Skip to main content

2018 | OriginalPaper | Buchkapitel

Automatic Brain Tumor Segmentation Using Cascaded Anisotropic Convolutional Neural Networks

verfasst von : Guotai Wang, Wenqi Li, Sébastien Ourselin, Tom Vercauteren

Erschienen in: Brainlesion: Glioma, Multiple Sclerosis, Stroke and Traumatic Brain Injuries

Verlag: Springer International Publishing

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

A cascade of fully convolutional neural networks is proposed to segment multi-modal Magnetic Resonance (MR) images with brain tumor into background and three hierarchical regions: whole tumor, tumor core and enhancing tumor core. The cascade is designed to decompose the multi-class segmentation problem into a sequence of three binary segmentation problems according to the subregion hierarchy. The whole tumor is segmented in the first step and the bounding box of the result is used for the tumor core segmentation in the second step. The enhancing tumor core is then segmented based on the bounding box of the tumor core segmentation result. Our networks consist of multiple layers of anisotropic and dilated convolution filters, and they are combined with multi-view fusion to reduce false positives. Residual connections and multi-scale predictions are employed in these networks to boost the segmentation performance. Experiments with BraTS 2017 validation set show that the proposed method achieved average Dice scores of 0.7859, 0.9050, 0.8378 for enhancing tumor core, whole tumor and tumor core, respectively. The corresponding values for BraTS 2017 testing set were 0.7831, 0.8739, and 0.7748, respectively.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Literatur
1.
Zurück zum Zitat Abadi, M., Barham, P., Chen, J., Chen, Z., Davis, A., Dean, J., Devin, M., Ghemawat, S., Irving, G., Isard, M., Kudlur, M., Levenberg, J., Monga, R., Moore, S., Murray, D.G., Steiner, B., Tucker, P., Vasudevan, V., Warden, P., Wicke, M., Yu, Y., Zheng, X., Brain, G.: TensorFlow: A system for large-scale machine learning. In: OSDI, pp. 265–284 (2016) Abadi, M., Barham, P., Chen, J., Chen, Z., Davis, A., Dean, J., Devin, M., Ghemawat, S., Irving, G., Isard, M., Kudlur, M., Levenberg, J., Monga, R., Moore, S., Murray, D.G., Steiner, B., Tucker, P., Vasudevan, V., Warden, P., Wicke, M., Yu, Y., Zheng, X., Brain, G.: TensorFlow: A system for large-scale machine learning. In: OSDI, pp. 265–284 (2016)
2.
Zurück zum Zitat Abdulkadir, A., Lienkamp, S.S., Brox, T., Ronneberger, O.: 3D U-Net: Learning dense volumetric segmentation from sparse annotation. In: MICCAI, pp. 424–432 (2016) Abdulkadir, A., Lienkamp, S.S., Brox, T., Ronneberger, O.: 3D U-Net: Learning dense volumetric segmentation from sparse annotation. In: MICCAI, pp. 424–432 (2016)
3.
Zurück zum Zitat Bakas, S., Akbari, H., Sotiras, A., Bilello, M., Rozycki, M., Kirby, J., Freymann, J., Farahani, K., Davatzikos, C.: Advancing the cancer genome atlas glioma MRI collections with expert segmentation labels and radiomic features. Nature Sci. Data 170117 (2017) Bakas, S., Akbari, H., Sotiras, A., Bilello, M., Rozycki, M., Kirby, J., Freymann, J., Farahani, K., Davatzikos, C.: Advancing the cancer genome atlas glioma MRI collections with expert segmentation labels and radiomic features. Nature Sci. Data 170117 (2017)
4.
Zurück zum Zitat Bakas, S., Akbari, H., Sotiras, A., Bilello, M., Rozycki, M., Kirby, J., Freymann, J., Farahani, K., Davatzikos, C.: Segmentation labels and radiomic features for the pre-operative scans of the TCGA-LGG collection. The Cancer Imaging Archive (2017) Bakas, S., Akbari, H., Sotiras, A., Bilello, M., Rozycki, M., Kirby, J., Freymann, J., Farahani, K., Davatzikos, C.: Segmentation labels and radiomic features for the pre-operative scans of the TCGA-LGG collection. The Cancer Imaging Archive (2017)
5.
Zurück zum Zitat Bakas, S., Akbari, H., Sotiras, A., Bilello, M., Rozycki, M., Kirby, J., Freymann, J., Farahani, K., Davatzikos, C.: Segmentation labels for the pre-operative scans of the TCGA-GBM collection. The Cancer Imaging Archive (2017) Bakas, S., Akbari, H., Sotiras, A., Bilello, M., Rozycki, M., Kirby, J., Freymann, J., Farahani, K., Davatzikos, C.: Segmentation labels for the pre-operative scans of the TCGA-GBM collection. The Cancer Imaging Archive (2017)
7.
Zurück zum Zitat Christ, P.F., Elshaer, M.E.A., Ettlinger, F., Tatavarty, S., Bickel, M., Bilic, P., Rempfler, M., Armbruster, M., Hofmann, F., Anastasi, M.D., Sommer, W.H., Ahmadi, S.A., Menze, B.H.: Automatic liver and lesion segmentation in CT using cascaded fully convolutional neural networks and 3D conditional random fields. In: MICCAI, pp. 415–423 (2016) Christ, P.F., Elshaer, M.E.A., Ettlinger, F., Tatavarty, S., Bickel, M., Bilic, P., Rempfler, M., Armbruster, M., Hofmann, F., Anastasi, M.D., Sommer, W.H., Ahmadi, S.A., Menze, B.H.: Automatic liver and lesion segmentation in CT using cascaded fully convolutional neural networks and 3D conditional random fields. In: MICCAI, pp. 415–423 (2016)
8.
Zurück zum Zitat Fidon, L., Li, W., Garcia-Peraza-Herrera, L.C., Ekanayake, J., Kitchen, N., Ourselin, S., Vercauteren, T.: Scalable multimodal convolutional networks for brain tumour segmentation. In: MICCAI, pp. 285–293 (2017) Fidon, L., Li, W., Garcia-Peraza-Herrera, L.C., Ekanayake, J., Kitchen, N., Ourselin, S., Vercauteren, T.: Scalable multimodal convolutional networks for brain tumour segmentation. In: MICCAI, pp. 285–293 (2017)
9.
Zurück zum Zitat Fidon, L., Li, W., Garcia-Peraza-Herrera, L.C.: Generalised Wasserstein Dice score for imbalanced multi-class segmentation using holistic convolutional networks (2017). arXiv preprint arXiv:1707.00478 Fidon, L., Li, W., Garcia-Peraza-Herrera, L.C.: Generalised Wasserstein Dice score for imbalanced multi-class segmentation using holistic convolutional networks (2017). arXiv preprint arXiv:​1707.​00478
10.
Zurück zum Zitat Gibson, E., Li, W., Sudre, C., Fidon, L., Shakir, D., Wang, G., Eaton-Rosen, Z., Gray, R., Doel, T., Hu, Y., Whyntie, T., Nachev, P., Barratt, D.C., Ourselin, S., Cardoso, M.J., Vercauteren, T.: NiftyNet: A deep-learning platform for medical imaging (2017). arXiv preprint arXiv:1709.03485 Gibson, E., Li, W., Sudre, C., Fidon, L., Shakir, D., Wang, G., Eaton-Rosen, Z., Gray, R., Doel, T., Hu, Y., Whyntie, T., Nachev, P., Barratt, D.C., Ourselin, S., Cardoso, M.J., Vercauteren, T.: NiftyNet: A deep-learning platform for medical imaging (2017). arXiv preprint arXiv:​1709.​03485
11.
Zurück zum Zitat Grosgeorge, D., Petitjean, C., Dacher, J.N., Ruan, S.: Graph cut segmentation with a statistical shape model in cardiac MRI. Comput. Vis. Image Underst. 117(9), 1027–1035 (2013)CrossRef Grosgeorge, D., Petitjean, C., Dacher, J.N., Ruan, S.: Graph cut segmentation with a statistical shape model in cardiac MRI. Comput. Vis. Image Underst. 117(9), 1027–1035 (2013)CrossRef
12.
Zurück zum Zitat Havaei, M., Davy, A., Warde-Farley, D., Biard, A., Courville, A., Bengio, Y., Pal, C., Jodoin, P.M., Larochelle, H.: Brain tumor segmentation with deep neural networks. Med. Image Anal. 35, 18–31 (2016)CrossRef Havaei, M., Davy, A., Warde-Farley, D., Biard, A., Courville, A., Bengio, Y., Pal, C., Jodoin, P.M., Larochelle, H.: Brain tumor segmentation with deep neural networks. Med. Image Anal. 35, 18–31 (2016)CrossRef
13.
Zurück zum Zitat Havaei, M., Guizard, N., Chapados, N., Bengio, Y.: HeMIS: Hetero-modal image segmentation. In: MICCAI, pp. 469–477 (2016) Havaei, M., Guizard, N., Chapados, N., Bengio, Y.: HeMIS: Hetero-modal image segmentation. In: MICCAI, pp. 469–477 (2016)
14.
Zurück zum Zitat He, K., Zhang, X., Ren, S., Sun, J.: Delving deep into rectifiers: surpassing human-level performance on ImageNet classification. In: ICCV, pp. 1026–1034 (2015) He, K., Zhang, X., Ren, S., Sun, J.: Delving deep into rectifiers: surpassing human-level performance on ImageNet classification. In: ICCV, pp. 1026–1034 (2015)
15.
Zurück zum Zitat He, K., Zhang, X., Ren, S., Sun, J.: Deep residual learning for image recognition. In: CVPR, pp. 770–778 (2016) He, K., Zhang, X., Ren, S., Sun, J.: Deep residual learning for image recognition. In: CVPR, pp. 770–778 (2016)
16.
Zurück zum Zitat Kamnitsas, K., Ledig, C., Newcombe, V.F.J., Simpson, J.P., Kane, A.D., Menon, D.K., Rueckert, D., Glocker, B.: Efficient multi-scale 3D CNN with fully connected CRF for accurate brain lesion segmentation. Med. Image Anal. 36, 61–78 (2017)CrossRef Kamnitsas, K., Ledig, C., Newcombe, V.F.J., Simpson, J.P., Kane, A.D., Menon, D.K., Rueckert, D., Glocker, B.: Efficient multi-scale 3D CNN with fully connected CRF for accurate brain lesion segmentation. Med. Image Anal. 36, 61–78 (2017)CrossRef
17.
Zurück zum Zitat Kaus, M.R., Warfield, S.K., Nabavi, A., Black, P.M., Jolesz, F.A., Kikinis, R.: Automated segmentation of MR images of brain tumors. Radiology 218(2), 586–591 (2001)CrossRef Kaus, M.R., Warfield, S.K., Nabavi, A., Black, P.M., Jolesz, F.A., Kikinis, R.: Automated segmentation of MR images of brain tumors. Radiology 218(2), 586–591 (2001)CrossRef
18.
Zurück zum Zitat Kingma, D.P., Ba, J.L.: Adam: A method for stochastic optimization. In: ICLR (2015) Kingma, D.P., Ba, J.L.: Adam: A method for stochastic optimization. In: ICLR (2015)
19.
Zurück zum Zitat Lee, C.-H., Schmidt, M., Murtha, A., Bistritz, A., Sander, J., Greiner, R.: Segmenting brain tumors with conditional random fields and support vector machines. In: Liu, Y., Jiang, T., Zhang, C. (eds.) CVBIA 2005. LNCS, vol. 3765, pp. 469–478. Springer, Heidelberg (2005). https://doi.org/10.1007/11569541_47 CrossRef Lee, C.-H., Schmidt, M., Murtha, A., Bistritz, A., Sander, J., Greiner, R.: Segmenting brain tumors with conditional random fields and support vector machines. In: Liu, Y., Jiang, T., Zhang, C. (eds.) CVBIA 2005. LNCS, vol. 3765, pp. 469–478. Springer, Heidelberg (2005). https://​doi.​org/​10.​1007/​11569541_​47 CrossRef
20.
Zurück zum Zitat Li, W., Wang, G., Fidon, L., Ourselin, S., Cardoso, M.J., Vercauteren, T.: On the compactness, efficiency, and representation of 3D convolutional networks: brain parcellation as a pretext task. In: Niethammer, M., Styner, M., Aylward, S., Zhu, H., Oguz, I., Yap, P.-T., Shen, D. (eds.) IPMI 2017. LNCS, vol. 10265, pp. 348–360. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-59050-9_28 CrossRef Li, W., Wang, G., Fidon, L., Ourselin, S., Cardoso, M.J., Vercauteren, T.: On the compactness, efficiency, and representation of 3D convolutional networks: brain parcellation as a pretext task. In: Niethammer, M., Styner, M., Aylward, S., Zhu, H., Oguz, I., Yap, P.-T., Shen, D. (eds.) IPMI 2017. LNCS, vol. 10265, pp. 348–360. Springer, Cham (2017). https://​doi.​org/​10.​1007/​978-3-319-59050-9_​28 CrossRef
21.
Zurück zum Zitat Long, J., Shelhamer, E., Darrell, T.: Fully convolutional networks for semantic segmentation. In: CVPR, pp. 3431–3440 (2015) Long, J., Shelhamer, E., Darrell, T.: Fully convolutional networks for semantic segmentation. In: CVPR, pp. 3431–3440 (2015)
22.
Zurück zum Zitat Menze, B.H., Jakab, A., Bauer, S., Kalpathy-Cramer, J., Farahani, K., Kirby, J., Burren, Y., Porz, N., Slotboom, J., Wiest, R., Lanczi, L., Gerstner, E., Weber, M.A., Arbel, T., Avants, B.B., Ayache, N., Buendia, P., Collins, D.L., Cordier, N., Corso, J.J., Criminisi, A., Das, T., Delingette, H., Demiralp, Ç., Durst, C.R., Dojat, M., Doyle, S., Festa, J., Forbes, F., Geremia, E., Glocker, B., Golland, P., Guo, X., Hamamci, A., Iftekharuddin, K.M., Jena, R., John, N.M., Konukoglu, E., Lashkari, D., Mariz, J.A., Meier, R., Pereira, S., Precup, D., Price, S.J., Raviv, T.R., Reza, S.M., Ryan, M., Sarikaya, D., Schwartz, L., Shin, H.C., Shotton, J., Silva, C.A., Sousa, N., Subbanna, N.K., Szekely, G., Taylor, T.J., Thomas, O.M., Tustison, N.J., Unal, G., Vasseur, F., Wintermark, M., Ye, D.H., Zhao, L., Zhao, B., Zikic, D., Prastawa, M., Reyes, M., Van Leemput, K.: The multimodal brain tumor image segmentation benchmark (BRATS). TMI 34(10), 1993–2024 (2015) Menze, B.H., Jakab, A., Bauer, S., Kalpathy-Cramer, J., Farahani, K., Kirby, J., Burren, Y., Porz, N., Slotboom, J., Wiest, R., Lanczi, L., Gerstner, E., Weber, M.A., Arbel, T., Avants, B.B., Ayache, N., Buendia, P., Collins, D.L., Cordier, N., Corso, J.J., Criminisi, A., Das, T., Delingette, H., Demiralp, Ç., Durst, C.R., Dojat, M., Doyle, S., Festa, J., Forbes, F., Geremia, E., Glocker, B., Golland, P., Guo, X., Hamamci, A., Iftekharuddin, K.M., Jena, R., John, N.M., Konukoglu, E., Lashkari, D., Mariz, J.A., Meier, R., Pereira, S., Precup, D., Price, S.J., Raviv, T.R., Reza, S.M., Ryan, M., Sarikaya, D., Schwartz, L., Shin, H.C., Shotton, J., Silva, C.A., Sousa, N., Subbanna, N.K., Szekely, G., Taylor, T.J., Thomas, O.M., Tustison, N.J., Unal, G., Vasseur, F., Wintermark, M., Ye, D.H., Zhao, L., Zhao, B., Zikic, D., Prastawa, M., Reyes, M., Van Leemput, K.: The multimodal brain tumor image segmentation benchmark (BRATS). TMI 34(10), 1993–2024 (2015)
23.
Zurück zum Zitat Menze, B.H., van Leemput, K., Lashkari, D., Weber, M.-A., Ayache, N., Golland, P.: A generative model for brain tumor segmentation in multi-modal images. In: Jiang, T., Navab, N., Pluim, J.P.W., Viergever, M.A. (eds.) MICCAI 2010. LNCS, vol. 6362, pp. 151–159. Springer, Heidelberg (2010). https://doi.org/10.1007/978-3-642-15745-5_19 CrossRef Menze, B.H., van Leemput, K., Lashkari, D., Weber, M.-A., Ayache, N., Golland, P.: A generative model for brain tumor segmentation in multi-modal images. In: Jiang, T., Navab, N., Pluim, J.P.W., Viergever, M.A. (eds.) MICCAI 2010. LNCS, vol. 6362, pp. 151–159. Springer, Heidelberg (2010). https://​doi.​org/​10.​1007/​978-3-642-15745-5_​19 CrossRef
24.
Zurück zum Zitat Milletari, F., Navab, N., Ahmadi, S.A.: V-Net: Fully convolutional neural networks for volumetric medical image segmentation. In: IC3DV, pp. 565–571 (2016) Milletari, F., Navab, N., Ahmadi, S.A.: V-Net: Fully convolutional neural networks for volumetric medical image segmentation. In: IC3DV, pp. 565–571 (2016)
25.
Zurück zum Zitat Mortazi, A., Karim, R., Rhode, K., Burt, J., Bagci, U.: CardiacNET: Segmentation of left atrium and proximal pulmonary veins from MRI using multi-view CNN. In: MICCAI, pp. 377–385 (2017) Mortazi, A., Karim, R., Rhode, K., Burt, J., Bagci, U.: CardiacNET: Segmentation of left atrium and proximal pulmonary veins from MRI using multi-view CNN. In: MICCAI, pp. 377–385 (2017)
26.
Zurück zum Zitat Ronneberger, O., Fischer, P., Brox, T.: U-Net: Convolutional networks for biomedical image segmentation. In: MICCAI, pp. 234–241 (2015) Ronneberger, O., Fischer, P., Brox, T.: U-Net: Convolutional networks for biomedical image segmentation. In: MICCAI, pp. 234–241 (2015)
27.
Zurück zum Zitat Sudre, C.H., Li, W., Vercauteren, T., Ourselin, S., Jorge Cardoso, M.: Generalised dice overlap as a deep learning loss function for highly unbalanced segmentations. In: Cardoso, M.J., Arbel, T., Carneiro, G., Syeda-Mahmood, T., Tavares, J.M.R.S., Moradi, M., Bradley, A., Greenspan, H., Papa, J.P., Madabhushi, A., Nascimento, J.C., Cardoso, J.S., Belagiannis, V., Lu, Z. (eds.) DLMIA/ML-CDS -2017. LNCS, vol. 10553, pp. 240–248. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-67558-9_28 CrossRef Sudre, C.H., Li, W., Vercauteren, T., Ourselin, S., Jorge Cardoso, M.: Generalised dice overlap as a deep learning loss function for highly unbalanced segmentations. In: Cardoso, M.J., Arbel, T., Carneiro, G., Syeda-Mahmood, T., Tavares, J.M.R.S., Moradi, M., Bradley, A., Greenspan, H., Papa, J.P., Madabhushi, A., Nascimento, J.C., Cardoso, J.S., Belagiannis, V., Lu, Z. (eds.) DLMIA/ML-CDS -2017. LNCS, vol. 10553, pp. 240–248. Springer, Cham (2017). https://​doi.​org/​10.​1007/​978-3-319-67558-9_​28 CrossRef
28.
Zurück zum Zitat Wang, G., Zhang, S., Xie, H., Metaxas, D.N., Gu, L.: A homotopy-based sparse representation for fast and accurate shape prior modeling in liver surgical planning. Med. Image Anal. 19(1), 176–186 (2015)CrossRef Wang, G., Zhang, S., Xie, H., Metaxas, D.N., Gu, L.: A homotopy-based sparse representation for fast and accurate shape prior modeling in liver surgical planning. Med. Image Anal. 19(1), 176–186 (2015)CrossRef
29.
Zurück zum Zitat Wang, G., Zuluaga, M.A., Li, W., Pratt, R., Patel, P.A., Aertsen, M., Doel, T., Klusmann, M., David, A.L., Deprest, J., Ourselin, S., Vercauteren, T.: DeepIGeoS: A deep interactive geodesic framework for medical image segmentation (2017). arXiv preprint arXiv:1707.00652 Wang, G., Zuluaga, M.A., Li, W., Pratt, R., Patel, P.A., Aertsen, M., Doel, T., Klusmann, M., David, A.L., Deprest, J., Ourselin, S., Vercauteren, T.: DeepIGeoS: A deep interactive geodesic framework for medical image segmentation (2017). arXiv preprint arXiv:​1707.​00652
30.
Zurück zum Zitat Wang, J., Liu, T.: A survey of MRI-based brain tumor segmentation methods. Tsinghua Sci. Technol. 19(6), 578–595 (2014)MathSciNetCrossRef Wang, J., Liu, T.: A survey of MRI-based brain tumor segmentation methods. Tsinghua Sci. Technol. 19(6), 578–595 (2014)MathSciNetCrossRef
31.
Zurück zum Zitat Xie, S., Diego, S., Jolla, L., Tu, Z., Diego, S., Jolla, L.: Holistically-nested edge detection. In: ICCV, pp. 1395–1403 (2015) Xie, S., Diego, S., Jolla, L., Tu, Z., Diego, S., Jolla, L.: Holistically-nested edge detection. In: ICCV, pp. 1395–1403 (2015)
32.
Zurück zum Zitat Zikic, D., Glocker, B., Konukoglu, E., Criminisi, A., Demiralp, C., Shotton, J., Thomas, O.M., Das, T., Jena, R., Price, S.J.: Decision forests for tissue-specific segmentation of high-grade gliomas in multi-channel MR. In: Ayache, N., Delingette, H., Golland, P., Mori, K. (eds.) MICCAI 2012. LNCS, vol. 7512, pp. 369–376. Springer, Heidelberg (2012). https://doi.org/10.1007/978-3-642-33454-2_46 CrossRef Zikic, D., Glocker, B., Konukoglu, E., Criminisi, A., Demiralp, C., Shotton, J., Thomas, O.M., Das, T., Jena, R., Price, S.J.: Decision forests for tissue-specific segmentation of high-grade gliomas in multi-channel MR. In: Ayache, N., Delingette, H., Golland, P., Mori, K. (eds.) MICCAI 2012. LNCS, vol. 7512, pp. 369–376. Springer, Heidelberg (2012). https://​doi.​org/​10.​1007/​978-3-642-33454-2_​46 CrossRef
Metadaten
Titel
Automatic Brain Tumor Segmentation Using Cascaded Anisotropic Convolutional Neural Networks
verfasst von
Guotai Wang
Wenqi Li
Sébastien Ourselin
Tom Vercauteren
Copyright-Jahr
2018
DOI
https://doi.org/10.1007/978-3-319-75238-9_16