Method, system and computer readable medium for iterative image warping prior to temporal subtraction of chest radiographs in the detection of interval changes

• US 6,067,373 A
• Filed: 04/02/1998
• Issued: 05/23/2000
• Est. Priority Date: 04/02/1998
• Status: Expired due to Term

• Current Assignee: ARCH Development Corporation (University of Chicago)
• Original Assignee: ARCH Development Corporation (University of Chicago)
• Inventors: Ishida, Takayuki, Doi, Kunio, Katsuragawa, Shigehiko
• Primary Examiner(s): Chang, Jon
• Application Number:
  US09/053,798
• Time in Patent Office: 782 Days
• Field of Search: 382/130, 382/132, 382/293, 382/294, 382/295, 382/209, 382/217, 382/218, 382/215, 382/278, 128/922, 378/98.4, 378/98.12
• US Class Current: 382/130
• CPC Class Codes: G06T 2207/30061 Lung
• CPC Class Codes: G06T 3/14 Transformations for image registration, e.g. adjusting or mapping for alignment of images
• CPC Class Codes: G06T 7/0016 involving temporal comparison
• CPC Class Codes: G06T 7/254 involving subtraction of images
• CPC Class Codes: G06T 7/337 involving reference images or patches

Abstract

A method of computerized analysis of temporally sequential digital images, including (a) determining first shift values between pixels of a first digital image and corresponding pixels of a second digital image; (b) warping the second digital image based on the first shift values to obtain a first warped image in which spatial locations of pixels are varied in relation to the first shift values; (c) determining second shift values between pixels of the first digital image and pixels of the first warped image; and (d) warping the first warped image based on the second shift values to obtain a second warped image in which spatial locations of pixels of the first warped image are varied in relation to the second shift values. Additional iterations of image warping are possible to enhance image registration between the first digital image and the warped version of the second digital image, followed by image subtraction of the first digital image and the final warped image to produce a difference image from which diagnosis of temporal changes ensues. Temporal subtraction assists radiologists in the detection of interval changes on chest radiographs, and particularly to overcome severe misregistration errors in the temporally sequential images mainly due to differences in a subject'"'"'s inclination and/or rotation. In the production of shift values used in image warping, initial shift values are obtained by cross-correlation techniques using a template and search regions of interest. Shift vectors and a histogram of shift vectors in each lung are obtained from initial shift values. The histograms of shift vectors are used in the selection of sets of shift values for smoothing, using two-dimensional fitting and subsequent use of fitted shift values in image warping.

Claims

1. In a method for computerized analysis of temporally sequential digital chest images, each including data corresponding to a pair of lungs, the improvement comprising the steps of:

(a) determining first shift values between pixels of a first digital chest image and corresponding pixels of a second digital chest image, comprising,

selecting plural template regions of interest (ROIs) in the first digital chest image and corresponding search area ROIs in the second digital chest image,

determining shift values between pixels centered in each template ROI and pixels centered in a respective search area ROI and exhibiting highest cross-correlation with respect to said template ROI,

determining shift vectors for each of said shift values, a first cumulative histogram of said shift vectors for pixels in one lung, and a second cumulative histogram of said shift vectors for pixels in the other lung,

selecting, based on characteristics of said first and second cumulative histograms of shift vectors, plural of said shift values for derivation of fitted shift values, perfoming two-dimentional fitting on the shift values selected in the preceding step to derive said fitted shift values which serve as said first shift values; and

(b) warping said second digital chest image using the first shift values to obtain a warped image in which spatial locations of pixels are varied in relation to said first shift values.

2. The method of claim 1, further comprising the steps of:

determining third shift values between pixels of said first digital chest image and pixels of said iteratively warped image; and

warping said iteratively warped image based on the third shift values to obtain a further iteratively warped image in which spatial locations of pixels of said iteratively warped image are varied in relation to said third shift values.

3. The method of claim 1, further comprising:

(c) determining second shift values between pixels of said first digital chest image and pixels of said warped image obtained in step (b);

(d) warping said warped image obtained in step (b) based on the second shift values to obtain an iteratively warped image in which spatial locations of pixels of said warped image obtained in step (b) are varied in relation to said second shift values; and

(e) subtracting the iteratively warped image from said first digital chest image.

4. The method of claim 2, wherein:

said step of selecting plural shift values comprises,

selecting, based on said first histogram, first and second sets of pixels in said one lung with shift vectors within respective first and second predetermined ranges of angles in said first histogram of shift vectors, and selecting, based on said second histogram, third and fourth sets of pixels in said other lung with shift vectors within respective third and fourth predetermined ranges of angles in said second histogram;

said step of performing two-dimensional fitting comprises,

performing two-dimensional fitting on the shift values of the first and third sets of pixels to derive a first set of fitted shift values, and

performing two-dimensional fitting on the shift values of the second and fourth sets of pixels to derive a second set of fitted shift values; and

said step (b) comprises,

using said first set of fitted shift values to warp said second digital chest image to obtain a first warped image,

using said second set of fitted shift values to warp said second digital chest image to obtain a second warped image,

producing first and second subtraction images between said first digital chest image and said first warped image, and between said first digital chest image and said second warped image, respectively,

using said subtraction images to derive the warped image for further processing in said steps (c) and (d).

5. The method of claim 4, wherein the step of using said subtraction images to derive the warped image for further processing in said steps (c) and (d) comprises:

determining a histogram of pixel values in lung regions of said first and second subtraction images and determining which of said first and second subtraction images exhibits a narrower histogram of pixel values in each lung region,

when one of said subtraction images exhibits narrower histograms of pixel values in both right and left lung regions in comparison to a histograms of pixel values in the respective right and left lung regions of the other subtraction image, selecting the warped image from which the subtraction image having said narrower histograms was produced for further processing in said steps (c), and (d), and

when one of said subtraction images does not exhibit narrower histograms of pixel values in both right and left lung regions in comparison to a histograms of pixel values in the respective right and left lung regions of the other subtraction image, selecting for further two-dimensional fitting the fitted shift values of pixels of each respective lung region in the respective first and second warped images exhibiting the narrower histogram of pixel values, performing further two-dimensional fitting on the further selected fitted shift values, and warping said second digital chest image using said further fitted shift values to produce said warped image for further processing in said steps (c) and (d).

6. The method of claim 4, wherein said step of selecting plural shift values comprises,

selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a ±

90°

range of angles of a peak in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a ±

90°

range of angles of a peak in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

7. The method of claim 6, wherein said step of selecting plural shift values comprises,

determining a peak in said first histogram of shift vectors as a shift vector angle having an accumulated shift value greater than twice the average of accumulated shift values of said first histogram.

8. The method of claim 4, wherein said step of selecting plural shift values comprises,

selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a ±

90°

range of angles of a peak in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a 0-180°

range of angles in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

9. The method of claim 8, wherein said step of selecting plural shift values comprises,

determining a peak in said first histogram of shift vectors as a shift vector angle having an accumulated shift value greater than twice the average of accumulated shift values of said first histogram.

10. The method of claim 4, wherein said step of selecting plural shift values comprises,

selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a 0-180°

range of angles in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a 0-180°

range of angles in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

11. The method of claim 2, wherein said step (c) comprises:

selecting plural template regions of interest (ROIs) in the first digital chest image and corresponding search area ROIs in the warped image obtained in step (b),

determining shift values between pixels centered in each template ROI in said first digital chest image and pixels centered in a respective search area ROI in said warped image obtained in step (b) and exhibiting highest cross-correlation with respect to said template ROI,

determining shift vectors for each of said shift values determined in the preceding step,

determining a first cumulative histogram of said shift vectors determined in the preceding step for pixels in one lung, and a second cumulative histogram of said shift vectors determined in the preceding step for pixels in the other lung,

selecting plural of said shift values for derivation of fitted shift values based on characteristics of said first and second cumulative histograms of shift vectors, and

performing two-dimensional fitting on the shift values selected in the preceding step to derive said fitted shift values; and

wherein said warped image obtained in said step (d) is obtained using said fitted shift values.

12. The method of claim 11, wherein:

said step of selecting plural shift values comprises,

selecting, based on said first histogram, first and second sets of pixels in said one lung with shift vectors within respective first and second predetermined ranges of angles in said first histogram of shift vectors, and selecting, based on said second histogram, third and fourth sets of pixels in said other lung with shift vectors within respective third and fourth predetermined ranges of angles in said second histogram;

said step of performing two-dimensional fitting comprises,

performing two-dimensional fitting on the shift values of the first and third sets of pixels to derive a first set of fitted shift values, and

performing two-dimensional fitting on the shift values of the second and fourth sets of pixels to derive a second set of fitted shift values; and

said step (d) comprises,

using said first set of fitted shift values to warp said warped image obtained in said step (b) to obtain a first twice-warped image,

using said second set of fitted shift values to warp said warped image obtained in said step (b) to obtain a second twice-warped image,

producing first and second subtraction images between said first digital chest image and said first twice-warped image and between said first digital chest image and said second twice-warped image, respectively,

using said subtraction images to derive the iteratively warped image for further processing in said step (e).

13. The method of claim 12, wherein the step of using said subtraction images to derive the iteratively warped image for further processing in said step (e) comprises:

determining a histogram of pixel values in lung regions of said first and second subtraction images and determining which of said first and second subtraction images exhibits a narrower histogram of pixel values in each lung region,

when one of said subtraction images exhibits narrower histograms of pixel values in both right and left lung regions in comparison to a histograms of pixel values in the respective right and left lung regions of the other subtraction image, selecting the warped image from which the subtraction image having said narrower histograms was produced for further processing in said step (e), and

when one of said subtraction images does not exhibit narrower histograms of pixel values in both right and left lung regions in comparison to a histograms of pixel values in the respective right and left lung regions of the other subtraction image, selecting for further two-dimensional fitting the fitted shift values of pixels of each respective lung region in the respective first and second warped images exhibiting the narrower histogram of pixel values, performing further two-dimensional fitting on the further selected fitted shift values to derive said second shift values, and warping said warped image obtained in step (b) using said further fitted shift values serving as said second shift values to produce said iteratively warped image for further processing in said step (e).

14. The method of claim 12, wherein said step of selecting plural shift values comprises,

selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a ±

90°

range of angles of a peak in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a ±

90°

range of angles of a peak in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

15. The method of claim 14, wherein said step of selecting plural shift values comprises,

determining a peak in said first histogram of shift vectors as a shift vector angle having an accumulated shift value greater than twice the average of accumulated shift values of said first histogram.

16. The method of claim 12, wherein said step of selecting plural shift values comprises,

selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a ±

90°

range of angles of a peak in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a 0-180°

range of angles in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

17. The method of claim 16, wherein said step of selecting plural shift values comprises,

determining a peak in said first histogram of shift vectors as a shift vector angle having an accumulated shift value greater than twice the average of accumulated shift values of said first histogram.

18. The method of claim 12, wherein said step of selecting plural shift values comprises,

selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a 0-180°

range of angles in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a 0-180°

range of angles in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

19. The method of claim 11, wherein said step of performing two-dimensional fitting on the shift values in said step (c) comprises:

performing linear interpolation of shift values.

20. The method of claim 1, wherein said step of performing two-dimensional fitting on the shift values comprises:

using a two-dimensional nth order polynomial function.

21. A computer readable medium storing computer instructions for computerized analysis of temporally sequential digital chest images, each including data corresponding to a pair of lungs, by performing the steps of:

(a) determining first shift values between pixels of a first digital chest image and corresponding pixels of a second digital chest image, comprising,

selecting plural template regions of interest (ROIs) in the first digital chest image and corresponding search area ROIs in the second digital chest image,

determining shift values between pixels centered in each template ROI and pixels centered in a respective search area ROI and exhibiting highest cross-correlation with respect to said template ROI,

determining shift vectors for each of said shift values, a first cumulative histogram of said shift vectors for pixels in one lung, and a second cumulative histogram of said shift vectors for pixels in the other lung,

selecting, based on characteristics of said first and second cumulative histograms of shift vectors, plural of said shift values for derivation of fitted shift, and

performing two-dimensional fitting on the shift values selected in the preceding step to derive said first shift values; and

(b) warping said second digital chest image using the first shift values to obtain a warped image in which spatial locations of pixels are varied in relation to said first shift values.

22. The computer readable medium of claim 21, further comprising:

(c) determining second shift values between pixels of said first digital chest image and pixels of said warped image obtained in step (b);

(d) warping said warped image obtained in step (b) based on the second shift values to obtain an iteratively warped image in which spatial locations of pixels of said warped image obtained in step (b) are varied in relation to said second shift values; and

(e) subtracting the iteratively warped image from said first digital chest image.

23. The computer readable medium of claim 22, further storing computer instructions for performing the steps of:

determining third shift values between pixels of said first digital chest image and pixels of said iteratively warped image; and

warping said iteratively warped image based on the third shift values to obtain a further iteratively warped image in which spatial locations of pixels of said iteratively warped image are varied in relation to said third shift values.

24. The computer readable medium of claim 22, wherein:

said step of selecting plural shift values comprises,

selecting, based on said first histogram, first and second sets of pixels in said one lung with shift vectors within respective first and second predetermined ranges of angles in said first histogram of shift vectors, and selecting, based on said second histogram, third and fourth sets of pixels in said other lung with shift vectors within respective third and fourth predetermined ranges of angles in said second histogram;

said step of performing two-dimensional fitting comprises,

performing two-dimensional fitting on the shift values of the first and third sets of pixels to derive a first set of fitted shift values, and

performing two-dimensional fitting on the shift values of the second and fourth sets of pixels to derive a second set of fitted shift values; and

said step (b) comprises,

using said first set of fitted shift values to warp said second digital chest image to obtain a first warped image,

using said second set of fitted shift values to warp said second digital chest image to obtain a second warped image,

producing first and second subtraction images between said first digital chest image and said first warped image, and between said first digital chest image and said second warped image, respectively,

using said subtraction images to derive the warped image for further processing in said steps (c) and (d).

25. The computer readable medium of claim 24, wherein the step of using said subtraction images to derive the warped image for further processing in said steps (c) and (d) comprises:

determining a histogram of pixel values in lung regions of said first and second subtraction images and determining which of said first and second subtraction images exhibits a narrower histogram of pixel values in each lung region,

when one of said subtraction images exhibits narrower histograms of pixel values in both right and left lung regions in comparison to a histograms of pixel values in the respective right and left lung regions of the other subtraction image, selecting the warped image from which the subtraction image having said narrower histograms was produced for further processing in said steps (c), and (d), and

when one of said subtraction images does not exhibit narrower histograms of pixel values in both right and left lung regions in comparison to a histograms of pixel values in the respective right and left lung regions of the other subtraction image, selecting for further two-dimensional fitting the fitted shift values of pixels of each respective lung region in the respective first and second warped images exhibiting the narrower histogram of pixel values, performing further two-dimensional fitting on the further selected fitted shift values, and warping said second digital chest image using said further fitted shift values to produce said warped image for further processing in said steps (c) and (d).

26. The computer readable medium of claim 24, wherein said step of selecting plural shift values comprises,

selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a ±

90°

range of angles of a peak in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a ±

90°

range of angles of a peak in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

27. The computer readable medium of claim 26, wherein said step of selecting plural shift values comprises,

determining a peak in said first histogram of shift vectors as a shift vector angle having an accumulated shift value greater than twice the average of accumulated shift values of said first histogram.

28. The computer readable medium of claim 24, wherein said step of selecting plural shift values comprises,

selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a ±

90°

range of angles of a peak in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a 0-180°

range of angles in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

29. The computer readable medium of claim 28, wherein said step of selecting plural shift values comprises,

determining a peak in said first histogram of shift vectors as a shift vector angle having an accumulated shift value greater than twice the average of accumulated shift values of said first histogram.

30. The computer readable medium of claim 24, wherein said step of selecting plural shift values comprises,

selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a 0-180°

range of angles in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a 0-180°

range of angles in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

31. The computer readable medium of claim 22, wherein said step (c) comprises:

selecting plural template regions of interest (ROIs) in the first digital chest image and corresponding search area ROIs in the warped image obtained in step (b),

determining shift values between pixels centered in each template ROI in said first digital chest image and pixels centered in a respective search area ROI in said warped image obtained in step (b) and exhibiting highest cross-correlation with respect to said template ROI,

determining shift vectors for each of said shift values determined in the preceding step,

determining a first cumulative histogram of said shift vectors determined in the preceding step for pixels in one lung, and a second cumulative histogram of said shift vectors determined in the preceding step for pixels in the other lung,

selecting plural of said shift values for derivation of fitted shift values based on characteristics of said first and second cumulative histograms of shift vectors, and

performing two-dimensional fitting on the shift values selected in the preceding step to derive said fitted shift values; and

wherein said warped image obtained in said step (d) is obtained using said fitted shift values.

32. The computer readable medium of claim 31, wherein:

said step of selecting plural shift values comprises,

selecting, based on said first histogram, first and second sets of pixels in said one lung with shift vectors within respective first and second predetermined ranges of angles in said first histogram of shift vectors, and selecting, based on said second histogram, third and fourth sets of pixels in said other lung with shift vectors within respective third and fourth predetermined ranges of angles in said second histogram;

said step of performing two-dimensional fitting comprises,

performing two-dimensional fitting on the shift values of the first and third sets of pixels to derive a first set of fitted shift values, and

performing two-dimensional fitting on the shift values of the second and fourth sets of pixels to derive a second set of fitted shift values; and

said step (d) comprises,

using said first set of fitted shift values to warp said warped image obtained in said step (b) to obtain a first twice-warped image,

using said second set of fitted shift values to warp said warped image obtained in said step (b) to obtain a second twice-warped image,

producing first and second subtraction images between said first digital chest image and said first twice-warped image and between said first digital chest image and said second twice-warped image, respectively,

using said subtraction images to derive the iteratively warped image for further processing in said step (e).

33. The computer readable medium of claim 32, wherein the step of using said subtraction images to derive the iteratively warped image for further processing in said step (e) comprises:

determining a histogram of pixel values in lung regions of said first and second subtraction images and determining which of said first and second subtraction images exhibits a narrower histogram of pixel values in each lung region,

when one of said subtraction images exhibits narrower histograms of pixel values in both right and left lung regions in comparison to a histograms of pixel values in the respective right and left lung regions of the other subtraction image, selecting the warped image from which the subtraction image having said narrower histograms was produced for further processing in said step (e), and

when one of said subtraction images does not exhibit narrower histograms of pixel values in both right and left lung regions in comparison to a histograms of pixel values in the respective right and left lung regions of the other subtraction image, selecting for further two-dimensional fitting the fitted shift values of pixels of each respective lung region in the respective first and second warped images exhibiting the narrower histogram of pixel values, performing further two-dimensional fitting on the further selected fitted shift values to derive said second shift values, and warping said warped image obtained in step (b) using said further fitted shift values serving as said second shift values to produce said iteratively warped image for further processing in said step (e).

34. The computer readable medium of claim 32, wherein said step of selecting plural shift values comprises,

selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a ±

90°

range of angles of a peak in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a ±

90°

range of angles of a peak in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

35. The computer readable medium of claim 34, wherein said step of selecting plural shift values comprises,

determining a peak in said first histogram of shift vectors as a shift vector angle having an accumulated shift value greater than twice the average of accumulated shift values of said first histogram.

36. The computer readable medium of claim 32, wherein said step of selecting plural shift values comprises,

selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a ±

90°

range of angles of a peak in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a 0-180°

range of angles in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

37. The computer readable medium of claim 36, wherein said step of selecting plural shift values comprises,

determining a peak in said first histogram of shift vectors as a shift vector angle having an accumulated shift value greater than twice the average of accumulated shift values of said first histogram.

38. The computer readable medium of claim 32, wherein said step of selecting plural shift values comprises,

selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a 0-180°

range of angles in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a 0-180°

range of angles in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

39. The computer readable medium of claim 31, wherein said step of performing two-dimensional fitting on the shift values in said step (c) comprises:

performing linear interpolation of shift values.

40. The computer readable medium of claim 21, wherein said step of performing two-dimensional fitting on the shift values comprises:

using a two-dimensional nth order polynomial function.

41. A system for computerized analysis of temporally sequential digital chest images, each including data corresponding to a pair of lungs, the improvement comprising:

(a) means for determining first shift values between pixels of a first digital image and corresponding pixels of a second digital image, comprising,

means for selecting plural template regions of interest (ROIs) in the first digital image and corresponding search area ROIs in the second image,

means for determining shift values between pixels centered in each template ROI and pixels centered in a respective search area ROI and exhibiting highest cross-correlation with respect to said template ROI,

means for determining shift vectors for each of said shift values, a first cumulative histogram of said shift vectors for pixels in one lung, and a second cumulative histogram of said shift vectors for pixels in the other lung,

means for selecting, based on characteristics of said first and second cumulative histograms of shift vectors, plural of said shift values for derivation of fitted shift values to serve as said first shift values, and

means for performing two-dimensional fitting on the shift values selected in the preceding step to derive said first shift values; and

(b) means for warping said second digital image based on the first shift values to obtain a warped image in which spatial locations of pixels are varied in relation to said first shift values.

42. The system of claim 41, further comprising:

(c) means for determining second shift values between pixels of said first digital chest image and pixels of said warped image obtained in means (b);

(d) means for warping said warped image obtained in means (b) based on the second shift values to obtain an iteratively warped image in which spatial locations of pixels of said warped image obtained in means (b) are varied in relation to said second shift values; and

(e) means for subtracting the iteratively warped image from said first digital chest image.

43. The system of claim 42, further comprising:

means for determining third shift values between pixels of said first digital chest image and pixels of said iteratively warped image; and

means for warping said iteratively warped image based on the third shift values to obtain a further iteratively warped image in which spatial locations of pixels of said iteratively warped image are varied in relation to said third shift values.

44. The system of claim 42, wherein:

said means for selecting plural shift values comprises,

means for selecting, based on said first histogram, first and second sets of pixels in said one lung with shift vectors within respective first and second predetermined ranges of angles in said first histogram of shift vectors, and selecting, based on said second histogram, third and fourth sets of pixels in said other lung with shift vectors within respective third and fourth predetermined ranges of angles in said second histogram;

said means for performing two-dimensional fitting comprises,

means for performing two-dimensional fitting on the shift values of the first and third sets of pixels to derive a first set of fitted shift values, and

means for performing two-dimensional fitting on the shift values of the second and fourth sets of pixels to derive a second set of fitted shift values; and

said means (b) comprises,

means for using said first set of fitted shift values to warp said second digital chest image to obtain a first warped image,

means for using said second set of fitted shift values to warp said second digital chest image to obtain a second warped image,

means for producing first and second subtraction images between said first digital chest image and said first warped image, and between said first digital chest image and said second warped image, respectively,

means for using said subtraction images to derive the warped image for further processing in said means (c) and (d).

45. The system of claim 44, wherein the means for using said subtraction images to derive the warped image for further processing in said means (c) and (d) comprises:

means for determining a histogram of pixel values in lung regions of said first and second subtraction images and determining which of said first and second subtraction images exhibits a narrower histogram of pixel values in each lung region,

when one of said subtraction images exhibits narrower histograms of pixel values in both right and left lung regions in comparison to a histograms of pixel values in the respective right and left lung regions of the other subtraction image, means for selecting the warped image from which the subtraction image having said narrower histograms was produced for further processing in said means (c), and means (d), and

when one of said subtraction images does not exhibit narrower histograms of pixel values in both right and left lung regions in comparison to a histograms of pixel values in the respective right and left lung regions of the other subtraction image, means for selecting for further two-dimensional fitting the fitted shift values of pixels of each respective lung region in the respective first and second warped images exhibiting the narrower histogram of pixel values, performing further two-dimensional fitting on the further selected fitted shift values, and warping said second digital chest image using said further fitted shift values to produce said warped image for further processing in said means (c) and means (d).

46. The system of claim 44, wherein said means for selecting plural shift values comprises,

means for selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a ±

90°

range of angles of a peak in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

means for selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a ±

90°

range of angles of a peak in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

47. The system of claim 46, wherein said means for selecting plural shift values comprises,

means for determining a peak in said first histogram of shift vectors as a shift vector angle having an accumulated shift value greater than twice the average of accumulated shift values of said first histogram.

48. The system of claim 44, wherein said means for selecting plural shift values comprises,

means for selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a ±

90°

range of angles of a peak in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

means for selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a 0-180°

range of angles in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

49. The system of claim 48, wherein said means for selecting plural shift values comprises,

means for determining a peak in said first histogram of shift vectors as a shift vector angle having an accumulated shift value greater than twice the average of accumulated shift values of said first histogram.

50. The system of claim 44, wherein said means for selecting plural shift values comprises,

means for selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a 0-180°

range of angles in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

means for selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a 0-180°

range of angles in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

51. The system of claim 42, wherein said means (c) comprises:

means for selecting plural template regions of interest (ROIs) in the first digital chest image and corresponding search area ROIs in the warped image obtained in means (b),

means for determining shift values between pixels centered in each template ROI in said first digital chest image and pixels centered in a respective search area ROI in said warped image obtained in means (b) and exhibiting highest cross-correlation with respect to said template ROI,

means for determining shift vectors for each of said shift values determined in the preceding means,

means for determining a first cumulative histogram of said shift vectors determined in the preceding means for pixels in one lung, and a second cumulative histogram of said shift vectors determined in the preceding means for pixels in the other lung,

means for selecting plural of said shift values for derivation of fitted shift values based on characteristics of said first and second cumulative histograms of shift vectors, and

means for performing two-dimensional fitting on the shift values selected in the preceding means to derive said fitted shift values; and

wherein said warped image obtained in said means (d) is obtained using said fitted shift values.

52. The system of claim 51, wherein:

said means for selecting plural shift values comprises,

means for selecting, based on said first histogram, first and second sets of pixels in said one lung with shift vectors within respective first and second predetermined ranges of angles in said first histogram of shift vectors, and selecting, based on said second histogram, third and fourth sets of pixels in said other lung with shift vectors within respective third and fourth predetermined ranges of angles in said second histogram;

said means for performing two-dimensional fitting comprises,

means for performing two-dimensional fitting on the shift values of the first and third sets of pixels to derive a first set of fitted shift values, and

means for performing two-dimensional fitting on the shift values of the second and fourth sets of pixels to derive a second set of fitted shift values; and

said means (d) comprises,

means for using said first set of fitted shift values to warp said warped image obtained in said means (b) to obtain a first twice-warped image,

means for using said second set of fitted shift values to warp said warped image obtained in said means (b) to obtain a second twice-warped image,

means for producing first and second subtraction images between said first digital chest image and said first twice-warped image and between said first digital chest image and said second twice-warped image, respectively,

means for using said subtraction images to derive the iteratively warped image for further processing in said means (e).

53. The system of claim 52, wherein the means for using said subtraction images to derive the iteratively warped image for further processing in said means (e) comprises:

means for determining a histogram of pixel values in lung regions of said first and second subtraction images and determining which of said first and second subtraction images exhibits a narrower histogram of pixel values in each lung region,

when one of said subtraction images exhibits narrower histograms of pixel values in both right and left lung regions in comparison to a histograms of pixel values in the respective right and left lung regions of the other subtraction image, means for selecting the warped image from which the subtraction image having said narrower histograms was produced for further processing in said means (e), and

when one of said subtraction images does not exhibit narrower histograms of pixel values in both right and left lung regions in comparison to a histograms of pixel values in the respective right and left lung regions of the other subtraction image, means for selecting for further two-dimensional fitting the fitted shift values of pixels of each respective lung region in the respective first and second warped images exhibiting the narrower histogram of pixel values, means for performing further two-dimensional fitting on the further selected fitted shift values to derive said second shift values, and means for warping said warped image obtained in means (b) using said further fitted shift values serving as said second shift values to produce said iteratively warped image for further processing in said means (e).

54. The system of claim 52, wherein said means for selecting plural shift values comprises,

means for selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a ±

90°

range of angles of a peak in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

means for selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a ±

90°

range of angles of a peak in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

55. The system of claim 54, wherein said means for selecting plural shift values comprises,

means for determining a peak in said first histogram of shift vectors as a shift vector angle having an accumulated shift value greater than twice the average of accumulated shift values of said first histogram.

56. The system of claim 52, wherein said means for selecting plural shift values comprises,

means for selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a ±

90°

range of angles of a peak in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

means for selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a 0-180°

range of angles in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

57. The system of claim 56, wherein said means for selecting plural shift values comprises,

means for determining a peak in said first histogram of shift vectors as a shift vector angle having an accumulated shift value greater than twice the average of accumulated shift values of said first histogram.

58. The system of claim 52, wherein said means for selecting plural shift values comprises,

means for selecting, based on said first histogram, a first set of pixels in said one lung with shift vectors within a 0-180°

range of angles in said first histogram of shift vectors and selecting said second set of pixels as the remaining pixels in said one lung, and

means for selecting, based on said second histogram, a third set of pixels in said other lung with shift vectors within a 0-180°

range of angles in said second histogram of shift vectors and selecting said fourth set of pixels as the remaining pixels in said other lung.

59. The system of claim 51, wherein said means for performing two-dimensional fitting on the shift values of said means (c) comprises:

means for performing linear interpolation of shift values.

60. The system of claim 41, wherein said means for performing two-dimensional fitting on the shift values comprises:

means for using a two-dimensional nth order polynomial function.