Lacustrine sediments from two setions in northern Greece

We investigated two lignite quarries in northern Greece for orbital and suborbital climate variability. Sections Lava and Vegora are located at the southern and northern boundaries of the Ptolemais Basin, a northwest southeast elongated intramontane basin that contains Upper Miocene to Lower Pliocene lacustrine sediments. Sediments show cyclic alterations of marl-rich (light), and coal-rich or clay-rich (dark) strata on a decimeter to meter scale. First, we established low-resolution ground-truth stratigraphy based on paleomagnetics and biostratigraphy. Accordingly, the lower 67 m and 65 m that were investigated in both sections Vegora and Lava, respectively, belong to the Upper Miocene and cover a time period of 6.85 to 6.57 and 6.46 to 5.98 Ma at sedimentation rates of roughly 14 and 22 cm/ka. In order to obtain a robust and high-resolution chronology, we then tuned carbonate minima (low L* values; high magnetic susceptibility values) to insolation minima. Besides the known dominance of orbital precession and eccentricity, we detected a robust hemi-precessional cycle in most parameters, most likely indicative for monsoonal influence on climate. Moreover, the insolation-forced time series indicate a number of millennial-scale frequencies that are statistically significant with dominant periods of 1.5-8 kyr. Evolutionary spectral analysis indicates that millennial-scale climate variability documented for the Ptolemais Basin resembles the one that is preserved in ice-core records of Greenland. Most cycles show durations of several tens of thousands of years before they diminish or cease. This is surprising because the generally argued cause for Late Quaternary millennial-scale variability is associated with the presence of large ice sheets, which cannot be the case for the Upper Miocene. Possible explanations maybe a direct response to solar forcing, an influence on the formation of North Atlantic Deep Water through the outflow of high-salinity water, or an atmospheric link to the North Atlantic Oscillation.

Maps of coastal and marine geomorphology between Albenga and Savona (NW Mediterranean Sea, Italy)

In this paper, we present a map describing the main geomorphological features of the coastal and marine area between the towns of Albenga and Savona (Ligurian Sea, NW Mediterranean) corresponding to a coastal stretch of ~40 km. To produce this map, we collated data from the literature, orthophotos, perspective photos, multibeam and side scan sonar data, and undertook direct surveys to ground truth data obtained using indirect techniques. We divided the information into nine thematic layers, including bathymetry, natural coastal types, geomorphological elements, seafloor coverage (both geological and biological), coastal and nearshore dynamics, human influence on coastal and marine environments, coastal occupation and protected areas.

Sedimentation and sediment redistribution on the Cocos Ridge from two seismic acquisition cruises, NEMO-3 and MV1014

We use digital seismic reflection profiles within a 1° * 1° survey area on the Cocos Ridge (COCOS6N) to study the extent and timing of sedimentation and sediment redistribution on the Cocos Ridge. The survey was performed to understand how sediment focusing might affect paleoceanographic flux measurements in a region known for significant downslope transport. COCOS6N contains ODP Site 1241 to ground truth the seismic stratigraphy, and there is a seamount ridge along the base of the ridge that forms a basin (North Flank Basin) to trap sediments transported downslope. Using the Site 1241 seismic stratigraphy and densities extrapolated from wireline logging, we document mass accumulation rates (MARs) since 11.2 Ma. The average sediment thickness at COCOS6N is 196 m, ranging from outcropping basalt at the ridge crest to ~ 400 m at North Flank Basin depocenters. Despite significant sediment transport, the average sedimentation over the entire area is well correlated to sediment fluxes at Site 1241. A low mass accumulation rate (MAR) interval is associated with the 'Miocene carbonate crash' interval even though COCOS6N was at the equator at that time and relatively shallow. Highest MAR occurs within the late Miocene-early Pliocene biogenic bloom interval. Lowest average MAR is in the Pleistocene, as plate tectonic motions caused COCOS6N to leave the equatorial productivity zone. The Pliocene and Pleistocene also exhibit higher loss of sediment from the ridge crest and transport to North Flank Basin. Higher tidal energy on the ridge caused by tectonic movement toward the margin increased sediment focusing in the younger section.

Table 1: Glacier measurements from air photos 1969 and landsat images 1972 and 1973

The extent of snow cover at the end of the ablation season on glaciers in the Tyrolean Alps in 1972 and 1973 was determined from Landsat-1 Multispectral Scanner (MSS) images. For snovv mapping the MSS-images with a ground resolution of 80 meters were enlarged to a scale of 1: 100.000 by photographic methods. Different appearance of snow cover in the 4 MSS-channels is discussed in connection with ground truth control. The accuracy of snow and ice mapping from Landsat images was checked on 15 glaciers with an area from 1 to 10 km2 by aerial photography and/or ground truth control. These comparisons imply the usefulness of Landsat images for snow mapping on glaciers of a few square kilometers. The altitude of the equilibrium line was determined from Landsat images for 53 glaciers in the Tyrolean Alps. The regional differences in the equilibrium line altitude correspond to the regional precipitation patterns. The equilibrium line was identical with the snow line at the end of the budget year 1971/1972; therefore it was possible to determine the equilibrium line from satellite images. For 1968/69 the equilibrium line was mapped from aerial photographs for several glaciers. In 1972/73 mass balance was strongly negative and the equilibrimn line was within the firn area of the glaciers. Therefore it was not possible to distinguish between accumulation and ablation areas from the Landsat images of September 1973; however, snow and ice areas could be olearly differentiated. The ratios of accumulation area 01' snow area to the total area of the glaciers were determineel from satellite images and aerial photography separately for aelvancing anel for retreating glaciers and were relateel to the mass balance. In the budget years 1968/69 and 1972/73 with negative mass balance the accumulation area ratios of the advancing glacien; were olearly different from the ratios of the retreating glaciers, in 1971/72 with positive 01' balanced mass budget the differences between advancing and retreating glaciers were not significant.

Plant Functional Type (PFT) map over Siberia derived from GlobCover 2005 dataset, link to dataset in NetCDF format

High-latitude ecosystems play an important role in the global carbon cycle and in regulating the climate system and are presently undergoing rapid environmental change. Accurate land cover data sets are required to both document these changes as well as to provide land-surface information for benchmarking and initializing Earth system models. Earth system models also require specific land cover classification systems based on plant functional types (PFTs), rather than species or ecosystems, and so post-processing of existing land cover data is often required. This study compares over Siberia, multiple land cover data sets against one another and with auxiliary data to identify key uncertainties that contribute to variability in PFT classifications that would introduce errors in Earth system modeling. Land cover classification systems from GLC 2000, GlobCover 2005 and 2009, and MODIS collections 5 and 5.1 are first aggregated to a common legend, and then compared to high-resolution land cover classification systems, vegetation continuous fields (MODIS VCFs) and satellite-derived tree heights (to discriminate against sparse, shrub, and forest vegetation). The GlobCover data set, with a lower threshold for tree cover and taller tree heights and a better spatial resolution, tends to have better distributions of tree cover compared to high-resolution data. It has therefore been chosen to build new PFT maps for the ORCHIDEE land surface model at 1 km scale. Compared to the original PFT data set, the new PFT maps based on GlobCover 2005 and an updated cross-walking approach mainly differ in the characterization of forests and degree of tree cover. The partition of grasslands and bare soils now appears more realistic compared with ground truth data. This new vegetation map provides a framework for further development of new PFTs in the ORCHIDEE model like shrubs, lichens and mosses, to represent the water and carbon cycles in northern latitudes better. Updated land cover data sets are critical for improving and maintaining the relevance of Earth system models for assessing climate and human impacts on biogeochemistry and biophysics.

P-wave velocities and applied bed thickness and velocity changes for synthetic seismograms, ODP Leg 188 and Leg 119 sites

Synthetic seismograms provide a crucial link between lithologic variations within a drill hole and reflectors on seismic profiles crossing the site. In essence, they provide a ground-truth for the interpretation of seismic data. Using a combination of core and logging data, we created synthetic seismograms for Ocean Drilling Program Sites 1165 and 1166, drilled during Leg 188, and Site 742, drilled during Leg 119, all in Prydz Bay, Antarctica. Results from Site 1165 suggest that coring penetrated a target reflector initially thought to represent the onset of drift sedimentation, but the lithologic change across the boundary does not show a change from predrift to drift sediments. The origin of a shallow reflector packet in the seismic line across Site 1166 and a line connecting Sites 1166 and 742 was resolved into its constituent sources, as this reflector occurs in a region of large-scale, narrowly spaced impedance changes. Furthermore, Site 1166 was situated in a fluvio-deltaic system with widely variable geology, and bed thickness changes were estimated between the site and both seismic lines.

(Table 3) Air temperatures, and snow and ice characteristics of fresh and brackish water lakes in the Northwest Territories, Canada

The algorithms designed to estimate snow water equivalent (SWE) using passive microwave measurements falter in lake-rich high-latitude environments due to the emission properties of ice covered lakes on low frequency measurements. Microwave emission models have been used to simulate brightness temperatures (Tbs) for snowpack characteristics in terrestrial environments but cannot be applied to snow on lakes because of the differing subsurface emissivities and scattering matrices present in ice. This paper examines the performance of a modified version of the Helsinki University of Technology (HUT) snow emission model that incorporates microwave emission from lake ice and sub-ice water. Inputs to the HUT model include measurements collected over brackish and freshwater lakes north of Inuvik, Northwest Territories, Canada in April 2008, consisting of snowpack (depth, density, and snow water equivalent) and lake ice (thickness and ice type). Coincident airborne radiometer measurements at a resolution of 80x100 m were used as ground-truth to evaluate the simulations. The results indicate that subsurface media are simulated best when utilizing a modeled effective grain size and a 1 mm RMS surface roughness at the ice/water interface compared to using measured grain size and a flat Fresnel reflective surface as input. Simulations at 37 GHz (vertical polarization) produce the best results compared to airborne Tbs, with a Root Mean Square Error (RMSE) of 6.2 K and 7.9 K, as well as Mean Bias Errors (MBEs) of -8.4 K and -8.8 K for brackish and freshwater sites respectively. Freshwater simulations at 6.9 and 19 GHz H exhibited low RMSE (10.53 and 6.15 K respectively) and MBE (-5.37 and 8.36 K respectively) but did not accurately simulate Tb variability (R= -0.15 and 0.01 respectively). Over brackish water, 6.9 GHz simulations had poor agreement with airborne Tbs, while 19 GHz V exhibited a low RMSE (6.15 K), MBE (-4.52 K) and improved relative agreement to airborne measurements (R = 0.47). Salinity considerations reduced 6.9 GHz errors substantially, with a drop in RMSE from 51.48 K and 57.18 K for H and V polarizations respectively, to 26.2 K and 31.6 K, although Tb variability was not well simulated. With best results at 37 GHz, HUT simulations exhibit the potential to track Tb evolution, and therefore SWE through the winter season.

(Table T1) Mineralogy of ODP Leg 199 and DSDP Hole 16-162 sediments - comparison of methods

During Ocean Drilling Program Leg 199 in the equatorial Pacific, visible and near-infrared spectroscopy (VNIS) was used to measure the reflectance spectra (350-2500 nm) of 1343 sediment samples. Reflectance spectra were also measured for a suite of 60 samples of known mineralogy, thereby providing a local ground-truth calibration of spectral features to percentages of calcite, opal, smectite, and illite. The associated algorithm was used to calculate mineral percentages from the 1343 spectra. Using multiple regression and VNIS mineralogy, multisensor track physical properties and light spectroscopy data were then converted into continuous high-resolution mineralogy logs.

Consolidation tests, elastic properties and grain size measurements at the consolidations samples from different Holes of IODP Expedition 302

The Integrated OceanDrilling Program's Expedition 302, the Arctic Coring Expedition (ACEX), recovered the first Cenozoic sedimentary sequence from the central Arctic Ocean. ACEX provided ground truth for basin scale geophysical interpretations and for guiding future exploration targets in this largely unexplored ocean basin. Here, we present results from a series of consolidation tests used to characterize sediment compressibility and permeability and integrate these with high-resolution measurements of bulk density, porosity and shear strength to investigate the stress history and the nature of prominent lithostratigraphic and seismostratigraphic boundaries in the ACEX record. Despite moderate sedimentation rates (10-30 m/Myr) and high permeability values (10**-15 -10**-18 m**2), consolidation and shear strength measurements both suggest an overall state of underconsolidation or overpressure. One-dimensional compaction modelling shows that to maintain such excess pore pressures, an in situ fluid source is required that exceeds the rate of fluid expulsion generated by mechanical compaction alone. Geochemical and sedimentological evidence is presented that identifes the Opal A-C/T transformation of biosiliceous rich sediments as a potential additional in situ fluid source.However, the combined rat of chemical and mechanical compaction remain too low to fully account for the observed pore pressure gradients, implying an additional diagenetic fluid source from within or below the recovered Cenozoic sediments from ACEX. Recognition of the Opal A-C/T reaction front in the ACEX record has broad reaching regional implications on slope stability and subsurface pressure evolution, and provides an important consideration for interpreting and correlating the spatially limited seismic data from the Arctic Ocean.

Topographic model of Greenland (elevation lines in PanMap and ASCII format)

In this paper, a new high-resolution elevation model of Greenland, including the ice sheet as well as the ice free regions, is presented. It is the first published full coverage model, computed with an average resolution of 2 km and providing an unprecedented degree of detail. The topography is modeled from a wide selection of data sources, including satellite radar altimetry from Geosat and ERS 1, airborne radar altimetry and airborne laser altimetry over the ice sheet, and photogrammetric and manual map scannings in the ice free region. The ice sheet model accuracy is evaluated by omitting airborne laser data from the analysis and treating them as ground truth observations. The mean accuracy of the ice sheet elevations is estimated to be 12-13 m, and it is found that on surfaces of a slope between 0.2° and 0.8°, corresponding to approximately 50% of the ice sheet, the model presents a 40% improvement over models based on satellite altimetry alone. On coastal bedrock, the model is compared with stereo triangulated reference points, and it is found that the model accuracy is of the order of 25-35 m in areas covered by stereo photogrammetry scannings and between 200 and 250 m elsewhere.

Forest disturbance map for the Carpathian ecoregion, 1984-2012

Detailed knowledge of forest cover dynamics is crucial for many applications from resource management to ecosystem service assessments. Landsat data provides the necessary spatial, temporal and spectral detail to map and analyze forest cover and forest change processes. With the opening of the Landsat archive, new opportunities arise to monitor forest dynamics on regional to continental scales. In this study we analyzed changes in forest types, forest disturbances, and forest recovery for the Carpathian ecoregion in Eastern Europe. We generated a series of image composites at five year intervals between 1985 and 2010 and utilized a hybrid analysis strategy consisting of radiometric change classification, post-classification comparison and continuous index- and segment-based post-disturbance recovery assessment. For validation of the disturbance map we used a point-based accuracy assessment, and assessed the accuracy of our forest type maps using forest inventory data and statistically sampled ground truth data for 2010. Our Carpathian-wide disturbance map achieved an overall accuracy of 86% and the forest type maps up to 73% accuracy. While our results suggested a small net forest increase in the Carpathians, almost 20% of the forests experienced stand-replacing disturbances over the past 25 years. Forest recovery seemed to only partly counterbalance the widespread natural disturbances and clear-cutting activities. Disturbances were most widespread during the late 1980s and early 1990s, but some areas also exhibited extensive forest disturbances after 2000, especially in the Polish, Czech and Romanian Carpathians. Considerable shifts in forest composition occurred in the Carpathians, with disturbances increasingly affecting coniferous forests, and a relative decrease in coniferous and mixed forests. Both aspects are likely connected to an increased vulnerability of spruce plantations to pests and pathogens in the Carpathians. Overall, our results exemplify the highly dynamic nature of forest cover during times of socio-economic and institutional change, and highlight the value of the Landsat archive for monitoring these dynamics.

Visual Tracking, Pose Estimation, and Control for Aerial Vehicles

El principal objetivo de esta tesis es dotar a los vehículos aéreos no tripulados (UAVs, por sus siglas en inglés) de una fuente de información adicional basada en visión. Esta fuente de información proviene de cámaras ubicadas a bordo de los vehículos o en el suelo. Con ella se busca que los UAVs realicen tareas de aterrizaje o inspección guiados por visión, especialmente en aquellas situaciones en las que no haya disponibilidad de estimar la posición del vehículo con base en GPS, cuando las estimaciones de GPS no tengan la suficiente precisión requerida por las tareas a realizar, o cuando restricciones de carga de pago impidan añadir sensores a bordo de los vehículos. Esta tesis trata con tres de las principales áreas de la visión por computador: seguimiento visual y estimación visual de la pose (posición y orientación), que a su vez constituyen la base de la tercera, denominada control servo visual, que en nuestra aplicación se enfoca en el empleo de información visual para controlar los UAVs. Al respecto, esta tesis se ocupa de presentar propuestas novedosas que permitan solucionar problemas relativos al seguimiento de objetos mediante cámaras ubicadas a bordo de los UAVs, se ocupa de la estimación de la pose de los UAVs basada en información visual obtenida por cámaras ubicadas en el suelo o a bordo, y también se ocupa de la aplicación de las técnicas propuestas para solucionar diferentes problemas, como aquellos concernientes al seguimiento visual para tareas de reabastecimiento autónomo en vuelo o al aterrizaje basado en visión, entre otros. Las diversas técnicas de visión por computador presentadas en esta tesis se proponen con el fin de solucionar dificultades que suelen presentarse cuando se realizan tareas basadas en visión con UAVs, como las relativas a la obtención, en tiempo real, de estimaciones robustas, o como problemas generados por vibraciones. Los algoritmos propuestos en esta tesis han sido probados con información de imágenes reales obtenidas realizando pruebas on-line y off-line. Diversos mecanismos de evaluación han sido empleados con el propósito de analizar el desempeño de los algoritmos propuestos, entre los que se incluyen datos simulados, imágenes de vuelos reales, estimaciones precisas de posición empleando el sistema VICON y comparaciones con algoritmos del estado del arte. Los resultados obtenidos indican que los algoritmos de visión por computador propuestos tienen un desempeño que es comparable e incluso mejor al de algoritmos que se encuentran en el estado del arte. Los algoritmos propuestos permiten la obtención de estimaciones robustas en tiempo real, lo cual permite su uso en tareas de control visual. El desempeño de estos algoritmos es apropiado para las exigencias de las distintas aplicaciones examinadas: reabastecimiento autónomo en vuelo, aterrizaje y estimación del estado del UAV. Abstract The main objective of this thesis is to provide Unmanned Aerial Vehicles (UAVs) with an additional vision-based source of information extracted by cameras located either on-board or on the ground, in order to allow UAVs to develop visually guided tasks, such as landing or inspection, especially in situations where GPS information is not available, where GPS-based position estimation is not accurate enough for the task to develop, or where payload restrictions do not allow the incorporation of additional sensors on-board. This thesis covers three of the main computer vision areas: visual tracking and visual pose estimation, which are the bases the third one called visual servoing, which, in this work, focuses on using visual information to control UAVs. In this sense, the thesis focuses on presenting novel solutions for solving the tracking problem of objects when using cameras on-board UAVs, on estimating the pose of the UAVs based on the visual information collected by cameras located either on the ground or on-board, and also focuses on applying these proposed techniques for solving different problems, such as visual tracking for aerial refuelling or vision-based landing, among others. The different computer vision techniques presented in this thesis are proposed to solve some of the frequently problems found when addressing vision-based tasks in UAVs, such as obtaining robust vision-based estimations at real-time frame rates, and problems caused by vibrations, or 3D motion. All the proposed algorithms have been tested with real-image data in on-line and off-line tests. Different evaluation mechanisms have been used to analyze the performance of the proposed algorithms, such as simulated data, images from real-flight tests, publicly available datasets, manually generated ground truth data, accurate position estimations using a VICON system and a robotic cell, and comparison with state of the art algorithms. Results show that the proposed computer vision algorithms obtain performances that are comparable to, or even better than, state of the art algorithms, obtaining robust estimations at real-time frame rates. This proves that the proposed techniques are fast enough for vision-based control tasks. Therefore, the performance of the proposed vision algorithms has shown to be of a standard appropriate to the different explored applications: aerial refuelling and landing, and state estimation. It is noteworthy that they have low computational overheads for vision systems.

A Hierarchical Tracking Strategy for Vision-Based Applications On-Board UAVs

In this paper, we apply a hierarchical tracking strategy of planar objects (or that can be assumed to be planar) that is based on direct methods for vision-based applications on-board UAVs. The use of this tracking strategy allows to achieve the tasks at real-time frame rates and to overcome problems posed by the challenging conditions of the tasks: e.g. constant vibrations, fast 3D changes, or limited capacity on-board. The vast majority of approaches make use of feature-based methods to track objects. Nonetheless, in this paper we show that although some of these feature-based solutions are faster, direct methods can be more robust under fast 3D motions (fast changes in position), some changes in appearance, constant vibrations (without requiring any specific hardware or software for video stabilization), and situations in which part of the object to track is outside of the field of view of the camera. The performance of the proposed tracking strategy on-board UAVs is evaluated with images from realflight tests using manually-generated ground truth information, accurate position estimation using a Vicon system, and also with simulated data from a simulation environment. Results show that the hierarchical tracking strategy performs better than wellknown feature-based algorithms and well-known configurations of direct methods, and that its performance is robust enough for vision-in-the-loop tasks, e.g. for vision-based landing tasks.

Desarrollo de un sistema de estimación de mapas de profundidad densos a partir de secuencias reales de vídeo 3D.

Este proyecto fín de carrera describe el desarrollo de un sistema de estimación de mapas de profundidad densos a partir de secuencias reales de vídeo 3D. Está motivado por la necesidad de utilizar la información de profundidad de un vídeo estéreo para calcular las oclusiones en el módulo de inserción de objetos sintéticos interactivos desarrollado en el proyecto ImmersiveTV. En el receptor 3DTV, el sistema debe procesar en tiempo real secuencias estéreo de escenas reales en alta resolución con formato Side-by-Side. Se analizan las características del contenido para conocer los problemas a enfrentar. Obtener un mapa de profundidad denso mediante correspondencia estéreo (stereo matching) permite calcular las oclusiones del objeto sintético con la escena. No es necesario que el valor de disparidad asignado a cada píxel sea preciso, basta con distinguir los distintos planos de profundidad ya que se trabaja con distancias relativas. La correspondencia estéreo exige que las dos vistas de entrada estén alineadas. Primero se comprueba si se deben rectificar y se realiza un repaso teórico de calibración y rectificación, resumiendo algunos métodos a considerar en la resolución del problema. Para estimar la profundidad, se revisan técnicas de correspondencia estéreo densa habituales, seleccionando un conjunto de implementaciones con el fin de valorar cuáles son adecuadas para resolver el problema, incluyendo técnicas locales, globales y semiglobales, algunas sobre CPU y otras para GPU; modificando algunas para soportar valores negativos de disparidad. No disponer de ground truth de los mapas de disparidad del contenido real supone un reto que obliga a buscar métodos indirectos de comparación de resultados. Para una evaluación objetiva, se han revisado trabajos relacionados con la comparación de técnicas de correspondencia y entornos de evaluación existentes. Se considera el mapa de disparidad como error de predicción entre vistas desplazadas. A partir de la vista derecha y la disparidad de cada píxel, puede reconstruirse la vista izquierda y, comparando la imagen reconstruida con la original, se calculan estadísticas de error y las tasas de píxeles con disparidad inválida y errónea. Además, hay que tener en cuenta la eficiencia de los algoritmos midiendo la tasa de cuadros por segundo que pueden procesar. Observando los resultados, atendiendo a los criterios de maximización de PSNR y minimización de la tasa de píxeles incorrectos, se puede elegir el algoritmo con mejor comportamiento. Como resultado, se ha implementado una herramienta que integra el sistema de estimación de mapas de disparidad y la utilidad de evaluación de resultados. Trabaja sobre una imagen, una secuencia o un vídeo estereoscópico. Para realizar la correspondencia, permite escoger entre un conjunto de algoritmos que han sido adaptados o modificados para soportar valores negativos de disparidad. Para la evaluación, se ha implementado la reconstrucción de la vista de referencia y la comparación con la original mediante el cálculo de la RMS y PSNR, como medidas de error, además de las tasas de píxeles inválidos e incorrectos y de la eficiencia en cuadros por segundo. Finalmente, se puede guardar las imágenes (o vídeos) generados como resultado, junto con un archivo de texto en formato csv con las estadísticas para su posterior comparación.

Comparison of linear and non-linear 2D+T registration methods for DE-MRI cardiac perfusion studies

A series of motion compensation algorithms is run on the challenge data including methods that optimize only a linear transformation, or a non-linear transformation, or both – first a linear and then a non-linear transformation. Methods that optimize a linear transformation run an initial segmentation of the area of interest around the left myocardium by means of an independent component analysis (ICA) (ICA-*). Methods that optimize non-linear transformations may run directly on the full images, or after linear registration. Non-linear motion compensation approaches applied include one method that only registers pairs of images in temporal succession (SERIAL), one method that registers all image to one common reference (AllToOne), one method that was designed to exploit quasi-periodicity in free breathing acquired image data and was adapted to also be usable to image data acquired with initial breath-hold (QUASI-P), a method that uses ICA to identify the motion and eliminate it (ICA-SP), and a method that relies on the estimation of a pseudo ground truth (PG) to guide the motion compensation.