Dieomorphisms

Marc Niethammer
Department of Computer Science, University of North Carolina, Chapel Hill
Background Introduction
This is it
This (function f ) is a dieomorphism
f : x x, x R.
Lets see what other kind of dieomorphisms there are and what
properties they have ...
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Background Introduction
Denition
Denition (Dieomorphism)
A C

mapping F : M N between C

manifolds is a
dieomorphism if it is a homeomorphism and F
1
is C

. M and N
are dieomorphic if there exists a dieomorphism F : M N.
A dieomorphism is a smooth bijective mapping with a smooth
inverse.
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Background Introduction
Understanding the Denition
To understand the denition we need to clarify the following
What is a mapping?
What is a homeomorphism?
What is C

?
What is a manifold?
What is a C

manifold?
Before we do this, lets look at a couple of examples.
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Background Introduction
Examples of Dieomorphisms
In medical imaging, dieomorphic mappings are often times used in
conjunction with innite-dimensional manifold (for smooth invertible
elastic mappings in registration).
The concept of dieomorphisms is much more general though.
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Background Introduction
Some Examples
Ane det(A) = 0
Elastic deformation
[Image from Ashburner]
Lets try to understand the denition now ...
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Background Introduction
What is a homeomorphism?
Denition
Homeomorphism A function f : M N is a homeomorphism if f is
bijective and f and f
1
are continuous.
Bijection.
Continuous.
Disontinuous.
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Background Introduction
Interpreting a function as a coordinate transform
Mapping is not bijective Mapping is discontinuous
1 2 3 4 5 6
1 2 1 2 3
4 5 6
1 2 3 5 6 4
Homeomorphic mapping
3 4 5 6
What are we still missing?
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Background Introduction
A Simple Example of Terrible Things
It seems like a homeomorphism is all we want. Because it
prevents folding and
does not allow for tearing either.
What else could we ask for?
The function
f : x x
3
, f
1
: x x
1
3
, x R,
is homeomorphic. But the derivative of f
1
is not dened at 0.
1 0.5 0 0.5 1
1
0.5
0
0.5
1
1 0.5 0 0.5 1
1
0.5
0
0.5
1
Will show later that this is not a dieomorphism.
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Background Introduction
What is C

?
Denition
Class C
k
A function f is of class C
k
if it is k times continuously
dierentiable.
A function is of class C

(is smooth) if it has derivatives of all orders.

f (x) = sin(x) is C

All polynomials are C

f (x) = x
1
3
is not C

, because f

(x) =
1
3x
2
3
is not def. at x = 0.
A C
0
function is a continuous function.
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Background Introduction
A Simple Example of Terrible Things
The function
f : x x
3
, x R
is not a dieomorphism. Why?
f is C

;
df
dx
= 3x
2
,
d
2
f
dx
2
= 6x,
d
3
f
dx
3
= 6,
d
4
f
dx
4
= 0, . . . .
f is a homeomorphism: f and f
1
(x) = x
1/3
are continuous, f is
bijective.
f
1
is not C

:
df
1
dx
=
1
3x
2
3
, not dierentiable at x = 0.
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Background Introduction
Simple Dieomorphic Image Transformations
Translation
f : x x + t
Similarity Transform
f : x sRx
Ane Transform
f : x Ax + t
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Background Introduction
What is a (topological) manifold?
Denition
Manifold [Boothby] A manifold M of dimension n is a topological
space with the following properties
M is Hausdor,
M is locally Euclidean of dimension n and
M has a countable basis of open sets.
Hausdor: Points can
be separated by
neighborhoods.
Circle, S
1
, n=1.
Countable basis so
that we can have a
metric.
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Background Introduction
What is dierentiable (C

) manifold?
Image from Mumford.
Manifold has local
charts.
Local charts give local
coordinates.
The set of charts is
called an atlas.
If the change of coordinates from chart to chart is given by C

functions we have a C

manifold (and a notion of dierentiability).

A particularly simple C

manifold is Euclidean space.

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Background Introduction
Some Di. Geometry [following presentation by Mumford]
We
have charts/local coordinates at every point P M
P (x
1
(P), x
2
(P), , x
n
(P)
have a tangent space T
P
M to M which in coordinates is the
vector space of innitesimal changes
(dx
1
, dx
2
, , dx
n
)
can associate a tangent to every curve g : [0, 1] M
dg(t)
dt
= ( ,
dx
i
(g(t))
dt
, ) T
g(t)
M
can dene a metric in T
P
M
(dx
1
, , dx
n
) =
_

n
i ,j
g
i ,j
(P)dx
i
dx
j
can use this to dene a path length
length(g) =
_
1
0

dg(t)
dt
dt.
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Background Introduction
Manifold of dieomorphisms [following pres. by Mumford]
The group of dieomorphisms is also a manifold.
Its tangent space is the linear space of vector elds on and
paths x (x, t), t [0, 1] are described by
(x, t)
t
= v((x, t), t).
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Background Introduction
Optimality for dieomorphic mappings
We want to nd the dieomorphic mapping that in some sense has
the smallest length given some norm
_
1
0
v(x, t) dt.
The choice of norm can make a big dierence.
Image from Mumford.
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Background Landmark-based matching
Landmark-based matching
Given a nite set of matching landmarks (x
1
, x
2
, , x
n
),
(y
1
, y
2
, , y
n
) in nd a dense dieomorphism g in .
Exact matching: y
i
= g(x
i
),
Inexact matching: y
i
g(x
i
).
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Background Landmark-based matching
Bookstein Splines
Method for landmark matching based on nding the mapping function
f (x, y) = a
0
+ a
x
x + a
y
y +
n

i =1
w
i
U(|p
i
(x, y)
T
|),
where U(r ) = r
2
log(r
2
)
that matches landmark points to each other while minimizing
I
f
=
__
_
_

2
f
x
2
_
2
+ 2
_

2
f
xy
_
2
+
_

2
f
y
2
_
2
_
dx dy.
This mapping is not necessarily dieomorphic.
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Background Landmark-based matching
Example Result for Bookstein Splines
Image from Younes.
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Background Landmark-based matching
Dieomorphic Landmark Matching [Joshi]
Flowing images into each other. Mapping function h(x) = (x, 1)
given through the ODE
d(x, t)
dt
= v((x, t)), t [0, 1], (x, 0) = x.
Minimize smoothness cost subj. to landmark constraints (h(x
n
) = y
n
)
v() = argmin
v()
_
1
0
_

Lv(x, t)
2
dx dt.
This is guaranteed to give a dieomorphic h for suitable L (for
example L = I (
2
+ c) works).
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Background Landmark-based matching
Example Result for Di. Landmark Matching
Image from Joshi.
Left: target image, middle: di. landmark matching, right: small
displacement matching.
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Background Landmark-based matching
Log-Euclidean Polyane Registration [Arsigny]
Idea: Combine multiple ane transformations to one dieomorphic
mapping.
Given n ane Transformations T
i
with weighting functions w
i
compute the mapping h(x) = (x, 1) as
d(x, t)
dt
=
n

i =1
w
i
((x, t)) log(T
i
)(x, t), t [0, 1], (x, 0) = x.
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Background Landmark-based matching
Polyane Example
Image from Arsigny.
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Background Dense Matching
Optical ow
One of the simplest algorithms for dense image matching is optical
ow.
Searching for a mapping g = id + u a nonlinear cost function is
E(g) =
_

2
u
2
dx +
_

I (g(x)) J(x)
2
d.
Unfortunately, this does not guarantee a dieomorphic mapping.
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Background Dense Matching
Large Displacement Di. Mapping (LDDM) [Miller]
Dense image matching while assuring dieomorphism
d(x, t)
dt
= v((x, t), t), t [0, 1], (x, 0) = x.
Matching equation
E(v) =
_

0
v(, t)
2
L
dt +
_

|T((x, )) D(x)|
2
dx.
This is assured to be dieomorphic if v(, t)
L
is bounded by an
appropriate Sobolev norm, T and U are uniformly bounded and
measurable and, T is discontinuous on a set of measure zero [Dupuis].
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Background Dense Matching
LDDM example
Images from
Beg and Miller.
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Applications
Some Applications
Elastic dieomorphic mappings are used in medical image analysis for
Nonlinear registration,
Atlas building,
Regression [See Brad Daviss paper],
Statistics (interpreting the ow equations as initial value
problems and doing statistics on the initial values).
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Conclusion
Conclusion
Dieomorphisms are a rich class of mappings.
In the context of image registration
Rigid transformations,
Similarity transformations,
Ane transformations,
Polyane transformations,
Elastic transformations, ...
are (or can be, with appropriate conditions) dieomorphic mappings.
Dieomorphic mappings are nice, because they are smooth and
invertible.
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