Rayleigh-maximum-likelihood bilateral filter for ultrasound image enhancement

BACKGROUND: Ultrasound imaging plays an important role in computer diagnosis since it is non-invasive and cost-effective. However, ultrasound images are inevitably contaminated by noise and speckle during acquisition. Noise and speckle directly impact the physician to interpret the images and decrease the accuracy in clinical diagnosis. Denoising method is an important component to enhance the quality of ultrasound images; however, several limitations discourage the results because current denoising methods can remove noise while ignoring the statistical characteristics of speckle and thus undermining the effectiveness of despeckling, or vice versa. In addition, most existing algorithms do not identify noise, speckle or edge before removing noise or speckle, and thus they reduce noise and speckle while blurring edge details. Therefore, it is a challenging issue for the traditional methods to effectively remove noise and speckle in ultrasound images while preserving edge details. METHODS: To overcome the above-mentioned limitations, a novel method, called Rayleigh-maximum-likelihood switching bilateral filter (RSBF) is proposed to enhance ultrasound images by two steps: noise, speckle and edge detection followed by filtering. Firstly, a sorted quadrant median vector scheme is utilized to calculate the reference median in a filtering window in comparison with the central pixel to classify the target pixel as noise, speckle or noise-free. Subsequently, the noise is removed by a bilateral filter and the speckle is suppressed by a Rayleigh-maximum-likelihood filter while the noise-free pixels are kept unchanged. To quantitatively evaluate the performance of the proposed method, synthetic ultrasound images contaminated by speckle are simulated by using the speckle model that is subjected to Rayleigh distribution. Thereafter, the corrupted synthetic images are generated by the original image multiplied with the Rayleigh distributed speckle of various signal to noise ratio (SNR) levels and added with Gaussian distributed noise. Meanwhile clinical breast ultrasound images are used to visually evaluate the effectiveness of the method. To examine the performance, comparison tests between the proposed RSBF and six state-of-the-art methods for ultrasound speckle removal are performed on simulated ultrasound images with various noise and speckle levels. RESULTS: The results of the proposed RSBF are satisfying since the Gaussian noise and the Rayleigh speckle are greatly suppressed. The proposed method can improve the SNRs of the enhanced images to nearly 15 and 13 dB compared with images corrupted by speckle as well as images contaminated by speckle and noise under various SNR levels, respectively. The RSBF is effective in enhancing edge while smoothing the speckle and noise in clinical ultrasound images. In the comparison experiments, the proposed method demonstrates its superiority in accuracy and robustness for denoising and edge preserving under various levels of noise and speckle in terms of visual quality as well as numeric metrics, such as peak signal to noise ratio, SNR and root mean squared error. CONCLUSIONS: The experimental results show that the proposed method is effective for removing the speckle and the background noise in ultrasound images. The main reason is that it performs a “detect and replace” two-step mechanism. The advantages of the proposed RBSF lie in two aspects. Firstly, each central pixel is classified as noise, speckle or noise-free texture according to the absolute difference between the target pixel and the reference median. Subsequently, the Rayleigh-maximum-likelihood filter and the bilateral filter are switched to eliminate speckle and noise, respectively, while the noise-free pixels are unaltered. Therefore, it is implemented with better accuracy and robustness than the traditional methods. Generally, these traits declare that the proposed RSBF would have significant clinical application.