1316 IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 56, NO. 4, AUGUST 2007
Segmentation for MRA Image: An
Improved Level-Set Approach
Jiasheng Hao, Yi Shen, Member, IEEE, and Qiang Wang, Member, IEEE
Abstract—Unsupervised segmentation of volumetric data is still
a challenging task. Recently, level-set methods have received a
great deal of attention, which combine global smoothness with
the flexibility of topology changes and offer significant advan-
tages over conventional statistical classification. However, level-set
methods suffer from heavy computational burden because of a
lot of iterations. We present a fast level-set framework based
on the watershed algorithm for the segmentation of complicated
structures from a volumetric data set. The driving application
is the segmentation of 3-D human cerebrovascular structures
from magnetic resonance angiography, which is known to be a
very challenging segmentation problem due to the complexity
of vessel geometry and intensity patterns. Experimental results
show that the proposed method gives fast and accurate excellent
segmentation.
Index Terms—Biomedical measurements, image segmentation,
level set, magnetic resonance angiography (MRA), watershed
algorithm.
I. INTRODUCTION
S
EGMENTATION is a fundamental problem in almost all
computer vision and medical image analysis, and unsuper-
vised segmentation of volumetric data is still a challenging task.
Recently, the level-set method has received a great deal of atten-
tion, particularly for volumetric data segmentation [1]–[3]. The
particular interest in this paper is to reduce the computational
complexity of level-set methods to segmentation.
The level-set method was introduced by Osher and Sethian
[4] to track the evolution of interfaces and was found to
overcome many limitations of the active contour methods
(ACMs). ACMs (also called snakes) were originally defined by
Kass et al. [5] as an energy-minimizing spline and since,
then have, been widely used for extracting the object of in-
terest. However, traditional snake models suffer from sev-
eral limitations: 1) They are sensitive to the initial contours;
2) they are nonfree parameters; 3) they cannot handle changes
in topology; and 4) they have a tendency to produce degenerate
contours or self-intersections. The level-set method is appealing
for its ability to handle topological changes automatically.
Its numerical implementation is also straightforward for any
dimension. While the level-set method has many advantages,
Manuscript received June 15, 2006; revised April 3, 2007. This paper was
presented in part at the IEEE Instrumentation and Measurement Technology
Conference, Sorrento, Italy, April 24–27, 2006.
The authors are with the Department of Control Science and Engineer-
ing, Harbin Institute of Technology, Harbin 150001, China (e-mail: haojs@
hit.edu.cn).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TIM.2007.899839
its implementation, which is based on the solution of certain
partial differential equations (PDEs), results in a significant
computational burden, which bars its application in complex
segmentation such as magnetic resonance angiography (MRA).
On the other hand, most of the iterations of the level-set
evolution in those segmentations may be unnecessary, in fact,
because it evolves quite inside the boundary. For example, the
vessels are always very long. Thus, the question is whether we
can minimize the iterations of the level-set evolution without
losing accuracy. This is achieved in this paper.
Our driving problem is the segmentation of vessels within
MRA images. There are two major classes of these approaches.
One class of methods is based on a statistical model, which
classifies voxels within the image volume into either vascular
or nonvascular class for time-of-flight MRA [1]. Another
class of segmentation is based on intensity threshold, where
points are classified as either greater than or less than a
given intensity. This is the basis of the isointensity surface
reconstruction method [6]. This method suffers from errors
due to image inhomogeneities; in addition, the choice of the
threshold level is subjective. An alternative to segmentation
is axis detection, which is known as skeletonization process,
where the central line of the tree vessels is extracted based
on the tubular shape of vessels [7]. Refinements using other
techniques such as morphological methods for segmenting the
vascular have improved, yet most require an interventional
step like specifying seed locations, intensity values, and other
interventional parameters [8].
In this paper, we propose a fast level-set framework based on
the watershed algorithm for MRA segmentation, allowing a sig-
nificant reduction in computation complexity and the promise
of real-time implementation. Thus, the overall cerebrovascular
segmentation turns into an efficient, nearly real-time process
with intuitive and usefully restricted user interaction. This
approach is applied on different types of MRA data sets and
shows good results.
The rest of this paper is organized as follows. Section II
sets the scene by briefly describing level-set methods and
watershed algorithms. Section III presents the new approach. In
Section IV, we apply the framework to the MRA data set and
give the results. Finally, conclusions are drawn in Section V.
II. P
REVIOUS WORK
A. Level-Set Evolution
The central idea of the Osher–Sethian level-set method [4] is
to track the motion of an interface by embedding a propagating
0018-9456/$25.00 © 2007 IEEE