Tracking of lines in spherical images via sub-Riemannian geodesics in SO(3)

DOI10.1007/S10851-017-0705-9MaRDI QIDQ1702595zbMATH OpenOpenAlexDBLPWikidataFDO

Authors Remco Duits, E. J. Bekkers, Alexey P. Mashtakov, Yu L. Sachkov, I. Beschastnyi

Publication date 28 February 2018

Published in Journal of Mathematical Imaging and Vision (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/1604.03800

zbMATH Keywords

geometric controlLie group SO(3)spherical imagesub-Riemannian geodesicsvessel tracking

Mathematics Subject Classification ID

Curves in Euclidean and related spaces (53A04) Machine vision and scene understanding (68T45) Computing methodologies for image processing (68U10) Image processing (compression, reconstruction, etc.) in information and communication theory (94A08)

Abstract: In order to detect salient lines in spherical images, we consider the problem of minimizing the functional $intlimit{s}_0^{l}C(gamma(s))sqrtx{i}^2+k_g^2(s),mds$ for a curve $gamma$ on a sphere with fixed boundary points and directions. The total length $l$ is free, $s$ denotes the spherical arclength, and $k_g$ denotes the geodesic curvature of $gamma$. Here the smooth external cost $Cgeqdelta>0$ is obtained from spherical data. We lift this problem to the sub-Riemannian (SR) problem in Lie group $SO(3)$ and show that the spherical projection of certain SR geodesics provides a solution to our curve optimization problem. In fact, this holds only for the geodesics whose spherical projection does not exhibit a cusp. The problem is a spherical extension of a well-known contour perception model, where we extend the model by Boscain and Rossi to the general case $xi>0$, $Ceq1$. For $C=1$, we derive SR geodesics and evaluate the first cusp time. We show that these curves have a simpler expression when they are parameterized by spherical arclength rather than by sub-Riemannian arclength. For case $Ceq1$ (data-driven SR geodesics), we solve via a SR Fast Marching method. Finally, we show an experiment of vessel tracking in a spherical image of the retina and study the effect of including the spherical geometry in analysis of vessels curvature.

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Cited in

(15)

• Vessel tracking via sub-Riemannian geodesics on the projective line bundle
• Fast asymmetric fronts propagation for image segmentation
• Design and processing of invertible orientation scores of 3D images
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• Sub-Riemannian geodesics in \(\mathrm{SO}(3)\) with application to vessel tracking in spherical images of retina
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• Connected components on Lie groups and applications to multi-orientation image analysis

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