An Empirical Bayes Approach to Shrinkage Estimation on the Manifold of Symmetric Positive-Definite Matrices.

The James-Stein estimator is an estimator of the multivariate normal mean and dominates the maximum likelihood estimator (MLE) under squared error loss. The original work inspired great interest in developing shrinkage estimators for a variety of problems. Nonetheless, research on shrinkage estimation for manifold-valued data is scarce. In this article, we propose shrinkage estimators for the parameters of the Log-Normal distribution defined on the manifold of N × N symmetric positive-definite matrices. For this manifold, we choose the Log-Euclidean metric as its Riemannian metric since it is easy to compute and has been widely used in a variety of applications. By using the Log-Euclidean distance in the loss function, we derive a shrinkage estimator in an analytic form and show that it is asymptotically optimal within a large class of estimators that includes the MLE, which is the sample Fréchet mean of the data. We demonstrate the performance of the proposed shrinkage estimator via several simulated data experiments. Additionally, we apply the shrinkage estimator to perform statistical inference in both diffusion and functional magnetic resonance imaging problems.

Horospherical Decision Boundaries for Large Margin Classification in Hyperbolic Space.

Hyperbolic spaces have been quite popular in the recent past for representing hierarchically organized data. Further, several classification algorithms for data in these spaces have been proposed in the literature. These algorithms mainly use either hyperplanes or geodesics for decision boundaries in a large margin classifiers setting leading to a non-convex optimization problem. In this paper, we propose a novel large margin classifier based on horospherical decision boundaries that leads to a geodesically convex optimization problem that can be optimized using any Riemannian gradient descent technique guaranteeing a globally optimal solution. We present several experiments depicting the competitive performance of our classifier in comparison to SOTA.

Geometric Deep Learning for Unsupervised Registration of Diffusion Magnetic Resonance Images.

Deep learning based models for registration predict a transformation directly from moving and fixed image appearances. These models have revolutionized the field of medical image registration, achieving accuracy on-par with classical registration methods at a fraction of the computation time. Unfortunately, most deep learning based registration methods have focused on scalar imaging modalities such as T1/T2 MRI and CT, with less attention given to more complex modalities such as diffusion MRI. In this paper, to the best of our knowledge, we present the first end-to-end geometric deep learning based model for the non-rigid registration of fiber orientation distribution fields (fODF) derived from diffusion MRI (dMRI). Our method can be trained in a fully-unsupervised fashion using only input fODF image pairs, i.e. without ground truth deformation fields. Our model introduces several novel differentiable layers for local Jacobian estimation and reorientation that can be seamlessly integrated into the recently introduced manifold-valued convolutional network in literature. The results of this work are accurate deformable registration algorithms for dMRI data that can execute in the order of seconds, as opposed to dozens of minutes to hours consumed by their classical counterparts.

ManifoldNet: A Deep Neural Network for Manifold-Valued Data With Applications.

Geometric deep learning is a relatively nascent field that has attracted significant attention in the past few years. This is partly due to the availability of data acquired from non-euclidean domains or features extracted from euclidean-space data that reside on smooth manifolds. For instance, pose data commonly encountered in computer vision reside in Lie groups, while covariance matrices that are ubiquitous in many fields and diffusion tensors encountered in medical imaging domain reside on the manifold of symmetric positive definite matrices. Much of this data is naturally represented as a grid of manifold-valued data. In this paper we present a novel theoretical framework for developing deep neural networks to cope with these grids of manifold-valued data inputs. We also present a novel architecture to realize this theory and call it the ManifoldNet. Analogous to vector spaces where convolutions are equivalent to computing weighted sums, manifold-valued data 'convolutions' can be defined using the weighted Fréchet Mean ([Formula: see text]). (This requires endowing the manifold with a Riemannian structure if it did not already come with one.) The hidden layers of ManifoldNet compute [Formula: see text]s of their inputs, where the weights are to be learnt. This means the data remain manifold-valued as they propagate through the hidden layers. To reduce computational complexity, we present a provably convergent recursive algorithm for computing the [Formula: see text]. Further, we prove that on non-constant sectional curvature manifolds, each [Formula: see text] layer is a contraction mapping and provide constructive evidence for its non-collapsibility when stacked in layers. This captures the two fundamental properties of deep network layers. Analogous to the equivariance of convolution in euclidean space to translations, we prove that the [Formula: see text] is equivariant to the action of the group of isometries admitted by the Riemannian manifold on which the data reside. To showcase the performance of ManifoldNet, we present several experiments using both computer vision and medical imaging data sets.

VolterraNet: A Higher Order Convolutional Network With Group Equivariance for Homogeneous Manifolds.

Convolutional neural networks have been highly successful in image-based learning tasks due to their translation equivariance property. Recent work has generalized the traditional convolutional layer of a convolutional neural network to non-euclidean spaces and shown group equivariance of the generalized convolution operation. In this paper, we present a novel higher order Volterra convolutional neural network (VolterraNet) for data defined as samples of functions on Riemannian homogeneous spaces. Analagous to the result for traditional convolutions, we prove that the Volterra functional convolutions are equivariant to the action of the isometry group admitted by the Riemannian homogeneous spaces, and under some restrictions, any non-linear equivariant function can be expressed as our homogeneous space Volterra convolution, generalizing the non-linear shift equivariant characterization of Volterra expansions in euclidean space. We also prove that second order functional convolution operations can be represented as cascaded convolutions which leads to an efficient implementation. Beyond this, we also propose a dilated VolterraNet model. These advances lead to large parameter reductions relative to baseline non-euclidean CNNs. To demonstrate the efficacy of the VolterraNet performance, we present several real data experiments involving classification tasks on spherical-MNIST, atomic energy, Shrec17 data sets, and group testing on diffusion MRI data. Performance comparisons to the state-of-the-art are also presented.

Nested Grassmannians for Dimensionality Reduction with Applications.

In the recent past, nested structures in Riemannian manifolds has been studied in the context of dimensionality reduction as an alternative to the popular principal geodesic analysis (PGA) technique, for example, the principal nested spheres. In this paper, we propose a novel framework for constructing a nested sequence of homogeneous Riemannian manifolds. Common examples of homogeneous Riemannian manifolds include the n-sphere, the Stiefel manifold, the Grassmann manifold and many others. In particular, we focus on applying the proposed framework to the Grassmann manifold, giving rise to the nested Grassmannians (NG). An important application in which Grassmann manifolds are encountered is planar shape analysis. Specifically, each planar (2D) shape can be represented as a point in the complex projective space which is a complex Grassmann manifold. Some salient features of our framework are: (i) it explicitly exploits the geometry of the homogeneous Riemannian manifolds and (ii) the nested lower-dimensional submanifolds need not be geodesic. With the proposed NG structure, we develop algorithms for the supervised and unsupervised dimensionality reduction problems respectively. The proposed algorithms are compared with PGA via simulation studies and real data experiments and are shown to achieve a higher ratio of expressed variance compared to PGA.

Nested Hyperbolic Spaces for Dimensionality Reduction and Hyperbolic NN Design.

Hyperbolic neural networks have been popular in the recent past due to their ability to represent hierarchical data sets effectively and efficiently. The challenge in developing these networks lies in the nonlinearity of the embedding space namely, the Hyperbolic space. Hyperbolic space is a homogeneous Riemannian manifold of the Lorentz group which is a semi-Riemannian manifold, i.e. a manifold equipped with an indefinite metric. Most existing methods (with some exceptions) use local linearization to define a variety of operations paralleling those used in traditional deep neural networks in Euclidean spaces. In this paper, we present a novel fully hyperbolic neural network which uses the concept of projections (embeddings) followed by an intrinsic aggregation and a nonlinearity all within the hyperbolic space. The novelty here lies in the projection which is designed to project data on to a lower-dimensional embedded hyperbolic space and hence leads to a nested hyperbolic space representation independently useful for dimensionality reduction. The main theoretical contribution is that the proposed embedding is proved to be isometric and equivariant under the Lorentz transformations, which are the natural isometric transformations in hyperbolic spaces. This projection is computationally efficient since it can be expressed by simple linear operations, and, due to the aforementioned equivariance property, it allows for weight sharing. The nested hyperbolic space representation is the core component of our network and therefore, we first compare this representation - independent of the network - with other dimensionality reduction methods such as tangent PCA, principal geodesic analysis (PGA) and HoroPCA. Based on this equivariant embedding, we develop a novel fully hyperbolic graph convolutional neural network architecture to learn the parameters of the projection. Finally, we present experiments demonstrating comparative performance of our network on several publicly available data sets.

Intrinsic Grassmann Averages for Online Linear, Robust and Nonlinear Subspace Learning.

Principal component analysis (PCA) and Kernel principal component analysis (KPCA) are fundamental methods in machine learning for dimensionality reduction. The former is a technique for finding this approximation in finite dimensions and the latter is often in an infinite dimensional reproducing Kernel Hilbert-space (RKHS). In this paper, we present a geometric framework for computing the principal linear subspaces in both (finite and infinite) situations as well as for the robust PCA case, that amounts to computing the intrinsic average on the space of all subspaces: the Grassmann manifold. Points on this manifold are defined as the subspaces spanned by K-tuples of observations. The intrinsic Grassmann average of these subspaces are shown to coincide with the principal components of the observations when they are drawn from a Gaussian distribution. We show similar results in the RKHS case and provide an efficient algorithm for computing the projection onto the this average subspace. The result is a method akin to KPCA which is substantially faster. Further, we present a novel online version of the KPCA using our geometric framework. Competitive performance of all our algorithms are demonstrated on a variety of real and synthetic data sets.

A geometric framework for ensemble average propagator reconstruction from diffusion MRI.

Diffusion-weighted magnetic resonance imaging (dMRI) is a non-invasive technique to probe the complex micro-architecture of the tissue being imaged. The diffusional properties of the tissue at the imaged resolution are well captured by the ensemble average propagator (EAP), which is a probability density function characterizing the probability of water molecule diffusion. Many properties in the form of imaging 'stains' can then be computed from the EAP that can serve as bio-markers for a variety of diseases. This motivates the development of methods for the accurate estimation of the EAPs from dMRI, which is an actively researched area in dMRI analysis. To this end, in the recent past, dictionary learning (DL) techniques have been applied by many researchers for accurate reconstruction of the EAP fields from dMRI scans of the central nervous system (CNS). However, most of the DL-based methods did not exploit the geometry of the space of the EAPs, which are probability density functions. By exploiting the geometry of the space of probability density functions, it is possible to reconstruct EAPs that satisfy the mathematical properties of a density function and hence yield better accuracy in the EAP field reconstruction. Using a square root density parameterization, the EAPs can be mapped to a unit Hilbert sphere, which is a smooth manifold with well known geometry that we will exploit in our formulation of the DL problem. Thus, in this paper, we present a general formulation of the DL problem for data residing on smooth manifolds and in particular the manifold of EAPs, along with a numerical solution using an alternating minimization method. We then showcase the properties and the performance of our algorithm on the reconstruction of the EAP field in a patch-wise manner from the dMRI data. Through several synthetic, phantom and real data examples, we demonstrate that our non-linear DL-based approach produces accurate and spatially smooth estimates of the EAP field from dMRI in comparison to the state-of-the-art EAP reconstruction method called the MAPL method, as well as the linear DL-based EAP reconstruction approaches. To further demonstrate the accuracy and utility of our approach, we compute an entropic anisotropy measure (HA), that is a function of the well known Rényi entropy, from the EAP fields of control and injured rat spinal cords respectively. We demonstrate its utility as an imaging 'stain' via a quantitative comparison of HA maps computed from EAP fields estimated using our method and competing methods. The quantitative comparison is achieved using a two sample t-test and the results of significance are displayed for a visualization of regions of the spinal cord affected most by the injury.

Exploiting structural redundancy in q-space for improved EAP reconstruction from highly undersampled (k, q)-space in DMRI.

Accurate reconstruction of the ensemble average propagators (EAPs) from undersampled diffusion MRI (dMRI) measurements is a well-motivated, actively researched problem in the field of dMRI acquisition and analysis. A number of approaches based on compressed sensing (CS) principles have been developed for this problem, achieving a considerable acceleration in the acquisition by leveraging sparse representations of the signal. Most recent methods in literature apply undersampling techniques in the (k, q)-space for the recovery of EAP in the joint (x, r)-space. Yet, the majority of these methods follow a pipeline of first reconstructing the diffusion images in the (x, q)-space and subsequently estimating the EAPs through a 3D Fourier transform. In this work, we present a novel approach to achieve the direct reconstruction of P(x, r) from partial (k, q)-space measurements, with geometric constraints involving the parallelism of level-sets of diffusion images from proximal q-space points. By directly reconstructing P(x, r)) from (k, q)-space data, we exploit the incoherence between the 6D sensing and reconstruction domains to the fullest, which is consistent with the CS-theory. Further, our approach aims to utilize the inherent structural similarity (parallelism) of the level-sets in the diffusion images corresponding to proximally-located q-space points in a CS framework to achieve further reduction in sample complexity that could facilitate faster acquisition in dMRI. We compare the proposed method to a state-of-the-art CS based EAP reconstruction method (from joint (k, q)-space) on simulated, phantom and real dMRI data demonstrating the benefits of exploiting the structural similarity in the q-space.

Riemannian Nonlinear Mixed Effects Models: Analyzing Longitudinal Deformations in Neuroimaging.

Statistical machine learning models that operate on manifold-valued data are being extensively studied in vision, motivated by applications in activity recognition, feature tracking and medical imaging. While non-parametric methods have been relatively well studied in the literature, efficient formulations for parametric models (which may offer benefits in small sample size regimes) have only emerged recently. So far, manifold-valued regression models (such as geodesic regression) are restricted to the analysis of cross-sectional data, i.e., the so-called "fixed effects" in statistics. But in most "longitudinal analysis" (e.g., when a participant provides multiple measurements, over time) the application of fixed effects models is problematic. In an effort to answer this need, this paper generalizes non-linear mixed effects model to the regime where the response variable is manifold-valued, i.e., f : Rd → ℳ. We derive the underlying model and estimation schemes and demonstrate the immediate benefits such a model can provide - both for group level and individual level analysis - on longitudinal brain imaging data. The direct consequence of our results is that longitudinal analysis of manifold-valued measurements (especially, the symmetric positive definite manifold) can be conducted in a computationally tractable manner.

A geometric framework for statistical analysis of trajectories with distinct temporal spans.

Analyzing data representing multifarious trajectories is central to the many fields in Science and Engineering; for example, trajectories representing a tennis serve, a gymnast's parallel bar routine, progression/remission of disease and so on. We present a novel geometric algorithm for performing statistical analysis of trajectories with distinct number of samples representing longitudinal (or temporal) data. A key feature of our proposal is that unlike existing schemes, our model is deployable in regimes where each participant provides a different number of acquisitions (trajectories have different number of sample points or temporal span). To achieve this, we develop a novel method involving the parallel transport of the tangent vectors along each given trajectory to the starting point of the respective trajectories and then use the span of the matrix whose columns consist of these vectors, to construct a linear subspace in R m . We then map these linear subspaces (possibly of distinct dimensions) of R m on to a single high dimensional hypersphere. This enables computing group statistics over trajectories by instead performing statistics on the hypersphere (equipped with a simpler geometry). Given a point on the hypersphere representing a trajectory, we also provide a "reverse mapping" algorithm to uniquely (under certain assumptions) reconstruct the subspace that corresponds to this point. Finally, by using existing algorithms for recursive Fréchet mean and exact principal geodesic analysis on the hypersphere, we present several experiments on synthetic and real (vision and medical) data sets showing how group testing on such diversely sampled longitudinal data is possible by analyzing the reconstructed data in the subspace spanned by the first few principal components.

A Method for Automated Classification of Parkinson's Disease Diagnosis Using an Ensemble Average Propagator Template Brain Map Estimated from Diffusion MRI.

Parkinson's disease (PD) is a common and debilitating neurodegenerative disorder that affects patients in all countries and of all nationalities. Magnetic resonance imaging (MRI) is currently one of the most widely used diagnostic imaging techniques utilized for detection of neurologic diseases. Changes in structural biomarkers will likely play an important future role in assessing progression of many neurological diseases inclusive of PD. In this paper, we derived structural biomarkers from diffusion MRI (dMRI), a structural modality that allows for non-invasive inference of neuronal fiber connectivity patterns. The structural biomarker we use is the ensemble average propagator (EAP), a probability density function fully characterizing the diffusion locally at a voxel level. To assess changes with respect to a normal anatomy, we construct an unbiased template brain map from the EAP fields of a control population. Use of an EAP captures both orientation and shape information of the diffusion process at each voxel in the dMRI data, and this feature can be a powerful representation to achieve enhanced PD brain mapping. This template brain map construction method is applicable to small animal models as well as to human brains. The differences between the control template brain map and novel patient data can then be assessed via a nonrigid warping algorithm that transforms the novel data into correspondence with the template brain map, thereby capturing the amount of elastic deformation needed to achieve this correspondence. We present the use of a manifold-valued feature called the Cauchy deformation tensor (CDT), which facilitates morphometric analysis and automated classification of a PD versus a control population. Finally, we present preliminary results of automated discrimination between a group of 22 controls and 46 PD patients using CDT. This method may be possibly applied to larger population sizes and other parkinsonian syndromes in the near future.

Covariant Image Representation with Applications to Classification Problems in Medical Imaging.

Images are often considered as functions defined on the image domains, and as functions, their (intensity) values are usually considered to be invariant under the image domain transforms. This functional viewpoint is both influential and prevalent, and it provides the justification for comparing images using functional Lp -norms. However, with the advent of more advanced sensing technologies and data processing methods, the definition and the variety of images has been broadened considerably, and the long-cherished functional paradigm for images is becoming inadequate and insufficient. In this paper, we introduce the formal notion of covariant images and study two types of covariant images that are important in medical image analysis, symmetric positive-definite tensor fields and Gaussian mixture fields, images whose sample values covary i.e., jointly vary with image domain transforms rather than being invariant to them. We propose a novel similarity measure between a pair of covariant images considered as embedded shapes (manifolds) in the ambient space, a Cartesian product of the image and its sample-value domains. The similarity measure is based on matching the two embedded low-dimensional shapes, and both the extrinsic geometry of the ambient space and the intrinsic geometry of the shapes are incorporated in computing the similarity measure. Using this similarity as an affinity measure in a supervised learning framework, we demonstrate its effectiveness on two challenging classification problems: classification of brain MR images based on patients' age and (Alzheimer's) disease status and seizure detection from high angular resolution diffusion magnetic resonance scans of rat brains.

The DTI Challenge: Toward Standardized Evaluation of Diffusion Tensor Imaging Tractography for Neurosurgery.

BACKGROUND AND PURPOSE: Diffusion tensor imaging (DTI) tractography reconstruction of white matter pathways can help guide brain tumor resection. However, DTI tracts are complex mathematical objects and the validity of tractography-derived information in clinical settings has yet to be fully established. To address this issue, we initiated the DTI Challenge, an international working group of clinicians and scientists whose goal was to provide standardized evaluation of tractography methods for neurosurgery. The purpose of this empirical study was to evaluate different tractography techniques in the first DTI Challenge workshop. METHODS: Eight international teams from leading institutions reconstructed the pyramidal tract in four neurosurgical cases presenting with a glioma near the motor cortex. Tractography methods included deterministic, probabilistic, filtered, and global approaches. Standardized evaluation of the tracts consisted in the qualitative review of the pyramidal pathways by a panel of neurosurgeons and DTI experts and the quantitative evaluation of the degree of agreement among methods. RESULTS: The evaluation of tractography reconstructions showed a great interalgorithm variability. Although most methods found projections of the pyramidal tract from the medial portion of the motor strip, only a few algorithms could trace the lateral projections from the hand, face, and tongue area. In addition, the structure of disagreement among methods was similar across hemispheres despite the anatomical distortions caused by pathological tissues. CONCLUSIONS: The DTI Challenge provides a benchmark for the standardized evaluation of tractography methods on neurosurgical data. This study suggests that there are still limitations to the clinical use of tractography for neurosurgical decision making.

Leveraging EAP-Sparsity for Compressed Sensing of MS-HARDI in (k, q)-Space.

Compressed Sensing (CS) for the acceleration of MR scans has been widely investigated in the past decade. Lately, considerable progress has been made in achieving similar speed ups in acquiring multi-shell high angular resolution diffusion imaging (MS-HARDI) scans. Existing approaches in this context were primarily concerned with sparse reconstruction of the diffusion MR signal S(q) in the q-space. More recently, methods have been developed to apply the compressed sensing framework to the 6-dimensional joint (k, q)-space, thereby exploiting the redundancy in this 6D space. To guarantee accurate reconstruction from partial MS-HARDI data, the key ingredients of compressed sensing that need to be brought together are: (1) the function to be reconstructed needs to have a sparse representation, and (2) the data for reconstruction ought to be acquired in the dual domain (i.e., incoherent sensing) and (3) the reconstruction process involves a (convex) optimization. In this paper, we present a novel approach that uses partial Fourier sensing in the 6D space of (k, q) for the reconstruction of P(x, r). The distinct feature of our approach is a sparsity model that leverages surfacelets in conjunction with total variation for the joint sparse representation of P(x, r). Thus, our method stands to benefit from the practical guarantees for accurate reconstruction from partial (k, q)-space data. Further, we demonstrate significant savings in acquisition time over diffusion spectral imaging (DSI) which is commonly used as the benchmark for comparisons in reported literature. To demonstrate the benefits of this approach,.we present several synthetic and real data examples.

Interpolation on the manifold of K component GMMs.

Probability density functions (PDFs) are fundamental objects in mathematics with numerous applications in computer vision, machine learning and medical imaging. The feasibility of basic operations such as computing the distance between two PDFs and estimating a mean of a set of PDFs is a direct function of the representation we choose to work with. In this paper, we study the Gaussian mixture model (GMM) representation of the PDFs motivated by its numerous attractive features. (1) GMMs are arguably more interpretable than, say, square root parameterizations (2) the model complexity can be explicitly controlled by the number of components and (3) they are already widely used in many applications. The main contributions of this paper are numerical algorithms to enable basic operations on such objects that strictly respect their underlying geometry. For instance, when operating with a set of K component GMMs, a first order expectation is that the result of simple operations like interpolation and averaging should provide an object that is also a K component GMM. The literature provides very little guidance on enforcing such requirements systematically. It turns out that these tasks are important internal modules for analysis and processing of a field of ensemble average propagators (EAPs), common in diffusion weighted magnetic resonance imaging. We provide proof of principle experiments showing how the proposed algorithms for interpolation can facilitate statistical analysis of such data, essential to many neuroimaging studies. Separately, we also derive interesting connections of our algorithm with functional spaces of Gaussians, that may be of independent interest.

Manifold-valued Dirichlet Processes.

Statistical models for manifold-valued data permit capturing the intrinsic nature of the curved spaces in which the data lie and have been a topic of research for several decades. Typically, these formulations use geodesic curves and distances defined locally for most cases - this makes it hard to design parametric models globally on smooth manifolds. Thus, most (manifold specific) parametric models available today assume that the data lie in a small neighborhood on the manifold. To address this 'locality' problem, we propose a novel nonparametric model which unifies multivariate general linear models (MGLMs) using multiple tangent spaces. Our framework generalizes existing work on (both Euclidean and non-Euclidean) general linear models providing a recipe to globally extend the locally-defined parametric models (using a mixture of local models). By grouping observations into sub-populations at multiple tangent spaces, our method provides insights into the hidden structure (geodesic relationships) in the data. This yields a framework to group observations and discover geodesic relationships between covariates X and manifold-valued responses Y, which we call Dirichlet process mixtures of multivariate general linear models (DP-MGLM) on Riemannian manifolds. Finally, we present proof of concept experiments to validate our model.

Nonlinear regression on Riemannian manifolds and its applications to Neuro-image analysis.

Regression in its most common form where independent and dependent variables are in ℝ n is a ubiquitous tool in Sciences and Engineering. Recent advances in Medical Imaging has lead to a wide spread availability of manifold-valued data leading to problems where the independent variables are manifold-valued and dependent are real-valued or vice-versa. The most common method of regression on a manifold is the geodesic regression, which is the counterpart of linear regression in Euclidean space. Often, the relation between the variables is highly complex, and existing most commonly used geodesic regression can prove to be inaccurate. Thus, it is necessary to resort to a non-linear model for regression. In this work we present a novel Kernel based non-linear regression method when the mapping to be estimated is either from M → ℝ n or ℝ n → M, where M is a Riemannian manifold. A key advantage of this approach is that there is no requirement for the manifold-valued data to necessarily inherit an ordering from the data in ℝ n . We present several synthetic and real data experiments along with comparisons to the state-of-the-art geodesic regression method in literature and thus validating the effectiveness of the proposed algorithm.

Tractography from HARDI using an intrinsic unscented Kalman filter.

A novel adaptation of the unscented Kalman filter (UKF) was recently introduced in literature for simultaneous multitensor estimation and fiber tractography from diffusion MRI. This technique has the advantage over other tractography methods in terms of computational efficiency, due to the fact that the UKF simultaneously estimates the diffusion tensors and propagates the most consistent direction to track along. This UKF and its variants reported later in literature however are not intrinsic to the space of diffusion tensors. Lack of this key property can possibly lead to inaccuracies in the multitensor estimation as well as in the tractography. In this paper, we propose a novel intrinsic unscented Kalman filter (IUKF) in the space of diffusion tensors which are symmetric positive definite matrices, that can be used for simultaneous recursive estimation of multitensors and propagation of directional information for use in fiber tractography from diffusion weighted MR data. In addition to being more accurate, IUKF retains all the advantages of UKF mentioned above. We demonstrate the accuracy and effectiveness of the proposed method via experiments publicly available phantom data from the fiber cup-challenge (MICCAI 2009) and diffusion weighted MR scans acquired from human brains and rat spinal cords.