Computer-aided detection of lung nodules: false positive reduction using a 3D gradient field method and 3D ellipsoid fitting

We are developing a computer-aided detection system to assist radiologists in the detection of lung nodules on thoracic computed tomography (CT) images. The purpose of this study was to improve the false-positive (FP) reduction stage of our algorithm by developing features that extract three-dimensional (3D) shape information from volumes of interest identified in the prescreening stage. We formulated 3D gradient field descriptors, and derived 19 gradient field features from their statistics. Six ellipsoid features were obtained by computing the lengths and the length ratios of the principal axes of an ellipsoid fitted to a segmented object. Both the gradient field features and the ellipsoid features were designed to distinguish spherical objects such as lung nodules from elongated objects such as vessels. The FP reduction performance in this new 25-dimensional feature space was compared to the performance in a 19-dimensional space that consisted of features extracted using previously developed methods. The performance in the 44-dimensional combined feature space was also evaluated. Linear discriminant analysis with stepwise feature selection was used for classification. The parameters used for feature selection were optimized using the simplex algorithm. Training and testing were performed using a leave-one-patient-out scheme. The FP reduction performances in different feature spaces were evaluated by using the area Az under the receiver operating characteristic curve and the number of FPs per CT section at a given sensitivity as accuracy measures. Our data set consisted of 82 CT scans (3551 axial sections) from 56 patients with section thickness ranging from 1.0 to 2.5 mm. Our prescreening algorithm detected 111 of the 116 solid nodules (nodule size: 3.0-30.6 mm) marked by experienced thoracic radiologists. The test Az values were 0.95 +/- 0.01, 0.88 +/- 0.02, and 0.94 +/- 0.01 in the new, previous, and combined feature spaces, respectively. The number of FPs per section at 80% sensitivity in these three feature spaces were 0.37, 1.61, and 0.34, respectively. The improvement in the test Az with the 25 new features was statistically significant (p<0.0001) compared to that with the previous 19 features alone.