and that the object identity may act as an important information source in visual tracking. The inversion effect disappeared when the scrambled biological motion was occluded, which indicates that when biological motion is temporarily occluded and there is a complete absence of visual feedback signals, an oculomotor prediction is executed to maintain the tracking continuity, which is established not only by updating the target's spatial location, but also by the retrieval of identity information stored in long-term memory.

MetaTracker: integration and abstraction of 3D motion tracking data from multiple hardware systems

Science.gov (United States)

Kopecky, Ken; Winer, Eliot

2014-06-01

Motion tracking has long been one of the primary challenges in mixed reality (MR), augmented reality (AR), and virtual reality (VR). Military and defense training can provide particularly difficult challenges for motion tracking, such as in the case of Military Operations in Urban Terrain (MOUT) and other dismounted, close quarters simulations. These simulations can take place across multiple rooms, with many fast-moving objects that need to be tracked with a high degree of accuracy and low latency. Many tracking technologies exist, such as optical, inertial, ultrasonic, and magnetic. Some tracking systems even combine these technologies to complement each other. However, there are no systems that provide a high-resolution, flexible, wide-area solution that is resistant to occlusion. While frameworks exist that simplify the use of tracking systems and other input devices, none allow data from multiple tracking systems to be combined, as if from a single system. In this paper, we introduce a method for compensating for the weaknesses of individual tracking systems by combining data from multiple sources and presenting it as a single tracking system. Individual tracked objects are identified by name, and their data is provided to simulation applications through a server program. This allows tracked objects to transition seamlessly from the area of one tracking system to another. Furthermore, it abstracts away the individual drivers, APIs, and data formats for each system, providing a simplified API that can be used to receive data from any of the available tracking systems. Finally, when single-piece tracking systems are used, those systems can themselves be tracked, allowing for real-time adjustment of the trackable area. This allows simulation operators to leverage limited resources in more effective ways, improving the quality of training.

Hybrid markerless tracking of complex articulated motion in golf swings.

Science.gov (United States)

Fung, Sim Kwoh; Sundaraj, Kenneth; Ahamed, Nizam Uddin; Kiang, Lam Chee; Nadarajah, Sivadev; Sahayadhas, Arun; Ali, Md Asraf; Islam, Md Anamul; Palaniappan, Rajkumar

2014-04-01

Sports video tracking is a research topic that has attained increasing attention due to its high commercial potential. A number of sports, including tennis, soccer, gymnastics, running, golf, badminton and cricket have been utilised to display the novel ideas in sports motion tracking. The main challenge associated with this research concerns the extraction of a highly complex articulated motion from a video scene. Our research focuses on the development of a markerless human motion tracking system that tracks the major body parts of an athlete straight from a sports broadcast video. We proposed a hybrid tracking method, which consists of a combination of three algorithms (pyramidal Lucas-Kanade optical flow (LK), normalised correlation-based template matching and background subtraction), to track the golfer's head, body, hands, shoulders, knees and feet during a full swing. We then match, track and map the results onto a 2D articulated human stick model to represent the pose of the golfer over time. Our work was tested using two video broadcasts of a golfer, and we obtained satisfactory results. The current outcomes of this research can play an important role in enhancing the performance of a golfer, provide vital information to sports medicine practitioners by providing technically sound guidance on movements and should assist to diminish the risk of golfing injuries. Copyright © 2013 Elsevier Ltd. All rights reserved.

Real-time dose compensation methods for scanned ion beam therapy of moving tumors

International Nuclear Information System (INIS)

Luechtenborg, Robert

2012-01-01

Scanned ion beam therapy provides highly tumor-conformal treatments. So far, only tumors showing no considerable motion during therapy have been treated as tumor motion and dynamic beam delivery interfere, causing dose deteriorations. One proposed technique to mitigate these deteriorations is beam tracking (BT), which adapts the beam position to the moving tumor. Despite application of BT, dose deviations can occur in the case of non-translational motion. In this work, real-time dose compensation combined with beam tracking (RDBT) has been implemented into the control system to compensate these dose changes by adaptation of nominal particle numbers during irradiation. Compared to BT, significantly reduced dose deviations were measured using RDBT. Treatment planning studies for lung cancer patients including the increased biological effectiveness of ions revealed a significantly reduced over-dose level (3/5 patients) as well as significantly improved dose homogeneity (4/5 patients) for RDBT. Based on these findings, real-time dose compensated re-scanning (RDRS) has been proposed that potentially supersedes the technically complex fast energy adaptation necessary for BT and RDBT. Significantly improved conformity compared to re-scanning, i.e., averaging of dose deviations by repeated irradiation, was measured in film irradiations. Simulations comparing RDRS to BT revealed reduced under- and overdoses of the former method.

Real-time tracking of vertebral body movement with implantable reference microsensors.

Science.gov (United States)

Mularski, Sven; Picht, Thomas; Kuehn, Björn; Kombos, Theodoros; Brock, Mario; Suess, Olaf

2006-05-01

In the spine, navigation techniques serve mainly to control and accurately target insertion of implants. The main source of error is that the spine is not a rigid organ, but rather a chain of semiflexible movement segments. Any intraoperative manipulation of the patient alters the geometry and volumetry as compared to the 3D volume model created from the image data. Thus, the objective of the study was to implement the theoretical principle of microsensor referencing in a model experiment and to clarify which anatomical structures are suitable for intermittent implantation of positional sensors, as illustrated with cervical vertebral bodies. Laboratory tests were conducted using 70 models of human cervical vertebral bodies. The first experiment investigated whether arbitrary movements of vertebral bodies can be tracked with the positional information from the implanted microsensors. The accuracy of this movement monitoring was determined quantitatively on the basis of positional error measurement. In the second experiment, different ventral and dorsal surgical operations were simulated on five models of the cervical spine. Quantifiable measurement values such as the spatial extension of the intervertebral space and the relative positions of the planes of the upper plates were determined. With respect to the differing anatomy of the individual vertebral bodies of the cervical spine, the sensors could be placed securely with a 5x2 mm drill. The registration error (RE) was determined as a root mean square error. The mean value was 0.9425 mm (range: 0.57-1.2 mm; median: 0.9400 mm; SD: 0.1903 mm). The precision of the movement monitoring of the vertebral body was investigated along its three main axes. The error tolerance between post-interventional 3D reconstruction and direct measurement on the model did not exceed 1.3 mm in the distance measurements or 2.5 degrees in the angular measurements. The tomograms on the system monitor could be updated in close to real time

On the Feasibility of Real-Time 3D Hand Tracking using Edge GPGPU Acceleration

DEFF Research Database (Denmark)

Qammaz, A.; Kosta, S.; Kyriazis, N.

2018-01-01

This paper presents the case study of a non-intrusive porting of a monolithic C++ library for real-time 3D hand tracking, to the domain of edge-based computation. Towards a proof of concept, the case study considers a pair of workstations, a computationally powerful and a computationally weak one...

A multiple model approach to respiratory motion prediction for real-time IGRT

International Nuclear Information System (INIS)

Putra, Devi; Haas, Olivier C L; Burnham, Keith J; Mills, John A

2008-01-01

Respiration induces significant movement of tumours in the vicinity of thoracic and abdominal structures. Real-time image-guided radiotherapy (IGRT) aims to adapt radiation delivery to tumour motion during irradiation. One of the main problems for achieving this objective is the presence of time lag between the acquisition of tumour position and the radiation delivery. Such time lag causes significant beam positioning errors and affects the dose coverage. A method to solve this problem is to employ an algorithm that is able to predict future tumour positions from available tumour position measurements. This paper presents a multiple model approach to respiratory-induced tumour motion prediction using the interacting multiple model (IMM) filter. A combination of two models, constant velocity (CV) and constant acceleration (CA), is used to capture respiratory-induced tumour motion. A Kalman filter is designed for each of the local models and the IMM filter is applied to combine the predictions of these Kalman filters for obtaining the predicted tumour position. The IMM filter, likewise the Kalman filter, is a recursive algorithm that is suitable for real-time applications. In addition, this paper proposes a confidence interval (CI) criterion to evaluate the performance of tumour motion prediction algorithms for IGRT. The proposed CI criterion provides a relevant measure for the prediction performance in terms of clinical applications and can be used to specify the margin to accommodate prediction errors. The prediction performance of the IMM filter has been evaluated using 110 traces of 4-minute free-breathing motion collected from 24 lung-cancer patients. The simulation study was carried out for prediction time 0.1-0.6 s with sampling rates 3, 5 and 10 Hz. It was found that the prediction of the IMM filter was consistently better than the prediction of the Kalman filter with the CV or CA model. There was no significant difference of prediction errors for the

A fiducial detection algorithm for real-time image guided IMRT based on simultaneous MV and kV imaging.

Science.gov (United States)

Mao, Weihua; Riaz, Nadeem; Lee, Louis; Wiersma, Rodney; Xing, Lei

2008-08-01

The advantage of highly conformal dose techniques such as 3DCRT and IMRT is limited by intrafraction organ motion. A new approach to gain near real-time 3D positions of internally implanted fiducial markers is to analyze simultaneous onboard kV beam and treatment MV beam images (from fluoroscopic or electronic portal image devices). Before we can use this real-time image guidance for clinical 3DCRT and IMRT treatments, four outstanding issues need to be addressed. (1) How will fiducial motion blur the image and hinder tracking fiducials? kV and MV images are acquired while the tumor is moving at various speeds. We find that a fiducial can be successfully detected at a maximum linear speed of 1.6 cm/s. (2) How does MV beam scattering affect kV imaging? We investigate this by varying MV field size and kV source to imager distance, and find that common treatment MV beams do not hinder fiducial detection in simultaneous kV images. (3) How can one detect fiducials on images from 3DCRT and IMRT treatment beams when the MV fields are modified by a multileaf collimator (MLC)? The presented analysis is capable of segmenting a MV field from the blocking MLC and detecting visible fiducials. This enables the calculation of nearly real-time 3D positions of markers during a real treatment. (4) Is the analysis fast enough to track fiducials in nearly real time? Multiple methods are adopted to predict marker positions and reduce search regions. The average detection time per frame for three markers in a 1024 x 768 image was reduced to 0.1 s or less. Solving these four issues paves the way to tracking moving fiducial markers throughout a 3DCRT or IMRT treatment. Altogether, these four studies demonstrate that our algorithm can track fiducials in real time, on degraded kV images (MV scatter), in rapidly moving tumors (fiducial blurring), and even provide useful information in the case when some fiducials are blocked from view by the MLC. This technique can provide a gating signal or

Motion tracking in the liver: Validation of a method based on 4D ultrasound using a nonrigid registration technique

Energy Technology Data Exchange (ETDEWEB)

Vijayan, Sinara, E-mail: sinara.vijayan@ntnu.no [Norwegian University of Science and Technology, 7491 Trondheim (Norway); Klein, Stefan [Norwegian University of Science and Technology, 7491 Trondheim, Norway and Biomedical Imaging Group Rotterdam, Department of Medical Informatics and Radiology, Erasmus MC, 3000 CA Rotterdam (Netherlands); Hofstad, Erlend Fagertun; Langø, Thomas [SINTEF, Department Medical Technology, 7465 Trondheim (Norway); Lindseth, Frank [Norwegian University of Science and Technology, 7491 Trondheim, Norway and SINTEF, Department Medical Technology, 7465 Trondheim (Norway); Ystgaard, Brynjulf [Department of Surgery, St. Olavs Hospital, 7030 Trondheim (Norway)

2014-08-15

Purpose: Treatments like radiotherapy and focused ultrasound in the abdomen require accurate motion tracking, in order to optimize dosage delivery to the target and minimize damage to critical structures and healthy tissues around the target. 4D ultrasound is a promising modality for motion tracking during such treatments. In this study, the authors evaluate the accuracy of motion tracking in the liver based on deformable registration of 4D ultrasound images. Methods: The offline analysis was performed using a nonrigid registration algorithm that was specifically designed for motion estimation from dynamic imaging data. The method registers the entire 4D image data sequence in a groupwise optimization fashion, thus avoiding a bias toward a specifically chosen reference time point. Three healthy volunteers were scanned over several breathing cycles (12 s) from three different positions and angles on the abdomen; a total of nine 4D scans for the three volunteers. Well-defined anatomic landmarks were manually annotated in all 96 time frames for assessment of the automatic algorithm. The error of the automatic motion estimation method was compared with interobserver variability. The authors also performed experiments to investigate the influence of parameters defining the deformation field flexibility and evaluated how well the method performed with a lower temporal resolution in order to establish the minimum frame rate required for accurate motion estimation. Results: The registration method estimated liver motion with an error of 1 mm (75% percentile over all datasets), which was lower than the interobserver variability of 1.4 mm. The results were only slightly dependent on the degrees of freedom of the deformation model. The registration error increased to 2.8 mm with an eight times lower temporal resolution. Conclusions: The authors conclude that the methodology was able to accurately track the motion of the liver in the 4D ultrasound data. The authors believe

Evaluation of a video-based head motion tracking system for dedicated brain PET

Science.gov (United States)

Anishchenko, S.; Beylin, D.; Stepanov, P.; Stepanov, A.; Weinberg, I. N.; Schaeffer, S.; Zavarzin, V.; Shaposhnikov, D.; Smith, M. F.

2015-03-01

Unintentional head motion during Positron Emission Tomography (PET) data acquisition can degrade PET image quality and lead to artifacts. Poor patient compliance, head tremor, and coughing are examples of movement sources. Head motion due to patient non-compliance can be an issue with the rise of amyloid brain PET in dementia patients. To preserve PET image resolution and quantitative accuracy, head motion can be tracked and corrected in the image reconstruction algorithm. While fiducial markers can be used, a contactless approach is preferable. A video-based head motion tracking system for a dedicated portable brain PET scanner was developed. Four wide-angle cameras organized in two stereo pairs are used for capturing video of the patient's head during the PET data acquisition. Facial points are automatically tracked and used to determine the six degree of freedom head pose as a function of time. The presented work evaluated the newly designed tracking system using a head phantom and a moving American College of Radiology (ACR) phantom. The mean video-tracking error was 0.99±0.90 mm relative to the magnetic tracking device used as ground truth. Qualitative evaluation with the ACR phantom shows the advantage of the motion tracking application. The developed system is able to perform tracking with accuracy close to millimeter and can help to preserve resolution of brain PET images in presence of movements.

Fast Tracker: A Hardware Real Time Track Finder for the ATLAS Trigger System

CERN Document Server

Kimura, N; The ATLAS collaboration

2014-01-01

The Fast Tracker (FTK) is an integral part of the trigger upgrade program for the ATLAS detector at the Large Hadron Collider (LHC). As the LHC luminosity approaches its design level of 10^34cm^−2s^−1, the combinatorial problem posed by charged particle tracking becomes increasingly difficult due to the swelling of multiple interactions per bunch crossing (pile-up). The FTK is a highly-parallel hardware system intended to provide high-quality tracks with transverse momentum above 1 GeV/c in real time for online trigger system. The FTK system’s design, based on a mixture of advanced technologies, and expected physics performance will be presented.

XpertTrack: Precision Autonomous Measuring Device Developed for Real Time Shipments Tracker

Directory of Open Access Journals (Sweden)

Liviu Viman

2016-03-01

Full Text Available This paper proposes a software and hardware solution for real time condition monitoring applications. The proposed device, called XpertTrack, exchanges data through the GPRS protocol over a GSM network and monitories temperature and vibrations of critical merchandise during commercial shipments anywhere on the globe. Another feature of this real time tracker is to provide GPS and GSM positioning with a precision of 10 m or less. In order to interpret the condition of the merchandise, the data acquisition, analysis and visualization are done with 0.1 °C accuracy for the temperature sensor, and 10 levels of shock sensitivity for the acceleration sensor. In addition to this, the architecture allows increasing the number and the types of sensors, so that companies can use this flexible solution to monitor a large percentage of their fleet.

XpertTrack: Precision Autonomous Measuring Device Developed for Real Time Shipments Tracker

Science.gov (United States)

Viman, Liviu; Daraban, Mihai; Fizesan, Raul; Iuonas, Mircea

2016-01-01

This paper proposes a software and hardware solution for real time condition monitoring applications. The proposed device, called XpertTrack, exchanges data through the GPRS protocol over a GSM network and monitories temperature and vibrations of critical merchandise during commercial shipments anywhere on the globe. Another feature of this real time tracker is to provide GPS and GSM positioning with a precision of 10 m or less. In order to interpret the condition of the merchandise, the data acquisition, analysis and visualization are done with 0.1 °C accuracy for the temperature sensor, and 10 levels of shock sensitivity for the acceleration sensor. In addition to this, the architecture allows increasing the number and the types of sensors, so that companies can use this flexible solution to monitor a large percentage of their fleet. PMID:26978360

Experimental validation of concept for real-time wavelength monitoring and tracking in densely populated WDM networks

Science.gov (United States)

Vukovic, Alex; Savoie, Michel; Hua, Heng; Campbell, Scott; Nguyen, Thao

2005-10-01

As the telecom industry responds with technological innovations to requests for higher data rates, increased number of wavelengths at higher densities, longer transmission distances and more intelligence for next generation optical networks, new monitoring schemes based on monitoring and tracking of each wavelength need to be developed and deployed. An optical layer monitoring scheme, based on tracking key optical parameters per each wavelength, is considered to be one of enablers for the transformation of today's opaque networks to dynamic, agile future networks. Ever-tighter network monitoring and control will be required to fulfill customer Service Level Agreements (SLAs). A wavelength monitoring and tracking concept was developed as a three-step approach. It started with the identification of all critical parameters required to obtain sufficient information about each wavelength; followed by the deployment of a cost-efficient device to provide simultaneous, accurate measurements in real-time of all critical parameters; and finally, the formulation of a specification for wavelength monitoring and tracking devices for real-time, simultaneous measurements and processing the data. A prototype solution based on a commercially available integrated modular spectrometer within a testbed environment associated with the all-optical network (AON) demonstrator program was used to verify and validate the wavelength monitoring and tracking concept. The developed concept verified that it can manage tracking of 32 wavelengths within a wavelength division multiplexing network. The developed concept presented in this paper can be used inside the transparent domains of networks to detect, identify and locate signal degradations in real-time, even sometimes to recognize the cause of the failure. Aside from the reduction of operational expenses due to the elimination of the need for operators at every site and skilled field technicians to isolate and repair faults, the developed

Simulator study of the effect of visual-motion time delays on pilot tracking performance with an audio side task

Science.gov (United States)

Riley, D. R.; Miller, G. K., Jr.

1978-01-01

The effect of time delay was determined in the visual and motion cues in a flight simulator on pilot performance in tracking a target aircraft that was oscillating sinusoidally in altitude only. An audio side task was used to assure the subject was fully occupied at all times. The results indicate that, within the test grid employed, about the same acceptable time delay (250 msec) was obtained for a single aircraft (fighter type) by each of two subjects for both fixed-base and motion-base conditions. Acceptable time delay is defined as the largest amount of delay that can be inserted simultaneously into the visual and motion cues before performance degradation occurs. A statistical analysis of the data was made to establish this value of time delay. Audio side task provided quantitative data that documented the subject's work level.

A prototype percutaneous transhepatic cholangiography training simulator with real-time breathing motion.

Science.gov (United States)

Villard, P F; Vidal, F P; Hunt, C; Bello, F; John, N W; Johnson, S; Gould, D A

2009-11-01

We present here a simulator for interventional radiology focusing on percutaneous transhepatic cholangiography (PTC). This procedure consists of inserting a needle into the biliary tree using fluoroscopy for guidance. The requirements of the simulator have been driven by a task analysis. The three main components have been identified: the respiration, the real-time X-ray display (fluoroscopy) and the haptic rendering (sense of touch). The framework for modelling the respiratory motion is based on kinematics laws and on the Chainmail algorithm. The fluoroscopic simulation is performed on the graphic card and makes use of the Beer-Lambert law to compute the X-ray attenuation. Finally, the haptic rendering is integrated to the virtual environment and takes into account the soft-tissue reaction force feedback and maintenance of the initial direction of the needle during the insertion. Five training scenarios have been created using patient-specific data. Each of these provides the user with variable breathing behaviour, fluoroscopic display tuneable to any device parameters and needle force feedback. A detailed task analysis has been used to design and build the PTC simulator described in this paper. The simulator includes real-time respiratory motion with two independent parameters (rib kinematics and diaphragm action), on-line fluoroscopy implemented on the Graphics Processing Unit and haptic feedback to feel the soft-tissue behaviour of the organs during the needle insertion.

Experimental verification of a two-dimensional respiratory motion compensation system with ultrasound tracking technique in radiation therapy.

Science.gov (United States)

Ting, Lai-Lei; Chuang, Ho-Chiao; Liao, Ai-Ho; Kuo, Chia-Chun; Yu, Hsiao-Wei; Zhou, Yi-Liang; Tien, Der-Chi; Jeng, Shiu-Chen; Chiou, Jeng-Fong

2018-05-01

This study proposed respiratory motion compensation system (RMCS) combined with an ultrasound image tracking algorithm (UITA) to compensate for respiration-induced tumor motion during radiotherapy, and to address the problem of inaccurate radiation dose delivery caused by respiratory movement. This study used an ultrasound imaging system to monitor respiratory movements combined with the proposed UITA and RMCS for tracking and compensation of the respiratory motion. Respiratory motion compensation was performed using prerecorded human respiratory motion signals and also sinusoidal signals. A linear accelerator was used to deliver radiation doses to GAFchromic EBT3 dosimetry film, and the conformity index (CI), root-mean-square error, compensation rate (CR), and planning target volume (PTV) were used to evaluate the tracking and compensation performance of the proposed system. Human respiratory pattern signals were captured using the UITA and compensated by the RMCS, which yielded CR values of 34-78%. In addition, the maximum coronal area of the PTV ranged from 85.53 mm 2 to 351.11 mm 2 (uncompensated), which reduced to from 17.72 mm 2 to 66.17 mm 2 after compensation, with an area reduction ratio of up to 90%. In real-time monitoring of the respiration compensation state, the CI values for 85% and 90% isodose areas increased to 0.7 and 0.68, respectively. The proposed UITA and RMCS can reduce the movement of the tracked target relative to the LINAC in radiation therapy, thereby reducing the required size of the PTV margin and increasing the effect of the radiation dose received by the treatment target. Copyright © 2018 Associazione Italiana di Fisica Medica. Published by Elsevier Ltd. All rights reserved.

Simultaneous tumor and surrogate motion tracking with dynamic MRI for radiation therapy planning

Science.gov (United States)

Park, Seyoun; Farah, Rana; Shea, Steven M.; Tryggestad, Erik; Hales, Russell; Lee, Junghoon

2018-01-01

Respiration-induced tumor motion is a major obstacle for achieving high-precision radiotherapy of cancers in the thoracic and abdominal regions. Surrogate-based estimation and tracking methods are commonly used in radiotherapy, but with limited understanding of quantified correlation to tumor motion. In this study, we propose a method to simultaneously track the lung tumor and external surrogates to evaluate their spatial correlation in a quantitative way using dynamic MRI, which allows real-time acquisition without ionizing radiation exposure. To capture the lung and whole tumor, four MRI-compatible fiducials are placed on the patient’s chest and upper abdomen. Two different types of acquisitions are performed in the sagittal orientation including multi-slice 2D cine MRIs to reconstruct 4D-MRI and two-slice 2D cine MRIs to simultaneously track the tumor and fiducials. A phase-binned 4D-MRI is first reconstructed from multi-slice MR images using body area as a respiratory surrogate and groupwise registration. The 4D-MRI provides 3D template volumes for different breathing phases. 3D tumor position is calculated by 3D-2D template matching in which 3D tumor templates in the 4D-MRI reconstruction and the 2D cine MRIs from the two-slice tracking dataset are registered. 3D trajectories of the external surrogates are derived via matching a 3D geometrical model of the fiducials to their segmentations on the 2D cine MRIs. We tested our method on ten lung cancer patients. Using a correlation analysis, the 3D tumor trajectory demonstrates a noticeable phase mismatch and significant cycle-to-cycle motion variation, while the external surrogate was not sensitive enough to capture such variations. Additionally, there was significant phase mismatch between surrogate signals obtained from the fiducials at different locations.

Observation of nuclear track in organic material by atomic force microscopy in real time during etching

CERN Document Server

Palmino, F; Labrune, J C

1999-01-01

The developments of Atomic Force Microscopy (AFM) allow to investigated solid surfaces with a nanometer scale. These techniques are useful methods allowing direct observation of surface morphologies. Particularly in the nuclear track fields, they offer a new tool to give many new informations on track formation. In this paper we present the preliminary results of a new use of this technique to characterize continuously the formation of the revealed track in a cellulose nitrate detector (LR115) after an alpha particle irradiation. For that, a specific cell has been used to observe, by nano-observations, the evolution of track shapes simultaneously with chemical treatment. Thus, the track shape evolution has been studied; visualizing the evolution of the tracks in real time, in situ during the chemical etching process.

Real-time vision systems

Energy Technology Data Exchange (ETDEWEB)

Johnson, R.; Hernandez, J.E.; Lu, Shin-yee [Lawrence Livermore National Lab., CA (United States)

1994-11-15

Many industrial and defence applications require an ability to make instantaneous decisions based on sensor input of a time varying process. Such systems are referred to as `real-time systems` because they process and act on data as it occurs in time. When a vision sensor is used in a real-time system, the processing demands can be quite substantial, with typical data rates of 10-20 million samples per second. A real-time Machine Vision Laboratory (MVL) was established in FY94 to extend our years of experience in developing computer vision algorithms to include the development and implementation of real-time vision systems. The laboratory is equipped with a variety of hardware components, including Datacube image acquisition and processing boards, a Sun workstation, and several different types of CCD cameras, including monochrome and color area cameras and analog and digital line-scan cameras. The equipment is reconfigurable for prototyping different applications. This facility has been used to support several programs at LLNL, including O Division`s Peacemaker and Deadeye Projects as well as the CRADA with the U.S. Textile Industry, CAFE (Computer Aided Fabric Inspection). To date, we have successfully demonstrated several real-time applications: bullet tracking, stereo tracking and ranging, and web inspection. This work has been documented in the ongoing development of a real-time software library.

TH-B-204-01: Real-Time Tracking with Implanted Markers

International Nuclear Information System (INIS)

Xu, Q.

2016-01-01

Implanted markers as target surrogates have been widely used for treatment verification, as they provide safe and reliable monitoring of the inter- and intra-fractional target motion. The rapid advancement of technology requires a critical review and recommendation for the usage of implanted surrogates in current field. The symposium, also reporting an update of AAPM TG 199 - Implanted Target Surrogates for Radiation Treatment Verification, will be focusing on all clinical aspects of using the implanted target surrogates for treatment verification and related issues. A wide variety of markers available in the market will be first reviewed, including radiopaque markers, MRI compatible makers, non-migrating coils, surgical clips and electromagnetic transponders etc. The pros and cons of each kind will be discussed. The clinical applications of implanted surrogates will be presented based on different anatomical sites. For the lung, we will discuss gated treatments and 2D or 3D real-time fiducial tracking techniques. For the prostate, we will be focusing on 2D-3D, 3D-3D matching and electromagnetic transponder based localization techniques. For the liver, we will review techniques when patients are under gating, shallow or free breathing condition. We will review techniques when treating challenging breast cancer as deformation may occur. Finally, we will summarize potential issues related to the usage of implanted target surrogates with TG 199 recommendations. A review of fiducial migration and fiducial derived target rotation in different disease sites will be provided. The issue of target deformation, especially near the diaphragm, and related suggestions will be also presented and discussed. Learning Objectives: Knowledge of a wide variety of markers Knowledge of their application for different disease sites Understand of issues related to these applications Z. Wang: Research funding support from Brainlab AG Q. Xu: Consultant for Accuray; Q. Xu, I am a consultant

TH-B-204-01: Real-Time Tracking with Implanted Markers

Energy Technology Data Exchange (ETDEWEB)

Xu, Q. [MD Anderson Cancer Center at Cooper (United States)

2016-06-15

Implanted markers as target surrogates have been widely used for treatment verification, as they provide safe and reliable monitoring of the inter- and intra-fractional target motion. The rapid advancement of technology requires a critical review and recommendation for the usage of implanted surrogates in current field. The symposium, also reporting an update of AAPM TG 199 - Implanted Target Surrogates for Radiation Treatment Verification, will be focusing on all clinical aspects of using the implanted target surrogates for treatment verification and related issues. A wide variety of markers available in the market will be first reviewed, including radiopaque markers, MRI compatible makers, non-migrating coils, surgical clips and electromagnetic transponders etc. The pros and cons of each kind will be discussed. The clinical applications of implanted surrogates will be presented based on different anatomical sites. For the lung, we will discuss gated treatments and 2D or 3D real-time fiducial tracking techniques. For the prostate, we will be focusing on 2D-3D, 3D-3D matching and electromagnetic transponder based localization techniques. For the liver, we will review techniques when patients are under gating, shallow or free breathing condition. We will review techniques when treating challenging breast cancer as deformation may occur. Finally, we will summarize potential issues related to the usage of implanted target surrogates with TG 199 recommendations. A review of fiducial migration and fiducial derived target rotation in different disease sites will be provided. The issue of target deformation, especially near the diaphragm, and related suggestions will be also presented and discussed. Learning Objectives: Knowledge of a wide variety of markers Knowledge of their application for different disease sites Understand of issues related to these applications Z. Wang: Research funding support from Brainlab AG Q. Xu: Consultant for Accuray; Q. Xu, I am a consultant

Real-time motion compensated patient positioning and non-rigid deformation estimation using 4-D shape priors.

Science.gov (United States)

Wasza, Jakob; Bauer, Sebastian; Hornegger, Joachim

2012-01-01

Over the last years, range imaging (RI) techniques have been proposed for patient positioning and respiration analysis in motion compensation. Yet, current RI based approaches for patient positioning employ rigid-body transformations, thus neglecting free-form deformations induced by respiratory motion. Furthermore, RI based respiration analysis relies on non-rigid registration techniques with run-times of several seconds. In this paper we propose a real-time framework based on RI to perform respiratory motion compensated positioning and non-rigid surface deformation estimation in a joint manner. The core of our method are pre-procedurally obtained 4-D shape priors that drive the intra-procedural alignment of the patient to the reference state, simultaneously yielding a rigid-body table transformation and a free-form deformation accounting for respiratory motion. We show that our method outperforms conventional alignment strategies by a factor of 3.0 and 2.3 in the rotation and translation accuracy, respectively. Using a GPU based implementation, we achieve run-times of 40 ms.

Modeling of the motion of automobile elastic wheel in real-time for creation of wheeled vehicles motion control electronic systems

Science.gov (United States)

Balakina, E. V.; Zotov, N. M.; Fedin, A. P.

2018-02-01

Modeling of the motion of the elastic wheel of the vehicle in real-time is used in the tasks of constructing different models in the creation of wheeled vehicles motion control electronic systems, in the creation of automobile stand-simulators etc. The accuracy and the reliability of simulation of the parameters of the wheel motion in real-time when rolling with a slip within the given road conditions are determined not only by the choice of the model, but also by the inaccuracy and instability of the numerical calculation. It is established that the inaccuracy and instability of the calculation depend on the size of the step of integration and the numerical method being used. The analysis of these inaccuracy and instability when wheel rolling with a slip was made and recommendations for reducing them were developed. It is established that the total allowable range of steps of integration is 0.001.0.005 s; the strongest instability is manifested in the calculation of the angular and linear accelerations of the wheel; the weakest instability is manifested in the calculation of the translational velocity of the wheel and moving of the center of the wheel; the instability is less at large values of slip angle and on more slippery surfaces. A new method of the average acceleration is suggested, which allows to significantly reduce (up to 100%) the manifesting of instability of the solution in the calculation of all parameters of motion of the elastic wheel for different braking conditions and for the entire range of steps of integration. The results of research can be applied to the selection of control algorithms in vehicles motion control electronic systems and in the testing stand-simulators

A comparison of two clinical correlation models used for real-time tumor tracking of semi-periodic motion: A focus on geometrical accuracy in lung and liver cancer patients

International Nuclear Information System (INIS)

Poels, Kenneth; Dhont, Jennifer; Verellen, Dirk; Blanck, Oliver; Ernst, Floris; Vandemeulebroucke, Jef; Depuydt, Tom; Storme, Guy; De Ridder, Mark

2015-01-01

Purpose: A head-to-head comparison of two clinical correlation models with a focus on geometrical accuracy for internal tumor motion estimation during real-time tumor tracking (RTTT). Methods and materials: Both the CyberKnife (CK) and the Vero systems perform RTTT with a correlation model that is able to describe hysteresis in the breathing motion. The CK dual-quadratic (DQ) model consists of two polynomial functions describing the trajectory of the tumor for inhale and exhale breathing motion, respectively. The Vero model is based on a two-dimensional (2D) function depending on position and speed of the external breathing signal to describe a closed-loop tumor trajectory. In this study, 20 s of internal motion data, using an 11 Hz (on average) full fluoroscopy (FF) sequence, was used for training of the CK and Vero models. Further, a subsampled set of 15 internal tumor positions (15p) equally spread over the different phases of the breathing motion was used for separate training of the CK DQ model. Also a linear model was trained using 15p and FF tumor motion data. Fifteen liver and lung cancer patients, treated on the Vero system with RTTT, were retrospectively evaluated comparing the CK FF, CK 15p and Vero FF models using an in-house developed simulator. The distance between estimated target position and the tumor position localized by X-ray imaging was measured in the beams-eye view (BEV) to calculate the 95th percentile BEV modeling errors (ME 95,BEV ). Additionally, the percentage of ME 95,BEV smaller than 5 mm (P 5mm ) was determined for all correlation models. Results: In general, no significant difference (p > 0.05, paired t-test) was found between the CK FF and Vero models. Based on patient-specific evaluation of the geometrical accuracy of the linear, CK DQ and Vero correlation models, no statistical necessity (p > 0.05, two-way ANOVA) of including hysteresis in correlation models was proven, although during inhale breathing motion, the linear model

Orbit-attitude coupled motion around small bodies: Sun-synchronous orbits with Sun-tracking attitude motion

Science.gov (United States)

Kikuchi, Shota; Howell, Kathleen C.; Tsuda, Yuichi; Kawaguchi, Jun'ichiro

2017-11-01

The motion of a spacecraft in proximity to a small body is significantly perturbed due to its irregular gravity field and solar radiation pressure. In such a strongly perturbed environment, the coupling effect of the orbital and attitude motions exerts a large influence that cannot be neglected. However, natural orbit-attitude coupled dynamics around small bodies that are stationary in both orbital and attitude motions have yet to be observed. The present study therefore investigates natural coupled motion that involves both a Sun-synchronous orbit and Sun-tracking attitude motion. This orbit-attitude coupled motion enables a spacecraft to maintain its orbital geometry and attitude state with respect to the Sun without requiring active control. Therefore, the proposed method can reduce the use of an orbit and attitude control system. This paper first presents analytical conditions to achieve Sun-synchronous orbits and Sun-tracking attitude motion. These analytical solutions are then numerically propagated based on non-linear coupled orbit-attitude equations of motion. Consequently, the possibility of implementing Sun-synchronous orbits with Sun-tracking attitude motion is demonstrated.

Alternative fiducial markers for Vero real-time tumor tracking radiotherapy: A phantom study

Science.gov (United States)

Park, Shin-Hyung; Kim, Jae-Chul; Kim, Sung Joon

2016-12-01

The objective of this study was to investigate the feasibility of potential fiducial markers consisting of various materials in a Vero real-time tumor-tracking (RTTT) system. In order to determine the applicability of fiducial markers for the Vero RTTT system, we tested various markers consisting of 8 kinds of material (titanium, stainless steel, high-carbon steel, pure steel, copper, silver, tantalum, and gold) with various diameters ranging from 0.3 mm to 1.6 mm and a length of 5 mm. Additionally, a commercial gold coil marker (Visicoil™, IBA dosimetry, Schwarzenbruck, Germany) of diameter 0.5 mm and length 1 cm was included for evaluation. The radiologic visibility on kV fluoroscopy/kV CT scan images of the fiducial markers was evaluated. The detectability on the RTTT system was tested using a two-dimensional moving phantom (Brainlab AG, Feldkirchen, Germany), producing sinusoidal motion. The target center's accuracy was evaluated by calculating the deviation of the position of a metal sphere from the center on the dose profile. Dose profiles were measured using Gafchromic EBT2 films (International Specialty Products, NJ, USA). All markers were visible on kV fluoroscopy/kV CT while markers with atomic number ≥ 25.7 were detectable on the Vero RTTT system. All the detected markers showed excellent geometric accuracy.

SU-G-BRA-01: A Real-Time Tumor Localization and Guidance Platform for Radiotherapy Using US and MRI

International Nuclear Information System (INIS)

Bednarz, B; Culberson, W; Bassetti, M; McMillan, A; Matrosic, C; Shepard, A; Zagzebski, J; Smith, S; Lee, W; Mills, D; Cao, K; Wang, B; Fiveland, E; Darrow, R; Foo, T

2016-01-01

Purpose: To develop and validate a real-time motion management platform for radiotherapy that directly tracks tumor motion using ultrasound and MRI. This will be a cost-effective and non-invasive real-time platform combining the excellent temporal resolution of ultrasound with the excellent soft-tissue contrast of MRI. Methods: A 4D planar ultrasound acquisition during the treatment that is coupled to a pre-treatment calibration training image set consisting of a simultaneous 4D ultrasound and 4D MRI acquisition. The image sets will be rapidly matched using advanced image and signal processing algorithms, allowing the display of virtual MR images of the tumor/organ motion in real-time from an ultrasound acquisition. Results: The completion of this work will result in several innovations including: a (2D) patch-like, MR and LINAC compatible 4D planar ultrasound transducer that is electronically steerable for hands-free operation to provide real-time virtual MR and ultrasound imaging for motion management during radiation therapy; a multi- modal tumor localization strategy that uses ultrasound and MRI; and fast and accurate image processing algorithms that provide real-time information about the motion and location of tumor or related soft-tissue structures within the patient. Conclusion: If successful, the proposed approach will provide real-time guidance for radiation therapy without degrading image or treatment plan quality. The approach would be equally suitable for image-guided proton beam or heavy ion-beam therapy. This work is partially funded by NIH grant R01CA190298

SU-G-BRA-01: A Real-Time Tumor Localization and Guidance Platform for Radiotherapy Using US and MRI

Energy Technology Data Exchange (ETDEWEB)

Bednarz, B; Culberson, W; Bassetti, M; McMillan, A; Matrosic, C; Shepard, A; Zagzebski, J [University of Wisconsin, Madison, WI (United States); Smith, S; Lee, W; Mills, D; Cao, K; Wang, B; Fiveland, E; Darrow, R; Foo, T [GE Global Research Center, Niskayuna, NY (United States)

2016-06-15

Purpose: To develop and validate a real-time motion management platform for radiotherapy that directly tracks tumor motion using ultrasound and MRI. This will be a cost-effective and non-invasive real-time platform combining the excellent temporal resolution of ultrasound with the excellent soft-tissue contrast of MRI. Methods: A 4D planar ultrasound acquisition during the treatment that is coupled to a pre-treatment calibration training image set consisting of a simultaneous 4D ultrasound and 4D MRI acquisition. The image sets will be rapidly matched using advanced image and signal processing algorithms, allowing the display of virtual MR images of the tumor/organ motion in real-time from an ultrasound acquisition. Results: The completion of this work will result in several innovations including: a (2D) patch-like, MR and LINAC compatible 4D planar ultrasound transducer that is electronically steerable for hands-free operation to provide real-time virtual MR and ultrasound imaging for motion management during radiation therapy; a multi- modal tumor localization strategy that uses ultrasound and MRI; and fast and accurate image processing algorithms that provide real-time information about the motion and location of tumor or related soft-tissue structures within the patient. Conclusion: If successful, the proposed approach will provide real-time guidance for radiation therapy without degrading image or treatment plan quality. The approach would be equally suitable for image-guided proton beam or heavy ion-beam therapy. This work is partially funded by NIH grant R01CA190298.

A robotic approach to 4D real-time tumor tracking for radiotherapy

International Nuclear Information System (INIS)

Buzurovic, I; Yu, Y; Huang, K; Podder, T K

2011-01-01

Respiratory and cardiac motions induce displacement and deformation of the tumor volumes in various internal organs. To accommodate this undesired movement and other errors, physicians incorporate a large margin around the tumor to delineate the planning target volume, so that the clinical target volume receives the prescribed radiation dose under any scenario. Consequently, a large volume of healthy tissue is irradiated and sometimes it is difficult to spare critical organs adjacent to the tumor. In this study we have proposed a novel approach to the 4D active tracking and dynamic delivery incorporating the tumor motion prediction technique. This method has been applied to the two commercially available robotic treatment couches. The proposed algorithm can predict the tumor position and the robotic systems are able to continuously track the tumor during radiation dose delivery. Therefore a precise dose is given to a moving target while the dose to the nearby critical organs is reduced to improve the patient treatment outcome. The efficacy of the proposed method has been investigated by extensive computer simulation. The tumor tracking method is simulated for two couches: HexaPOD robotic couch and ELEKTA Precise Table. The comparison results have been presented in this paper. In order to assess the clinical significance, dosimetric effects of the proposed method have been analyzed.

The JET Alfven Eigenmode Local Manager for the real-time detection and tracking of a frequency-degenerate spectrum of MHD instabilities

International Nuclear Information System (INIS)

Testa, D.; Carfantan, H.; Fasoli, A.; Goodyear, A.; King, Q.; Blanchard, P.; Klein, A.; Lavanchy, P.; Panis, T.

2011-01-01

We present the real-time VME system used to detect and track MHD instabilities, and particularly Alfven Eigenmodes, on the JET tokamak [J. Wesson, Tokamaks, 3rd ed., Oxford Science Publication, Oxford, 2003, p. 617]. This system runs on a 1 kHz clock cycle, and allows performing a real-time, unsupervised and blind detection, decomposition and tracking of the individual components in a frequency-degenerate, multi-harmonic spectrum, using a small number of input data which are unevenly sampled in the spatial domain. This makes it possible to follow in real-time the detected modes as the plasma background evolves, and measure in real-time their frequency, damping rate, toroidal mode-number and relative amplitude. The successful implementation of this system opens a clear path towards developing real-time control tools for electro-magnetic instabilities in future fusion devices aimed at achieving a net energy gain, such as ITER [J. Wesson, Tokamaks, 3rd ed., Oxford Science Publication, Oxford, 2003, p. 711].

Quantitative analysis of the improvement in high zoom maritime tracking due to real-time image enhancement

CSIR Research Space (South Africa)

Bachoo, AK

2011-04-01

Full Text Available This work aims to evaluate the improvement in the performance of tracking small maritime targets due to real-time enhancement of the video streams from high zoom cameras on pan-tilt pedestal. Due to atmospheric conditions these images can frequently...

Real-time prediction and gating of respiratory motion using an extended Kalman filter and Gaussian process regression

International Nuclear Information System (INIS)

Bukhari, W; Hong, S-M

2015-01-01

Motion-adaptive radiotherapy aims to deliver a conformal dose to the target tumour with minimal normal tissue exposure by compensating for tumour motion in real time. The prediction as well as the gating of respiratory motion have received much attention over the last two decades for reducing the targeting error of the treatment beam due to respiratory motion. In this article, we present a real-time algorithm for predicting and gating respiratory motion that utilizes a model-based and a model-free Bayesian framework by combining them in a cascade structure. The algorithm, named EKF-GPR + , implements a gating function without pre-specifying a particular region of the patient’s breathing cycle. The algorithm first employs an extended Kalman filter (LCM-EKF) to predict the respiratory motion and then uses a model-free Gaussian process regression (GPR) to correct the error of the LCM-EKF prediction. The GPR is a non-parametric Bayesian algorithm that yields predictive variance under Gaussian assumptions. The EKF-GPR + algorithm utilizes the predictive variance from the GPR component to capture the uncertainty in the LCM-EKF prediction error and systematically identify breathing points with a higher probability of large prediction error in advance. This identification allows us to pause the treatment beam over such instances. EKF-GPR + implements the gating function by using simple calculations based on the predictive variance with no additional detection mechanism. A sparse approximation of the GPR algorithm is employed to realize EKF-GPR + in real time. Extensive numerical experiments are performed based on a large database of 304 respiratory motion traces to evaluate EKF-GPR + . The experimental results show that the EKF-GPR + algorithm effectively reduces the prediction error in a root-mean-square (RMS) sense by employing the gating function, albeit at the cost of a reduced duty cycle. As an example, EKF-GPR + reduces the patient-wise RMS error to 37%, 39% and 42

Real-time prediction and gating of respiratory motion using an extended Kalman filter and Gaussian process regression

Science.gov (United States)

Bukhari, W.; Hong, S.-M.

2015-01-01

Motion-adaptive radiotherapy aims to deliver a conformal dose to the target tumour with minimal normal tissue exposure by compensating for tumour motion in real time. The prediction as well as the gating of respiratory motion have received much attention over the last two decades for reducing the targeting error of the treatment beam due to respiratory motion. In this article, we present a real-time algorithm for predicting and gating respiratory motion that utilizes a model-based and a model-free Bayesian framework by combining them in a cascade structure. The algorithm, named EKF-GPR+, implements a gating function without pre-specifying a particular region of the patient’s breathing cycle. The algorithm first employs an extended Kalman filter (LCM-EKF) to predict the respiratory motion and then uses a model-free Gaussian process regression (GPR) to correct the error of the LCM-EKF prediction. The GPR is a non-parametric Bayesian algorithm that yields predictive variance under Gaussian assumptions. The EKF-GPR+ algorithm utilizes the predictive variance from the GPR component to capture the uncertainty in the LCM-EKF prediction error and systematically identify breathing points with a higher probability of large prediction error in advance. This identification allows us to pause the treatment beam over such instances. EKF-GPR+ implements the gating function by using simple calculations based on the predictive variance with no additional detection mechanism. A sparse approximation of the GPR algorithm is employed to realize EKF-GPR+ in real time. Extensive numerical experiments are performed based on a large database of 304 respiratory motion traces to evaluate EKF-GPR+. The experimental results show that the EKF-GPR+ algorithm effectively reduces the prediction error in a root-mean-square (RMS) sense by employing the gating function, albeit at the cost of a reduced duty cycle. As an example, EKF-GPR+ reduces the patient-wise RMS error to 37%, 39% and 42% in

Real-time prediction and gating of respiratory motion using an extended Kalman filter and Gaussian process regression.

Science.gov (United States)

Bukhari, W; Hong, S-M

2015-01-07

Motion-adaptive radiotherapy aims to deliver a conformal dose to the target tumour with minimal normal tissue exposure by compensating for tumour motion in real time. The prediction as well as the gating of respiratory motion have received much attention over the last two decades for reducing the targeting error of the treatment beam due to respiratory motion. In this article, we present a real-time algorithm for predicting and gating respiratory motion that utilizes a model-based and a model-free Bayesian framework by combining them in a cascade structure. The algorithm, named EKF-GPR(+), implements a gating function without pre-specifying a particular region of the patient's breathing cycle. The algorithm first employs an extended Kalman filter (LCM-EKF) to predict the respiratory motion and then uses a model-free Gaussian process regression (GPR) to correct the error of the LCM-EKF prediction. The GPR is a non-parametric Bayesian algorithm that yields predictive variance under Gaussian assumptions. The EKF-GPR(+) algorithm utilizes the predictive variance from the GPR component to capture the uncertainty in the LCM-EKF prediction error and systematically identify breathing points with a higher probability of large prediction error in advance. This identification allows us to pause the treatment beam over such instances. EKF-GPR(+) implements the gating function by using simple calculations based on the predictive variance with no additional detection mechanism. A sparse approximation of the GPR algorithm is employed to realize EKF-GPR(+) in real time. Extensive numerical experiments are performed based on a large database of 304 respiratory motion traces to evaluate EKF-GPR(+). The experimental results show that the EKF-GPR(+) algorithm effectively reduces the prediction error in a root-mean-square (RMS) sense by employing the gating function, albeit at the cost of a reduced duty cycle. As an example, EKF-GPR(+) reduces the patient-wise RMS error to 37%, 39% and

Computer-aided target tracking in motion analysis studies

Science.gov (United States)

Burdick, Dominic C.; Marcuse, M. L.; Mislan, J. D.

1990-08-01

Motion analysis studies require the precise tracking of reference objects in sequential scenes. In a typical situation, events of interest are captured at high frame rates using special cameras, and selected objects or targets are tracked on a frame by frame basis to provide necessary data for motion reconstruction. Tracking is usually done using manual methods which are slow and prone to error. A computer based image analysis system has been developed that performs tracking automatically. The objective of this work was to eliminate the bottleneck due to manual methods in high volume tracking applications such as the analysis of crash test films for the automotive industry. The system has proven to be successful in tracking standard fiducial targets and other objects in crash test scenes. Over 95 percent of target positions which could be located using manual methods can be tracked by the system, with a significant improvement in throughput over manual methods. Future work will focus on the tracking of clusters of targets and on tracking deformable objects such as airbags.

Tracking using motion estimation with physically motivated inter-region constraints

KAUST Repository

Arif, Omar; Sundaramoorthi, Ganesh; Hong, Byungwoo; Yezzi, Anthony J.

2014-01-01

We propose a method for tracking structures (e.g., ventricles and myocardium) in cardiac images (e.g., magnetic resonance) by propagating forward in time a previous estimate of the structures using a new physically motivated motion estimation scheme

Development of a real-time internal and external marker tracking system for particle therapy: a phantom study using patient tumor trajectory data.

Science.gov (United States)

Cho, Junsang; Cheon, Wonjoong; Ahn, Sanghee; Jung, Hyunuk; Sheen, Heesoon; Park, Hee Chul; Han, Youngyih

2017-09-01

Target motion-induced uncertainty in particle therapy is more complicated than that in X-ray therapy, requiring more accurate motion management. Therefore, a hybrid motion-tracking system that can track internal tumor motion and as well as an external surrogate of tumor motion was developed. Recently, many correlation tests between internal and external markers in X-ray therapy have been developed; however, the accuracy of such internal/external marker tracking systems, especially in particle therapy, has not yet been sufficiently tested. In this article, the process of installing an in-house hybrid internal/external motion-tracking system is described and the accuracy level of tracking system was acquired. Our results demonstrated that the developed in-house external/internal combined tracking system has submillimeter accuracy, and can be clinically used as a particle therapy system as well as a simulation system for moving tumor treatment. © The Author 2017. Published by Oxford University Press on behalf of The Japan Radiation Research Society and Japanese Society for Radiation Oncology.

Cooperating the BDS, GPS, GLONASS and strong-motion observations for real-time deformation monitoring

Science.gov (United States)

Tu, Rui; Liu, Jinhai; Lu, Cuixian; Zhang, Rui; Zhang, Pengfei; Lu, Xiaochun

2017-06-01

An approach of cooperating the BDS, GPS, GLONASS and strong-motion (SM) records for real-time deformation monitoring was presented, which was validated by the experimental data. In this approach, the Global Navigation Satellite System (GNSS) data were processed with the real-time kinematic positioning technology to retrieve the GNSS displacement, and the SM data were calibrated to acquire the raw acceleration; a Kalman filter was then applied to combine the GNSS displacement and the SM acceleration to obtain the integrated displacement, velocity and acceleration. The validation results show that the advantages of each sensor are completely complementary. For the SM, the baseline shifts are estimated and corrected, and the high-precision velocity and displacement are recovered. While the noise of GNSS can be reduced by using the SM-derived high-resolution acceleration, thus the high-precision and broad-band deformation information can be obtained in real time. The proposed method indicates a promising potential and capability in deformation monitoring of the high-building, dam, bridge and landslide.

Noncontact optical motion sensing for real-time analysis

Science.gov (United States)

Fetzer, Bradley R.; Imai, Hiromichi

1990-08-01

The adaptation of an image dissector tube (IDT) within the OPTFOLLOW system provides high resolution displacement measurement of a light discontinuity. Due to the high speed response of the IDT and the advanced servo loop circuitry, the system is capable of real time analysis of the object under test. The image of the discontinuity may be contoured by direct or reflected light and ranges spectrally within the field of visible light. The image is monitored to 500 kHz through a lens configuration which transposes the optical image upon the photocathode of the IDT. The photoelectric effect accelerates the resultant electrons through a photomultiplier and an enhanced current is emitted from the anode. A servo loop controls the electron beam, continually centering it within the IDT using magnetic focusing of deflection coils. The output analog voltage from the servo amplifier is thereby proportional to the displacement of the target. The system is controlled by a microprocessor with a 32kbyte memory and provides a digital display as well as instructional readout on a color monitor allowing for offset image tracking and automatic system calibration.

Sampling-based real-time motion planning under state uncertainty for autonomous micro-aerial vehicles in GPS-denied environments.

Science.gov (United States)

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-11-18

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints.

LabVIEW Real-Time

CERN Multimedia

CERN. Geneva; Flockhart, Ronald Bruce; Seppey, P

2003-01-01

With LabVIEW Real-Time, you can choose from a variety of RT Series hardware. Add a real-time data acquisition component into a larger measurement and automation system or create a single stand-alone real-time solution with data acquisition, signal conditioning, motion control, RS-232, GPIB instrumentation, and Ethernet connectivity. With the various hardware options, you can create a system to meet your precise needs today, while the modularity of the system means you can add to the solution as your system requirements grow. If you are interested in Reliable and Deterministic systems for Measurement and Automation, you will profit from this seminar. Agenda: Real-Time Overview LabVIEW RT Hardware Platforms - Linux on PXI Programming with LabVIEW RT Real-Time Operating Systems concepts Timing Applications Data Transfer

Motion Tracking for Medical Imaging: A Non-Visible Structured Light Tracking Approach

DEFF Research Database (Denmark)

Olesen, Oline Vinter; Paulsen, Rasmus Reinhold; Højgaard, Liselotte

2012-01-01

We present a system for head motion tracking in 3D brain imaging. The system is based on facial surface reconstruction and tracking using a structured light (SL) scanning principle. The system is designed to fit into narrow 3D medical scanner geometries limiting the field of view. It is tested......, is that it is not necessary to place markers on the patient. This provides a simpler workflow and eliminates uncertainties related to marker attachment and stability. We show proof of concept of a marker less tracking system especially designed for clinical use with promising results....... in a clinical setting on the high resolution research tomograph (HRRT), Siemens PET scanner with a head phantom and volunteers. The SL system is compared to a commercial optical tracking system, the Polaris Vicra system, from NDI based on translatory and rotary ground truth motions of the head phantom...

SU-G-JeP1-08: Dual Modality Verification for Respiratory Gating Using New Real- Time Tumor Tracking Radiotherapy System

Energy Technology Data Exchange (ETDEWEB)

Shiinoki, T; Hanazawa, H; Shibuya, K [Yamaguchi University, Ube, Yamaguchi (Japan); Kawamura, S; Koike, M; Yuasa, Y; Uehara, T; Fujimoto, K [Yamaguchi University Hospital, Ube, Yamaguchi (Japan)

2016-06-15

Purpose: The respirato ry gating system combined the TrueBeam and a new real-time tumor-tracking radiotherapy system (RTRT) was installed. The RTRT system consists of two x-ray tubes and color image intensifiers. Using fluoroscopic images, the fiducial marker which was implanted near the tumor was tracked and was used as the internal surrogate for respiratory gating. The purposes of this study was to develop the verification technique of the respiratory gating with the new RTRT using cine electronic portal image device images (EPIDs) of TrueBeam and log files of the RTRT. Methods: A patient who underwent respiratory gated SBRT of the lung using the RTRT were enrolled in this study. For a patient, the log files of three-dimensional coordinate of fiducial marker used as an internal surrogate were acquired using the RTRT. Simultaneously, the cine EPIDs were acquired during respiratory gated radiotherapy. The data acquisition was performed for one field at five sessions during the course of SBRT. The residual motion errors were calculated using the log files (E{sub log}). The fiducial marker used as an internal surrogate into the cine EPIDs was automatically extracted by in-house software based on the template-matching algorithm. The differences between the the marker positions of cine EPIDs and digitally reconstructed radiograph were calculated (E{sub EPID}). Results: Marker detection on EPID using in-house software was influenced by low image contrast. For one field during the course of SBRT, the respiratory gating using the RTRT showed the mean ± S.D. of 95{sup th} percentile E{sub EPID} were 1.3 ± 0.3 mm,1.1 ± 0.5 mm,and those of E{sub log} were 1.5 ± 0.2 mm, 1.1 ± 0.2 mm in LR and SI directions, respectively. Conclusion: We have developed the verification method of respiratory gating combined TrueBeam and new real-time tumor-tracking radiotherapy system using EPIDs and log files.

Real-time tracking and fast retrieval of persons in multiple surveillance cameras of a shopping mall

Science.gov (United States)

Bouma, Henri; Baan, Jan; Landsmeer, Sander; Kruszynski, Chris; van Antwerpen, Gert; Dijk, Judith

2013-05-01

The capability to track individuals in CCTV cameras is important for e.g. surveillance applications at large areas such as train stations, airports and shopping centers. However, it is laborious to track and trace people over multiple cameras. In this paper, we present a system for real-time tracking and fast interactive retrieval of persons in video streams from multiple static surveillance cameras. This system is demonstrated in a shopping mall, where the cameras are positioned without overlapping fields-of-view and have different lighting conditions. The results show that the system allows an operator to find the origin or destination of a person more efficiently. The misses are reduced with 37%, which is a significant improvement.

Effective Multi-Model Motion Tracking Under Multiple Team Member Actuators

OpenAIRE

Gu, Yang; Veloso, Manuela

2009-01-01

Motivated by the interactions between a team and the tracked target, we contribute a method to achieve efficient tracking through using a play-based motion model and combined vision and infrared sensory information. This method gives the robot a more exact task-specific motion model when executing different tactics over the tracked target (e.g. the ball) or collaborating with the tracked target (e.g. the team member). Then we represent the system in a compact dynamic Bayesian network and use ...

Developments in real-time monitoring for geologic hazard warnings (Invited)

Science.gov (United States)

Leith, W. S.; Mandeville, C. W.; Earle, P. S.

2013-12-01

Real-time data from global, national and local sensor networks enable prompt alerts and warnings of earthquakes, tsunami, volcanic eruptions, geomagnetic storms , broad-scale crustal deformation and landslides. State-of-the-art seismic systems can locate and evaluate earthquake sources in seconds, enabling 'earthquake early warnings' to be broadcast ahead of the damaging surface waves so that protective actions can be taken. Strong motion monitoring systems in buildings now support near-real-time structural damage detection systems, and in quiet times can be used for state-of-health monitoring. High-rate GPS data are being integrated with seismic strong motion data, allowing accurate determination of earthquake displacements in near-real time. GPS data, combined with rainfall, groundwater and geophone data, are now used for near-real-time landslide monitoring and warnings. Real-time sea-floor water pressure data are key for assessing tsunami generation by large earthquakes. For monitoring remote volcanoes that lack local ground-based instrumentation, the USGS uses new technologies such as infrasound arrays and the worldwide lightning detection array to detect eruptions in progress. A new real-time UV-camera system for measuring the two dimensional SO2 flux from volcanic plumes will allow correlations with other volcano monitoring data streams to yield fundamental data on changes in gas flux as an eruption precursor, and how magmas de-gas prior to and during eruptions. Precision magnetic field data support the generation of real-time indices of geomagnetic disturbances (Dst, K and others), and can be used to model electrical currents in the crust and bulk power system. Ground-induced electrical current monitors are used to track those currents so that power grids can be effectively managed during geomagnetic storms. Beyond geophysical sensor data, USGS is using social media to rapidly detect possible earthquakes and to collect firsthand accounts of the impacts of

Real-time video analysis for retail stores

Science.gov (United States)

Hassan, Ehtesham; Maurya, Avinash K.

2015-03-01

With the advancement in video processing technologies, we can capture subtle human responses in a retail store environment which play decisive role in the store management. In this paper, we present a novel surveillance video based analytic system for retail stores targeting localized and global traffic estimate. Development of an intelligent system for human traffic estimation in real-life poses a challenging problem because of the variation and noise involved. In this direction, we begin with a novel human tracking system by an intelligent combination of motion based and image level object detection. We demonstrate the initial evaluation of this approach on available standard dataset yielding promising result. Exact traffic estimate in a retail store require correct separation of customers from service providers. We present a role based human classification framework using Gaussian mixture model for this task. A novel feature descriptor named graded colour histogram is defined for object representation. Using, our role based human classification and tracking system, we have defined a novel computationally efficient framework for two types of analytics generation i.e., region specific people count and dwell-time estimation. This system has been extensively evaluated and tested on four hours of real-life video captured from a retail store.

The first clinical implementation of real-time image-guided adaptive radiotherapy using a standard linear accelerator.

Science.gov (United States)

Keall, Paul J; Nguyen, Doan Trang; O'Brien, Ricky; Caillet, Vincent; Hewson, Emily; Poulsen, Per Rugaard; Bromley, Regina; Bell, Linda; Eade, Thomas; Kneebone, Andrew; Martin, Jarad; Booth, Jeremy T

2018-04-01

Until now, real-time image guided adaptive radiation therapy (IGART) has been the domain of dedicated cancer radiotherapy systems. The purpose of this study was to clinically implement and investigate real-time IGART using a standard linear accelerator. We developed and implemented two real-time technologies for standard linear accelerators: (1) Kilovoltage Intrafraction Monitoring (KIM) that finds the target and (2) multileaf collimator (MLC) tracking that aligns the radiation beam to the target. Eight prostate SABR patients were treated with this real-time IGART technology. The feasibility, geometric accuracy and the dosimetric fidelity were measured. Thirty-nine out of forty fractions with real-time IGART were successful (95% confidence interval 87-100%). The geometric accuracy of the KIM system was -0.1 ± 0.4, 0.2 ± 0.2 and -0.1 ± 0.6 mm in the LR, SI and AP directions, respectively. The dose reconstruction showed that real-time IGART more closely reproduced the planned dose than that without IGART. For the largest motion fraction, with real-time IGART 100% of the CTV received the prescribed dose; without real-time IGART only 95% of the CTV would have received the prescribed dose. The clinical implementation of real-time image-guided adaptive radiotherapy on a standard linear accelerator using KIM and MLC tracking is feasible. This achievement paves the way for real-time IGART to be a mainstream treatment option. Copyright © 2018 Elsevier B.V. All rights reserved.

Management of threatened abortion with real-time sonography.

Science.gov (United States)

Anderson, S G

1980-02-01

Real-time sonography was used to evaluate 158 patients with threatened abortion. Fetal motion was first detected during the seventh gestational week and with increasing frequency thereafter in 73 patients with viable pregnancies continuing to term. Only 2 of 65 patients who aborted demonstrated fetal motion. The presence or absence of fetal motion was most reliable after 7 weeks' gestation for establishing a prognosis for a given pregnancy. Seventy-two of 74 pregnancies with fetal motion continued to term, whereas 63 of 64 pregnancies without fetal motion aborted. A method for using real-time sonography in the management of threatened abortion is presented.

Dynamic tracking of a nano-particle in fluids under Brownian motions

International Nuclear Information System (INIS)

Wu, X C; Zhang, W J; Sammynaiken, R

2008-01-01

Most previous studies on H 2 S were devoted to its toxic effects. However, recently there have been increasing evidences which show that endogenously generated H 2 S in specific mammalian tissues has certain significant positive physiological effects such as a neuromodulator and vasorelaxant in a membrane receptor-independent manner. In order to know the functions of endogenous H 2 S, low concentration and high accuracy measurement of H 2 S is a must. Furthermore, this measurement is desired to be real-time and non-invasive. It is reported that low concentration and nano quantity of H 2 S can be detected in water solutions and sera using carbon nanotubes with the fluorescence by confocal laser scanning microscopy. However, because of the Brownian motion of the small particle (carbon nanotube), a control system must be developed to track the movement of the particle in fluids. In this paper, we present a study to track a carbon nanotube which absorbs H 2 S in water or serum using a Raman microscope or confocal laser scanning microscope. In particular, we developed a novel control system for this task. Simulation has shown that our system works very well.

Kernel density estimation-based real-time prediction for respiratory motion

International Nuclear Information System (INIS)

Ruan, Dan

2010-01-01

Effective delivery of adaptive radiotherapy requires locating the target with high precision in real time. System latency caused by data acquisition, streaming, processing and delivery control necessitates prediction. Prediction is particularly challenging for highly mobile targets such as thoracic and abdominal tumors undergoing respiration-induced motion. The complexity of the respiratory motion makes it difficult to build and justify explicit models. In this study, we honor the intrinsic uncertainties in respiratory motion and propose a statistical treatment of the prediction problem. Instead of asking for a deterministic covariate-response map and a unique estimate value for future target position, we aim to obtain a distribution of the future target position (response variable) conditioned on the observed historical sample values (covariate variable). The key idea is to estimate the joint probability distribution (pdf) of the covariate and response variables using an efficient kernel density estimation method. Then, the problem of identifying the distribution of the future target position reduces to identifying the section in the joint pdf based on the observed covariate. Subsequently, estimators are derived based on this estimated conditional distribution. This probabilistic perspective has some distinctive advantages over existing deterministic schemes: (1) it is compatible with potentially inconsistent training samples, i.e., when close covariate variables correspond to dramatically different response values; (2) it is not restricted by any prior structural assumption on the map between the covariate and the response; (3) the two-stage setup allows much freedom in choosing statistical estimates and provides a full nonparametric description of the uncertainty for the resulting estimate. We evaluated the prediction performance on ten patient RPM traces, using the root mean squared difference between the prediction and the observed value normalized by the

Registration accuracy and possible migration of internal fiducial gold marker implanted in prostate and liver treated with real-time tumor-tracking radiation therapy (RTRT)

International Nuclear Information System (INIS)

Kitamura, Kei; Shirato, Hiroki; Shimizu, Shinichi; Shinohara, Nobuo; Harabayashi, Toru; Shimizu, Tadashi; Kodama, Yoshihisa; Endo, Hideho; Onimaru, Rikiya; Nishioka, Seiko; Aoyama, Hidefumi; Tsuchiya, Kazuhiko; Miyasaka, Kazuo

2002-01-01

Background and purpose: We have developed a linear accelerator synchronized with a fluoroscopic real-time tumor-tracking system to reduce errors due to setup and organ motion. In the real-time tumor-tracking radiation therapy (RTRT) system, the accuracy of tumor tracking depends on the registration of the marker's coordinates. The registration accuracy and possible migration of the internal fiducial gold marker implanted into prostate and liver was investigated. Materials and methods: Internal fiducial gold markers were implanted in 14 patients with prostate cancer and four patients with liver tumors. Computed tomography (CT) was carried out as a part of treatment planning in the 18 patients. A total of 72 follow-up CT scans were taken. We calculated the relative relationship between the coordinates of the center of mass (CM) of the organs and those of the marker. The discrepancy in the CM coordinates during a follow-up CT compared to those recorded during the planning CT was used to study possible marker migration. Results: The standard deviation (SD) of interobserver variations in the CM coordinates was within 2.0 and 0.4 mm for the organ and the marker, respectively, in seven observers. Assuming that organs do not shrink, grow, or rotate, the maximum SD of migration error in each direction was estimated to be less than 2.5 and 2.0 mm for liver and prostate, respectively. There was no correlation between the marker position and the time after implantation. Conclusion: The degree of possible migration of the internal fiducial marker was within the limits of accuracy of the CT measurement. Most of the marker movement can be attributed to the measurement uncertainty, which also influences registration in actual treatment planning. Thus, even with the gold marker and RTRT system, a planning target volume margin should be used to account for registration uncertainty

A Low-Power High-Speed Spintronics-Based Neuromorphic Computing System Using Real Time Tracking Method

DEFF Research Database (Denmark)

Farkhani, Hooman; Tohidi, Mohammad; Farkhani, Sadaf

2018-01-01

In spintronic-based neuromorphic computing systems (NCS), the switching of magnetic moment in a magnetic tunnel junction (MTJ) is used to mimic neuron firing. However, the stochastic switching behavior of the MTJ and process variations effect lead to a significant increase in stimulation time...... of such NCSs. Moreover, current NCSs need an extra phase to read the MTJ state after stimulation which is in contrast with real neuron functionality in human body. In this paper, the read circuit is replaced with a proposed real-time sensing (RTS) circuit. The RTS circuit tracks the MTJ state during...... stimulation phase. As soon as switching happens, the RTS circuit terminates the MTJ current and stimulates the post neuron. Hence, the RTS circuit not only improves the energy consumption and speed, but also makes the operation of NCS similar to real neuron functionality. The simulation results in 65-nm CMOS...

Nearly automatic motion capture system for tracking octopus arm movements in 3D space.

Science.gov (United States)

Zelman, Ido; Galun, Meirav; Akselrod-Ballin, Ayelet; Yekutieli, Yoram; Hochner, Binyamin; Flash, Tamar

2009-08-30

Tracking animal movements in 3D space is an essential part of many biomechanical studies. The most popular technique for human motion capture uses markers placed on the skin which are tracked by a dedicated system. However, this technique may be inadequate for tracking animal movements, especially when it is impossible to attach markers to the animal's body either because of its size or shape or because of the environment in which the animal performs its movements. Attaching markers to an animal's body may also alter its behavior. Here we present a nearly automatic markerless motion capture system that overcomes these problems and successfully tracks octopus arm movements in 3D space. The system is based on three successive tracking and processing stages. The first stage uses a recently presented segmentation algorithm to detect the movement in a pair of video sequences recorded by two calibrated cameras. In the second stage, the results of the first stage are processed to produce 2D skeletal representations of the moving arm. Finally, the 2D skeletons are used to reconstruct the octopus arm movement as a sequence of 3D curves varying in time. Motion tracking, segmentation and reconstruction are especially difficult problems in the case of octopus arm movements because of the deformable, non-rigid structure of the octopus arm and the underwater environment in which it moves. Our successful results suggest that the motion-tracking system presented here may be used for tracking other elongated objects.

An active robot vision system for real-time 3-D structure recovery

Energy Technology Data Exchange (ETDEWEB)

Juvin, D. [CEA Centre d`Etudes de Saclay, 91 - Gif-sur-Yvette (France). Dept. d`Electronique et d`Instrumentation Nucleaire; Boukir, S.; Chaumette, F.; Bouthemy, P. [Rennes-1 Univ., 35 (France)

1993-10-01

This paper presents an active approach for the task of computing the 3-D structure of a nuclear plant environment from an image sequence, more precisely the recovery of the 3-D structure of cylindrical objects. Active vision is considered by computing adequate camera motions using image-based control laws. This approach requires a real-time tracking of the limbs of the cylinders. Therefore, an original matching approach, which relies on an algorithm for determining moving edges, is proposed. This method is distinguished by its robustness and its easiness to implement. This method has been implemented on a parallel image processing board and real-time performance has been achieved. The whole scheme has been successfully validated in an experimental set-up.

An active robot vision system for real-time 3-D structure recovery

International Nuclear Information System (INIS)

Juvin, D.

1993-01-01

This paper presents an active approach for the task of computing the 3-D structure of a nuclear plant environment from an image sequence, more precisely the recovery of the 3-D structure of cylindrical objects. Active vision is considered by computing adequate camera motions using image-based control laws. This approach requires a real-time tracking of the limbs of the cylinders. Therefore, an original matching approach, which relies on an algorithm for determining moving edges, is proposed. This method is distinguished by its robustness and its easiness to implement. This method has been implemented on a parallel image processing board and real-time performance has been achieved. The whole scheme has been successfully validated in an experimental set-up

Modified SURF Algorithm Implementation on FPGA For Real-Time Object Tracking

Directory of Open Access Journals (Sweden)

Tomyslav Sledevič

2013-05-01

Full Text Available The paper describes the FPGA-based implementation of the modified speeded-up robust features (SURF algorithm. FPGA was selected for parallel process implementation using VHDL to ensure features extraction in real-time. A sliding 84×84 size window was used to store integral pixels and accelerate Hessian determinant calculation, orientation assignment and descriptor estimation. The local extreme searching was used to find point of interest in 8 scales. The simplified descriptor and orientation vector were calculated in parallel in 6 scales. The algorithm was investigated by tracking marker and drawing a plane or cube. All parts of algorithm worked on 25 MHz clock. The video stream was generated using 60 fps and 640×480 pixel camera.Article in Lithuanian

A Single Unexpected Change in Target- but Not Distractor Motion Impairs Multiple Object Tracking

Directory of Open Access Journals (Sweden)

Hauke S. Meyerhoff

2013-02-01

Full Text Available Recent research addresses the question whether motion information of multiple objects contributes to maintaining a selection of objects across a period of motion. Here, we investigate whether target and/or distractor motion information is used during attentive tracking. We asked participants to track four objects and changed either the motion direction of targets, the motion direction of distractors, neither, or both during a brief flash in the middle of a tracking interval. We observed that a single direction change of targets is sufficient to impair tracking performance. In contrast, changing the motion direction of distractors had no effect on performance. This indicates that target- but not distractor motion information is evaluated during tracking.

SU-G-JeP1-14: Respiratory Motion Tracking Using Kinect V2

Energy Technology Data Exchange (ETDEWEB)

Silverstein, E; Snyder, M [Wayne State University, Detroit, MI (United States)

2016-06-15

Purpose: Investigate capability and accuracy of Kinect v2 camera for tracking respiratory motion to use as a tool during 4DCT or in combination with motion management during radiotherapy treatments. Methods: Utilizing the depth sensor on the Kinect as well as code written in C#, the respiratory motion of a patient was tracked by recording the depth (distance) values obtained at several points on the patient. Respiratory traces were also obtained using Varian’s RPM system, which traces the movement of a propriety marker placed on the patient’s abdomen, as well as an Anzai belt, which utilizes a pressure sensor to track respiratory motion. With the Kinect mounted 60 cm above the patient and pointing straight down, 11 breathing cycles were recorded with each system simultaneously. Relative displacement values during this time period were saved to file. While RPM and the Kinect give displacement values in distance units, the Anzai system has arbitrary units. As such, displacement for all three are displayed relative to the maximum value for the time interval from that system. Additional analysis was performed between RPM and Kinect for absolute displacement values. Results: Analysis of the data from all three systems indicates the relative motion obtained from the Kinect is both accurate and in sync with the data from RPM and Anzai. The absolute displacement data from RPM and Kinect show similar displacement values throughout the acquisition except for the depth obtained from the Kinect during maximum exhalation (largest distance from Kinect). Conclusion: By simply utilizing the depth data of specific points on a patient obtained from the Kinect, respiratory motion can be tracked and visualized with accuracy comparable to that of the Varian RPM and Anzai belt.

Four-dimensional treatment planning and fluoroscopic real-time tumor tracking radiotherapy for moving tumor

International Nuclear Information System (INIS)

Shirato, Hiroki; Shimizu, Shinichi; Kitamura, Kei; Nishioka, Takeshi; Kagei, Kenji; Hashimoto, Seiko; Aoyama, Hidefumi; Kunieda, Tatsuya; Shinohara, Nobuo; Dosaka-Akita, Hirotoshi; Miyasaka, Kazuo

2000-01-01

Purpose: To achieve precise three-dimensional (3D) conformal radiotherapy for mobile tumors, a new radiotherapy system and its treatment planning system were developed and used for clinical practice. Methods and Materials: We developed a linear accelerator synchronized with a fluoroscopic real-time tumor tracking system by which 3D coordinates of a 2.0-mm gold marker in the tumor can be determined every 0.03 second. The 3D relationships between the marker and the tumor at different respiratory phases are evaluated using CT image at each respiratory phase, whereby the optimum phase can be selected to synchronize with irradiation (4D treatment planning). The linac is triggered to irradiate the tumor only when the marker is located within the region of the planned coordinates relative to the isocenter. Results: The coordinates of the marker were detected with an accuracy of ± 1 mm during radiotherapy in the phantom experiment. The time delay between recognition of the marker position and the start or stop of megavoltage X-ray irradiation was 0.03 second. Fourteen patients with various tumors were treated by conformal radiotherapy with a 'tight' planning target volume (PTV) margin. They were surviving without relapse or complications with a median follow-up of 6 months. Conclusion: Fluoroscopic real-time tumor tracking radiotherapy following 4D treatment planning was developed and shown to be feasible to improve the accuracy of the radiotherapy for mobile tumors

Comparative analysis of respiratory motion tracking using Microsoft Kinect v2 sensor.

Science.gov (United States)

Silverstein, Evan; Snyder, Michael

2018-05-01

To present and evaluate a straightforward implementation of a marker-less, respiratory motion-tracking process utilizing Kinect v2 camera as a gating tool during 4DCT or during radiotherapy treatments. Utilizing the depth sensor on the Kinect as well as author written C# code, respiratory motion of a subject was tracked by recording depth values obtained at user selected points on the subject, with each point representing one pixel on the depth image. As a patient breathes, specific anatomical points on the chest/abdomen will move slightly within the depth image across pixels. By tracking how depth values change for a specific pixel, instead of how the anatomical point moves throughout the image, a respiratory trace can be obtained based on changing depth values of the selected pixel. Tracking these values was implemented via marker-less setup. Varian's RPM system and the Anzai belt system were used in tandem with the Kinect to compare respiratory traces obtained by each using two different subjects. Analysis of the depth information from the Kinect for purposes of phase- and amplitude-based binning correlated well with the RPM and Anzai systems. Interquartile Range (IQR) values were obtained comparing times correlated with specific amplitude and phase percentages against each product. The IQR time spans indicated the Kinect would measure specific percentage values within 0.077 s for Subject 1 and 0.164 s for Subject 2 when compared to values obtained with RPM or Anzai. For 4DCT scans, these times correlate to less than 1 mm of couch movement and would create an offset of 1/2 an acquired slice. By tracking depth values of user selected pixels within the depth image, rather than tracking specific anatomical locations, respiratory motion can be tracked and visualized utilizing the Kinect with results comparable to that of the Varian RPM and Anzai belt. © 2018 The Authors. Journal of Applied Clinical Medical Physics published by Wiley Periodicals, Inc. on behalf of

MotionFlow: Visual Abstraction and Aggregation of Sequential Patterns in Human Motion Tracking Data.

Science.gov (United States)

Jang, Sujin; Elmqvist, Niklas; Ramani, Karthik

2016-01-01

Pattern analysis of human motions, which is useful in many research areas, requires understanding and comparison of different styles of motion patterns. However, working with human motion tracking data to support such analysis poses great challenges. In this paper, we propose MotionFlow, a visual analytics system that provides an effective overview of various motion patterns based on an interactive flow visualization. This visualization formulates a motion sequence as transitions between static poses, and aggregates these sequences into a tree diagram to construct a set of motion patterns. The system also allows the users to directly reflect the context of data and their perception of pose similarities in generating representative pose states. We provide local and global controls over the partition-based clustering process. To support the users in organizing unstructured motion data into pattern groups, we designed a set of interactions that enables searching for similar motion sequences from the data, detailed exploration of data subsets, and creating and modifying the group of motion patterns. To evaluate the usability of MotionFlow, we conducted a user study with six researchers with expertise in gesture-based interaction design. They used MotionFlow to explore and organize unstructured motion tracking data. Results show that the researchers were able to easily learn how to use MotionFlow, and the system effectively supported their pattern analysis activities, including leveraging their perception and domain knowledge.

Real-Time Forecasting of Echo-Centroid Motion.

Science.gov (United States)

1979-01-01

is apparent that after five observations are obtained, the forecast error drops considerably. The normal lifetime of an echo (25 to 30 min) is...10kmI I ! Fig. 11. Track of 5 April 1978 mesocyclone (M) and two TVS’s (1) and (2). Times are CST. Pumpkin Center tornado is hatched and Marlow tornado is

Repurposing the Microsoft Kinect for Windows v2 for external head motion tracking for brain PET

International Nuclear Information System (INIS)

Noonan, P J; Gunn, R N; Howard, J; Hallett, W A

2015-01-01

Medical imaging systems such as those used in positron emission tomography (PET) are capable of spatial resolutions that enable the imaging of small, functionally important brain structures. However, the quality of data from PET brain studies is often limited by subject motion during acquisition. This is particularly challenging for patients with neurological disorders or with dynamic research studies that can last 90 min or more. Restraining head movement during the scan does not eliminate motion entirely and can be unpleasant for the subject. Head motion can be detected and measured using a variety of techniques that either use the PET data itself or an external tracking system. Advances in computer vision arising from the video gaming industry could offer significant benefits when re-purposed for medical applications. A method for measuring rigid body type head motion using the Microsoft Kinect v2 is described with results presenting  ⩽0.5 mm spatial accuracy. Motion data is measured in real-time at 30 Hz using the KinectFusion algorithm. Non-rigid motion is detected using the residual alignment energy data of the KinectFusion algorithm allowing for unreliable motion to be discarded. Motion data is aligned to PET listmode data using injected pulse sequences into the PET/CT gantry allowing for correction of rigid body motion. Pilot data from a clinical dynamic PET/CT examination is shown. (paper)

Repurposing the Microsoft Kinect for Windows v2 for external head motion tracking for brain PET

Science.gov (United States)

Noonan, P. J.; Howard, J.; Hallett, W. A.; Gunn, R. N.

2015-11-01

Medical imaging systems such as those used in positron emission tomography (PET) are capable of spatial resolutions that enable the imaging of small, functionally important brain structures. However, the quality of data from PET brain studies is often limited by subject motion during acquisition. This is particularly challenging for patients with neurological disorders or with dynamic research studies that can last 90 min or more. Restraining head movement during the scan does not eliminate motion entirely and can be unpleasant for the subject. Head motion can be detected and measured using a variety of techniques that either use the PET data itself or an external tracking system. Advances in computer vision arising from the video gaming industry could offer significant benefits when re-purposed for medical applications. A method for measuring rigid body type head motion using the Microsoft Kinect v2 is described with results presenting  ⩽0.5 mm spatial accuracy. Motion data is measured in real-time at 30 Hz using the KinectFusion algorithm. Non-rigid motion is detected using the residual alignment energy data of the KinectFusion algorithm allowing for unreliable motion to be discarded. Motion data is aligned to PET listmode data using injected pulse sequences into the PET/CT gantry allowing for correction of rigid body motion. Pilot data from a clinical dynamic PET/CT examination is shown.

Motion tracking to enable pre-surgical margin mapping in basal cell carcinoma using optical imaging modalities: initial feasibility study using optical coherence tomography

Science.gov (United States)

Duffy, M.; Richardson, T. J.; Craythorne, E.; Mallipeddi, R.; Coleman, A. J.

2014-02-01

A system has been developed to assess the feasibility of using motion tracking to enable pre-surgical margin mapping of basal cell carcinoma (BCC) in the clinic using optical coherence tomography (OCT). This system consists of a commercial OCT imaging system (the VivoSight 1500, MDL Ltd., Orpington, UK), which has been adapted to incorporate a webcam and a single-sensor electromagnetic positional tracking module (the Flock of Birds, Ascension Technology Corp, Vermont, USA). A supporting software interface has also been developed which allows positional data to be captured and projected onto a 2D dermoscopic image in real-time. Initial results using a stationary test phantom are encouraging, with maximum errors in the projected map in the order of 1-2mm. Initial clinical results were poor due to motion artefact, despite attempts to stabilise the patient. However, the authors present several suggested modifications that are expected to reduce the effects of motion artefact and improve the overall accuracy and clinical usability of the system.

Application of inertial sensors and flux-gate magnetometer to real-time human body motion capture

OpenAIRE

Frey, William.

1996-01-01

Human body tracking for synthetic environment interface has become a significant human- computer interface challenge. There are several different types of motion capture systems currently available. Inherent problems, most resulting from the use of artificially-generated source signals, plague these systems. A proposed motion capture system is being developed at the Naval Postgraduate School which utilizes a combination of inertial sensors to overcome these difficulties. However, the current ...

Feathered Detectives: Real-Time GPS Tracking of Scavenging Gulls Pinpoints Illegal Waste Dumping.

Directory of Open Access Journals (Sweden)

Joan Navarro

Full Text Available Urban waste impacts human and environmental health, and waste management has become one of the major challenges of humanity. Concurrently with new directives due to manage this human by-product, illegal dumping has become one of the most lucrative activities of organized crime. Beyond economic fraud, illegal waste disposal strongly enhances uncontrolled dissemination of human pathogens, pollutants and invasive species. Here, we demonstrate the potential of novel real-time GPS tracking of scavenging species to detect environmental crime. Specifically, we were able to detect illegal activities at an officially closed dump, which was visited recurrently by 5 of 19 GPS-tracked yellow-legged gulls (Larus michahellis. In comparison with conventional land-based surveys, GPS tracking allows a much wider and cost-efficient spatiotemporal coverage, even of the most hazardous sites, while GPS data accessibility through the internet enables rapid intervention. Our results suggest that multi-species guilds of feathered detectives equipped with GPS and cameras could help fight illegal dumping at continental scales. We encourage further experimental studies, to infer waste detection thresholds in gulls and other scavenging species exploiting human waste dumps.

Speckle tracking in a phantom and feature-based tracking in liver in the presence of respiratory motion using 4D ultrasound

International Nuclear Information System (INIS)

Harris, Emma J; Miller, Naomi R; Bamber, Jeffrey C; Symonds-Tayler, J Richard N; Evans, Philip M

2010-01-01

We have evaluated a 4D ultrasound-based motion tracking system developed for tracking of abdominal organs during therapy. Tracking accuracy and precision were determined using a tissue-mimicking phantom, by comparing tracked motion with known 3D sinusoidal motion. The feasibility of tracking 3D liver motion in vivo was evaluated by acquiring 4D ultrasound data from four healthy volunteers. For two of these volunteers, data were also acquired whilst simultaneously measuring breath flow using a spirometer. Hepatic blood vessels, tracked off-line using manual tracking, were used as a reference to assess, in vivo, two types of automated tracking algorithm: incremental (from one volume to the next) and non-incremental (from the first volume to each subsequent volume). For phantom-based experiments, accuracy and precision (RMS error and SD) were found to be 0.78 mm and 0.54 mm, respectively. For in vivo measurements, mean absolute distance and standard deviation of the difference between automatically and manually tracked displacements were less than 1.7 mm and 1 mm respectively in all directions (left-right, anterior-posterior and superior-inferior). In vivo non-incremental tracking gave the best agreement. In both phantom and in vivo experiments, tracking performance was poorest for the elevational component of 3D motion. Good agreement between automatically and manually tracked displacements indicates that 4D ultrasound-based motion tracking has potential for image guidance applications in therapy.

Real-time image processing II; Proceedings of the Meeting, Orlando, FL, Apr. 16-18, 1990

Science.gov (United States)

Juday, Richard D. (Editor)

1990-01-01

The present conference discusses topics in the fields of feature extraction and implementation, filter and correlation algorithms, optical correlators, high-level algorithms, and digital image processing for ranging and remote driving. Attention is given to a nonlinear filter derived from topological image features, IR image segmentation through iterative thresholding, orthogonal subspaces for correlation masking, composite filter trees and image recognition via binary search, and features of matrix-coherent optical image processing. Also discussed are multitarget tracking via hybrid joint transform correlator, binary joint Fourier transform correlator considerations, global image processing operations on parallel architectures, real-time implementation of a differential range finder, and real-time binocular stereo range and motion detection.

Real-time image processing II; Proceedings of the Meeting, Orlando, FL, Apr. 16-18, 1990

Science.gov (United States)

Juday, Richard D.

The present conference discusses topics in the fields of feature extraction and implementation, filter and correlation algorithms, optical correlators, high-level algorithms, and digital image processing for ranging and remote driving. Attention is given to a nonlinear filter derived from topological image features, IR image segmentation through iterative thresholding, orthogonal subspaces for correlation masking, composite filter trees and image recognition via binary search, and features of matrix-coherent optical image processing. Also discussed are multitarget tracking via hybrid joint transform correlator, binary joint Fourier transform correlator considerations, global image processing operations on parallel architectures, real-time implementation of a differential range finder, and real-time binocular stereo range and motion detection.

Collaborative real-time scheduling of multiple PTZ cameras for multiple object tracking in video surveillance

Science.gov (United States)

Liu, Yu-Che; Huang, Chung-Lin

2013-03-01

This paper proposes a multi-PTZ-camera control mechanism to acquire close-up imagery of human objects in a surveillance system. The control algorithm is based on the output of multi-camera, multi-target tracking. Three main concerns of the algorithm are (1) the imagery of human object's face for biometric purposes, (2) the optimal video quality of the human objects, and (3) minimum hand-off time. Here, we define an objective function based on the expected capture conditions such as the camera-subject distance, pan tile angles of capture, face visibility and others. Such objective function serves to effectively balance the number of captures per subject and quality of captures. In the experiments, we demonstrate the performance of the system which operates in real-time under real world conditions on three PTZ cameras.

Markerless 3D Head Tracking for Motion Correction in High Resolution PET Brain Imaging

DEFF Research Database (Denmark)

Olesen, Oline Vinter

relying on markers. Data-driven motion correction is problematic due to the physiological dynamics. Marker-based tracking is potentially unreliable, and it is extremely hard to validate when the tracking information is correct. The motion estimation is essential for proper motion correction of the PET......This thesis concerns application specific 3D head tracking. The purpose is to improve motion correction in position emission tomography (PET) brain imaging through development of markerless tracking. Currently, motion correction strategies are based on either the PET data itself or tracking devices...... images. Incorrect motion correction can in the worst cases result in wrong diagnosis or treatment. The evolution of a markerless custom-made structured light 3D surface tracking system is presented. The system is targeted at state-of-the-art high resolution dedicated brain PET scanners with a resolution...

Real-time tracking of visually attended objects in virtual environments and its application to LOD.

Science.gov (United States)

Lee, Sungkil; Kim, Gerard Jounghyun; Choi, Seungmoon

2009-01-01

This paper presents a real-time framework for computationally tracking objects visually attended by the user while navigating in interactive virtual environments. In addition to the conventional bottom-up (stimulus-driven) saliency map, the proposed framework uses top-down (goal-directed) contexts inferred from the user's spatial and temporal behaviors, and identifies the most plausibly attended objects among candidates in the object saliency map. The computational framework was implemented using GPU, exhibiting high computational performance adequate for interactive virtual environments. A user experiment was also conducted to evaluate the prediction accuracy of the tracking framework by comparing objects regarded as visually attended by the framework to actual human gaze collected with an eye tracker. The results indicated that the accuracy was in the level well supported by the theory of human cognition for visually identifying single and multiple attentive targets, especially owing to the addition of top-down contextual information. Finally, we demonstrate how the visual attention tracking framework can be applied to managing the level of details in virtual environments, without any hardware for head or eye tracking.

Real-Time Unsteady Loads Measurements Using Hot-Film Sensors

Science.gov (United States)

Mangalam, Arun S.; Moes, Timothy R.

2004-01-01

Several flight-critical aerodynamic problems such as buffet, flutter, stall, and wing rock are strongly affected or caused by abrupt changes in unsteady aerodynamic loads and moments. Advanced sensing and flow diagnostic techniques have made possible simultaneous identification and tracking, in realtime, of the critical surface, viscosity-related aerodynamic phenomena under both steady and unsteady flight conditions. The wind tunnel study reported here correlates surface hot-film measurements of leading edge stagnation point and separation point, with unsteady aerodynamic loads on a NACA 0015 airfoil. Lift predicted from the correlation model matches lift obtained from pressure sensors for an airfoil undergoing harmonic pitchup and pitchdown motions. An analytical model was developed that demonstrates expected stall trends for pitchup and pitchdown motions. This report demonstrates an ability to obtain unsteady aerodynamic loads in real time, which could lead to advances in air vehicle safety, performance, ride-quality, control, and health management.