Low Dose CT Image Denoising Using a Generative Adversarial Network with Wasserstein Distance and Perceptual Loss

Qingsong YangPingkun YanYanbo ZhangHengyong YuYongyi ShiXuanqin MouMannudeep K. KalraYi ZhangLing SunGe Wang

article2017IEEE Transactions on Medical Imaging1,454 citations

Proposes a Wasserstein generative adversarial framework with perceptual loss to suppress noise and artifacts in low-dose CT scans while preserving fine diagnostic structures.

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Computed tomography (CT) imaging is a critical diagnostic tool in modern medicine, but concerns over patient radiation exposure have driven efforts to reduce radiation doses. However, low-dose CT scans inherently suffer from increased image noise and streak artifacts, which can obscure critical diagnostic details and undermine clinical decision-making. While standard machine learning denoising approaches improve mathematical pixel errors, they frequently produce over-smoothed, blurry images with artificial waxy textures that degrade subtle anatomical features. The article evaluates a deep learning framework designed to reduce noise in low-dose CT scans while preserving critical structural details and visual fidelity.

The evaluated method, named WGAN-VGG, integrates an advanced generative adversarial framework using Wasserstein distance with a perceptual loss function derived from a pre-trained feature extraction network. The generative adversarial framework aligns the statistical noise distribution of low-dose CT images with normal-dose images, while the perceptual loss compares high-level structural features rather than relying on conventional pixel-by-pixel comparisons. The authors trained and validated the system using a clinical dataset from the 2016 NIH-AAPM-Mayo Clinic Low Dose CT Grand Challenge, consisting of 10 anonymous patients with normal-dose and simulated quarter-dose abdominal CT scans, extracting over 100,000 image patch pairs for training. Performance was evaluated against traditional iterative reconstruction, standard convolutional neural networks, and alternative adversarial architectures using quantitative metrics, regional statistical properties, and a blinded qualitative study conducted by two independent radiologists.

The findings show that the proposed framework delivers superior diagnostic image quality compared to traditional and standard deep learning methods. In the blind reader evaluation, the WGAN-VGG method achieved the highest overall image quality score (3.70 out of 5) and the top artifact reduction score (3.45 out of 5), substantially outperforming standard pixel-loss networks and iterative reconstruction. While conventional networks and iterative reconstruction scored higher in raw noise suppression and traditional metrics such as peak signal-to-noise ratio, regional statistical analysis revealed that this was caused by severe over-smoothing that smeared out fine anatomical structures like small blood vessels. The proposed approach maintained standard deviation and tissue density values closely aligned with gold-standard normal-dose scans without generating synthetic distortions, successfully enhancing the visibility of subtle liver and kidney lesions.

These results demonstrate that standard pixel-based error metrics are insufficient for evaluating diagnostic medical imaging, as they reward blurriness over clinical accuracy. By preserving fine structural features and avoiding waxy artifacts, the framework enables diagnostic confidence at reduced radiation levels, directly supporting patient safety without requiring expensive scanner hardware replacements. Because the technique functions as an efficient post-processing step on reconstructed images, it offers a practical, computationally lightweight alternative to iterative reconstruction techniques that require access to proprietary raw scanner data.

To build on these results, decision-makers should support the integration and testing of perceptual loss frameworks in clinical imaging pipelines. Future technical development should focus on testing more advanced neural network generator architectures and extending deep learning directly to raw scanner projection data to recover information lost during initial image reconstruction. However, several operational limitations require caution: the framework operates strictly as a post-processing step on already-reconstructed images, meaning information fully lost during initial reconstruction cannot be recovered. Additionally, the network was evaluated on a single dataset with one simulated dose-reduction setting (quarter-dose). Model parameters will require retraining and fine-tuning across different scanner models, anatomical regions, and variable noise levels before broad clinical deployment.

Cover for Low Dose CT Image Denoising Using a Generative Adversarial Network with Wasserstein Distance and Perceptual Loss

Abstract

In this paper, we introduce a new CT image denoising method based on the generative adversarial network (GAN) with Wasserstein distance and perceptual similarity. The Wasserstein distance is a key concept of the optimal transform theory, and promises to improve the performance of the GAN. The perceptual loss compares the perceptual features of a denoised output against those of the ground truth in an established feature space, while the GAN helps migrate the data noise distribution from strong to weak. Therefore, our proposed method transfers our knowledge of visual perception to the image denoising task, is capable of not only reducing the image noise level but also keeping the critical information at the same time. Promising results have been obtained in our experiments with clinical CT images.

Table of Contents

  • I Introduction
  • II Methods
  • II-A Noise Reduction Model
  • II-B WGAN
  • II-C Perceptual Loss
  • II-D Network Structures
  • II-E Other Networks
  • III Experiments
  • III-A Experimental Datasets
  • III-B Network Training
  • III-C Network Convergence
  • III-D Denoising Results
  • III-E Quantitative Analysis
  • III-F VGG Feature Extractor
  • IV Discussions and Conclusion
  • References

Knowls

  1. Knowl 1 — WGAN-VGG Framework for Low-Dose CT Denoising

    model/method

    The WGAN-VGG framework performs low-dose CT (LDCT) image denoising by framing the task as a distribution mapping problem from low-dose images to normal-dose CT (NDCT) images while enforcing feature-level perceptual fidelity.

    Traditional denoising networks that minimize mean squared error (MSE) compute per-pixel Euclidean distances, which tends to average high-resolution image patches and leads to blurred edges and waxy artifacts. WGAN-VGG addresses this through two complementary components:

    1. A Wasserstein Generative Adversarial Network with Gradient Penalty (WGAN-GP) that estimates the Earth Mover distance between the generated denoised image distribution and the true NDCT image distribution, driving the generator to statistically shift the noise distribution from strong to weak without pixel-wise blurring.
    2. A perceptual loss computed using feature representations extracted from a pre-trained VGG-19 network, which measures differences between the denoised output and the ground truth in a high-dimensional feature space corresponding to structural features (edges, boundaries, and textures) rather than raw pixel intensities.
  2. Knowl 2 — Joint Loss Function of WGAN-VGG

    equation

    The WGAN-VGG network is trained by solving the minimax optimization problem:

    min⁡Gmax⁡DLWGAN(D,G)+λ1LVGG(G)\min_G \max_D \mathcal{L}_{\text{WGAN}}(D, G) + \lambda_1 \mathcal{L}_{\text{VGG}}(G)

    where λ1>0\lambda_1 > 0 is a scalar hyperparameter that balances the adversarial distribution matching loss and the perceptual reconstruction loss.

    The WGAN loss LWGAN(D,G)\mathcal{L}_{\text{WGAN}}(D, G) with gradient penalty is given by:

    LWGAN(D,G)=−Ex∼Pr[D(x)]+Ez∼PL[D(G(z))]+λEx^∼Px^[(∥∇x^D(x^)∥2−1)2]\mathcal{L}_{\text{WGAN}}(D, G) = -\mathbb{E}_{x \sim P_r}[D(x)] + \mathbb{E}_{z \sim P_L}[D(G(z))] + \lambda \mathbb{E}_{\hat{x} \sim P_{\hat{x}}}\left[\left(\|\nabla_{\hat{x}} D(\hat{x})\|_2 - 1\right)^2\right]

    where x∈RN×Nx \in \mathbb{R}^{N \times N} denotes a normal-dose CT image sampled from the real NDCT distribution PrP_r, z∈RN×Nz \in \mathbb{R}^{N \times N} denotes a low-dose CT image sampled from the LDCT distribution PLP_L, GG is the generator network, DD is the discriminator (critic) network without a final sigmoid activation, λ\lambda is the gradient penalty coefficient, and x^=ϵx+(1−ϵ)G(z)\hat{x} = \epsilon x + (1 - \epsilon) G(z) is uniformly sampled along straight lines connecting real and generated samples with ϵ∼Uniform[0,1]\epsilon \sim \text{Uniform}[0, 1].

  3. Knowl 3 — VGG Perceptual Loss for Grayscale CT Images

    equation

    The perceptual loss evaluates the structural discrepancy between the denoised image G(z)G(z) and the reference normal-dose CT image xx in a deep convolutional feature space:

    LVGG(G)=E(x,z)[1whd∥VGG(G(z))−VGG(x)∥F2]\mathcal{L}_{\text{VGG}}(G) = \mathbb{E}_{(x, z)}\left[\frac{1}{w h d} \|\text{VGG}(G(z)) - \text{VGG}(x)\|_F^2\right]

    where VGG(⋅)\text{VGG}(\cdot) denotes the feature map extracted from the 16th convolutional layer of a pre-trained VGG-19 network, ww, hh, and dd denote the width, height, and depth (channel count) of the extracted feature tensor respectively, and ∥⋅∥F\|\cdot\|_F is the Frobenius norm.

    Because pre-trained VGG-19 expects three-channel RGB inputs while CT images are single-channel grayscale, the grayscale CT slices are duplicated across three identical color channels prior to being fed into the VGG feature extractor. The parameters of the VGG network remain fixed throughout training.

  4. Knowl 4 — Generator and Discriminator Network Architectures in WGAN-VGG

    model/method

    The WGAN-VGG model consists of two trainable subnetworks:

    • Generator (GG): An 8-layer fully convolutional network. Layers 1 through 7 each consist of 32 filters of size 3×33 \times 3 with stride 1, followed by Rectified Linear Unit (ReLU) activations. Layer 8 uses a single 3×33 \times 3 filter with stride 1 to produce the 1-channel denoised image output without pooling or strided downsampling.

    • Discriminator (DD): A 6-layer convolutional critic followed by fully connected layers. Layers 1 and 2 each contain 64 filters (3×33 \times 3); layers 3 and 4 each contain 128 filters (3×33 \times 3); layers 5 and 6 each contain 256 filters (3×33 \times 3). All convolutional layers use LeakyReLU activations. These are followed by two fully connected layers: the first has 1024 output units with LeakyReLU, and the second produces a single scalar output without a sigmoid activation.

  5. Knowl 5 — WGAN-VGG Training Optimization Algorithm

    algorithm

    The WGAN-VGG model is trained by alternating updates between the discriminator DD and generator GG using the Adam optimizer with a gradient penalty on interpolated samples.

    Input: Gradient penalty weight λ=10\lambda = 10, VGG loss weight λ1=0.1\lambda_1 = 0.1, Adam learning rate α=10−5\alpha = 10^{-5}, momentum parameters β1=0.5,β2=0.9\beta_1 = 0.5, \beta_2 = 0.9
    Input: Total epochs Nepoch=100N_{\text{epoch}} = 100, discriminator iterations per step ND=4N_D = 4, batch size m=128m = 128, patch size 80×8080 \times 80
    Input: Initial discriminator parameters w0w_0, initial generator parameters θ0\theta_0, fixed pre-trained VGG-19 parameters
    for num_epoch = 1 to NepochN_{\text{epoch}} do
        for t=1t = 1 to NDN_D do
            Sample batch of NDCT patches {x(i)}i=1m\{x^{(i)}\}_{i=1}^m, LDCT patches {z(i)}i=1m\{z^{(i)}\}_{i=1}^m, and {ϵ(i)}i=1m∼Uniform[0,1]\{\epsilon^{(i)}\}_{i=1}^m \sim \text{Uniform}[0, 1]
            for i=1i = 1 to mm do
                x^(i)←ϵ(i)x(i)+(1−ϵ(i))G(z(i))\hat{x}^{(i)} \leftarrow \epsilon^{(i)} x^{(i)} + (1 - \epsilon^{(i)}) G(z^{(i)})
                L(i)(D)←D(G(z(i)))−D(x(i))+λ(∥∇x^D(x^(i))∥2−1)2L^{(i)}(D) \leftarrow D(G(z^{(i)})) - D(x^{(i)}) + \lambda (\|\nabla_{\hat{x}} D(\hat{x}^{(i)})\|_2 - 1)^2
            end for
            w←Adam(∇w1m∑i=1mL(i)(D),w,α,β1,β2)w \leftarrow \text{Adam}(\nabla_w \frac{1}{m} \sum_{i=1}^m L^{(i)}(D), w, \alpha, \beta_1, \beta_2)
        end for
        Sample batch of LDCT patches {z(i)}i=1m\{z^{(i)}\}_{i=1}^m and NDCT patches {x(i)}i=1m\{x^{(i)}\}_{i=1}^m
        for i=1i = 1 to mm do
            L(i)(G)←λ1LVGG(z(i),x(i))−D(G(z(i)))L^{(i)}(G) \leftarrow \lambda_1 L_{\text{VGG}}(z^{(i)}, x^{(i)}) - D(G(z^{(i)}))
        end for
        θ←Adam(∇θ1m∑i=1mL(i)(G),θ,α,β1,β2)\theta \leftarrow \text{Adam}(\nabla_\theta \frac{1}{m} \sum_{i=1}^m L^{(i)}(G), \theta, \alpha, \beta_1, \beta_2)
    end for
    Output: Trained generator parameters θ\theta
  6. Knowl 6 — Experimental Setup and Baseline Network Configurations

    experimental setup

    The experiments utilized the clinical dataset from the 2016 NIH-AAPM-Mayo Clinic Low Dose CT Grand Challenge, containing 10 anonymous patients' normal-dose abdominal CT images and corresponding simulated quarter-dose CT images.

    • Data extraction: 100,096 pairs of 64×6464 \times 64 patches extracted from 4,000 CT images for training (excluding background air patches), and 5,056 validation patch pairs extracted from 2,000 images.
    • Evaluated configurations:
      • CNN-MSE: Generator trained with min⁡GLMSE(G)\min_G L_{\text{MSE}}(G)
      • CNN-VGG: Generator trained with min⁡GLVGG(G)\min_G L_{\text{VGG}}(G)
      • WGAN: Adversarial Wasserstein GAN with no content loss (min⁡Gmax⁡DLWGAN(G,D)\min_G \max_D L_{\text{WGAN}}(G, D))
      • GAN: Standard minimax GAN (min⁡Gmax⁡DLGAN(G,D)\min_G \max_D L_{\text{GAN}}(G, D))
      • WGAN-MSE: WGAN regularized by MSE loss (min⁡Gmax⁡DLWGAN(G,D)+λ2LMSE(G)\min_G \max_D L_{\text{WGAN}}(G, D) + \lambda_2 L_{\text{MSE}}(G), λ2=0.1\lambda_2 = 0.1)
      • WGAN-VGG: Proposed network (min⁡Gmax⁡DLWGAN(G,D)+λ1LVGG(G)\min_G \max_D L_{\text{WGAN}}(G, D) + \lambda_1 L_{\text{VGG}}(G), λ1=0.1\lambda_1 = 0.1)
      • DictRecon: Iterative reconstruction based on 3D dictionary learning directly from raw projection sinogram data.
  7. Knowl 7 — Quantitative Evaluation: PSNR and SSIM Discrepancy with Visual Quality

    data/table

    Peak Signal-to-Noise Ratio (PSNR, in dB) and Structural Similarity Index (SSIM) were computed on representative patient abdominal CT slices containing low-attenuation liver lesions:

    Method Fig. 5 Slice Fig. 7 Slice
    PSNR (dB) SSIM PSNR (dB) SSIM
    LDCT 19.7904 0.7496 18.4519 0.6471
    CNN-MSE 24.4894 0.7966 23.2649 0.7022
    WGAN-MSE 24.0637 0.8090 22.7255 0.7122
    CNN-VGG 23.2322 0.7926 22.0950 0.6972
    WGAN-VGG 23.3942 0.7923 22.1620 0.6949
    WGAN 22.0168 0.7745 20.9051 0.6759
    GAN 21.8676 0.7581 21.0042 0.6632
    DictRecon 24.2516 0.8148 24.0992 0.7631

    CNN-MSE and DictRecon achieve the highest PSNR and SSIM metrics because they directly optimize pixel-level mean squared error or apply heavy regularization. However, these higher metrics correspond to over-smoothed textures and waxy artifacts, demonstrating that standard PSNR and SSIM alone do not adequately reflect diagnostic image quality and perceptual sharpness in medical CT denoising.

  8. Knowl 8 — Hounsfield Unit Statistical Fidelity in Uniform CT Regions

    data/table

    Statistical analysis of CT numbers (mean and standard deviation in Hounsfield Units, HU) was conducted across flat regions-of-interest (ROIs) on two patient slices to evaluate noise texture preservation without over-smoothing, taking normal-dose CT (NDCT) as the gold standard:

    Method Fig. 5 ROI Fig. 7 ROI
    Mean (HU) SD (HU) Mean (HU) SD (HU)
    NDCT (Gold Standard) 9 36 118 38
    LDCT 11 74 118 66
    CNN-MSE 12 18 120 15
    WGAN-MSE 9 28 115 25
    CNN-VGG 4 30 104 28
    WGAN-VGG 9 31 111 29
    WGAN 23 37 135 33
    GAN 8 35 110 32
    DictRecon 4 11 111 13

    CNN-MSE and DictRecon produced standard deviations (SD = 18/15 HU and 11/13 HU) substantially lower than the gold standard NDCT (SD = 36/38 HU), confirming over-smoothing. WGAN-VGG maintained CT means matching NDCT (9 HU and 111 HU) and preserved a natural noise texture standard deviation (31 HU and 29 HU), closer to NDCT than MSE-based methods.

  9. Knowl 9 — Radiologist Blind Reader Study on Denoising Quality

    data/table

    A blind reader study was conducted where two radiologists independently evaluated 10 groups of CT images across three metrics on a 5-point scale (1=unacceptable1 = \text{unacceptable}, 5=excellent5 = \text{excellent}):

    Method Noise Suppression Artifact Reduction Overall Quality
    NDCT - - 3.95 ±\pm 0.20
    LDCT - - 1.35 ±\pm 0.16
    CNN-MSE 4.35 ±\pm 0.24 1.70 ±\pm 0.28 2.15 ±\pm 0.25
    CNN-VGG 3.10 ±\pm 0.23 2.85 ±\pm 0.32 3.05 ±\pm 0.20
    WGAN-MSE 3.55 ±\pm 0.25 3.05 ±\pm 0.27 3.30 ±\pm 0.21
    WGAN-VGG 3.20 ±\pm 0.25 3.45 ±\pm 0.25 3.70 ±\pm 0.15
    WGAN 2.90 ±\pm 0.26 2.90 ±\pm 0.28 3.05 ±\pm 0.22
    GAN 3.00 ±\pm 0.21 3.05 ±\pm 0.27 3.10 ±\pm 0.21
    DictRecon 4.65 ±\pm 0.20 2.05 ±\pm 0.27 2.05 ±\pm 0.36

    Although CNN-MSE and DictRecon achieved high noise suppression scores (4.354.35 and 4.654.65), their overall quality scores dropped (2.152.15 and 2.052.05) due to severe blurring and waxy artifact formation (1.701.70 and 2.052.05 artifact reduction). WGAN-VGG achieved the highest artifact reduction (3.45±0.253.45 \pm 0.25) and highest overall diagnostic quality score (3.70±0.153.70 \pm 0.15), closely approaching the NDCT reference (3.95±0.203.95 \pm 0.20).

  10. Knowl 10 — Limitations of Image-Domain Post-Processing Denoising

    limitation

    The WGAN-VGG framework has three principal limitations:

    1. Post-processing information loss: Because the model operates exclusively in the image domain on reconstructed filtered backprojection (FBP) slices, subtle anatomical structures (such as fine high-density spots) that are destroyed or absent in the initial low-dose FBP reconstruction cannot be recovered by the post-processing network, unlike sinogram-based iterative reconstruction methods (such as DictRecon).
    2. Transferability of natural image features: The VGG network was pre-trained on natural photographic images (ImageNet). While its intermediate feature maps effectively extract edges and structural textures in CT, it can inadvertently capture and preserve residual noise patterns present in the reference normal-dose CT training targets.
    3. Sensitivity to noise level changes: Because WGAN aligns probability distributions between specific source and target datasets, the network parameters and the weighting parameter λ1\lambda_1 must be re-calibrated when transferring the model to CT scans acquired with different radiation doses or noise characteristics.

Coverage note — None was omitted; all contributed models, loss formulations, training procedures, network architectures, quantitative evaluations, and reader study results are covered.

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Citation

MLA
Yang, Q., et al. “Low-Dose CT Image Denoising Using a Generative Adversarial Network With Wasserstein Distance and Perceptual Loss”. IEEE Transactions on Medical Imaging, vol. 37, no. 6, 2018, pp. 1348–57, https://doi.org/10.1109/TMI.2018.2827462.
APA
Yang, Q., Yan, P., Zhang, Y., Yu, H., Shi, Y., Mou, X., Kalra, M. K., Zhang, Y., Sun, L., & Wang, G. (2018). Low-Dose CT Image Denoising Using a Generative Adversarial Network With Wasserstein Distance and Perceptual Loss. IEEE Transactions on Medical Imaging, 37(6), 1348–1357. https://doi.org/10.1109/TMI.2018.2827462
Chicago
Yang, Q., P. Yan, Y. Zhang, et al. 2018. “Low-Dose CT Image Denoising Using a Generative Adversarial Network With Wasserstein Distance and Perceptual Loss”. IEEE Transactions on Medical Imaging 37 (6): 1348–57. https://doi.org/10.1109/TMI.2018.2827462.
Harvard
Yang, Q. et al. (2018) “Low-Dose CT Image Denoising Using a Generative Adversarial Network With Wasserstein Distance and Perceptual Loss”, IEEE Transactions on Medical Imaging, 37(6), pp. 1348–1357. Available at: https://doi.org/10.1109/TMI.2018.2827462.
Vancouver
1. Yang Q, Yan P, Zhang Y, Yu H, Shi Y, Mou X, Kalra MK, Zhang Y, Sun L, Wang G (2018) Low-Dose CT Image Denoising Using a Generative Adversarial Network With Wasserstein Distance and Perceptual Loss. IEEE Transactions on Medical Imaging 37:1348–1357

BibTeX

@article{Yang_2018, title={Low-Dose CT Image Denoising Using a Generative Adversarial Network With Wasserstein Distance and Perceptual Loss}, volume={37}, ISSN={1558-254X}, url={http://dx.doi.org/10.1109/TMI.2018.2827462}, DOI={10.1109/tmi.2018.2827462}, number={6}, journal={IEEE Transactions on Medical Imaging}, publisher={Institute of Electrical and Electronics Engineers (IEEE)}, author={Yang, Qingsong and Yan, Pingkun and Zhang, Yanbo and Yu, Hengyong and Shi, Yongyi and Mou, Xuanqin and Kalra, Mannudeep K. and Zhang, Yi and Sun, Ling and Wang, Ge}, year={2018}, month=June, pages={1348–1357} }
Metadata:Crossref

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