Background

Forensic age estimation may be required by the authorities in criminal, civil, or asylum procedures when birth records or other official identity documents, which reflect the age of an individual, are not accessible. The estimation typically includes a predicted age and probability measurement of a person observed who attained a particular legally relevant age barrier. Most established methods for age estimation employ medical imaging of several human body components, such as the teeth, and long and carpal bones, which are still develo** in children and young adults. Dental age estimation is said to be a reliable technique for estimating the age of an unknown person. Several studies have focused on it (Chandramohan et.al., 2015), especially using radiographic methods (Panchbhai 2011) such as tooth mineral evaluation (Nolla 1960), measurement of open apices in teeth (Cameriere et.al., 2006), volume assessment of teeth (Kvaal et.al., 1995), and tooth development (Demirjian et.al., 1973). However, a report stated that all teeth are fully developed by the time a person reaches the age of 15 years, except for permanent third molars (Hassanali 1985). In addition, 18 years are specified as a cutoff age for distinguishing between adults and children in legal procedures, according to the 1989 United Nations Convention on the Rights of the Child. As a result, the development of permanent third molars is necessary for determining the age of an individual when they fall in the category of adolescents and young adults (Duangto et.al., 2017). Due to the complexity of this process, experienced observers are needed to estimate the stage of tooth development for young adults.

At present, the convolution neural network (CNN) is used widely for medical image analysis. Regarding dental research, especially for problems of dental caries in bitewing and panoramic images (Cantu et.al., 2020; Lakshmi and Chitra 2020; Lee et.al., 2021; Lian et.al., 2021; Megalan Leo and Kalpalatha Reddy 2021; Megalan Leo and Kalpalatha Reddy 2020; Panyarak et.al., 2022; Suttapak et.al., 2022; Vinayahalingam et.al., 2017). A total of 1000 panoramic images from 454 males and 546 females, 200 per stage, were selected and assessed by an expert observer, who had more than 10 years’ experience in assessing dental radiographs for age estimation. The intra- and inter-operator agreements were evaluated using Cohen’s kappa statistic, as reported in a previous study by the authors (Upalananda et.al., 2021). The intra- and inter-observer agreements were 0.898 and 0.833, respectively. According to the guidelines of Landis and Koch (Landis and Koch 1977), their level of agreement was nearly perfect. Next, the images were divided randomly into two groups for each stage, with 160 and 40 images in the training and validation group, respectively. Therefore, 800 images were used to train the model, and 200 images were utilized to test how well the trained model performed.

Fig. 1
figure 1

Examples of images used in this study. a A panoramic image and b cropped images that covered the lower left third molar including stages D to H

Three procedures made up the proposed technique. First, the lower left third molar in the panoramic image was located automatically and cropped. Second, the cropped image was categorized into the last five stages (D to H) of Demirjian’s method. The final step was estimated age based on stage classification. Figure 2 illustrates the proposed workflow of the technique.

Fig. 2
figure 2

Schematic overview of the proposed dental age estimation system including three procedures: localization, classification, and age estimation

Localization procedure of the lower left third molar

To localize the lower left third molar on a panoramic image, the aggregated channel features (ACF) detector (Dollár et.al., 2014) was used for detecting and localizing the position of specific teeth. For images in the training group, bounding boxes (BBs) were created to cover the lower left third molar. The ACF detector was trained to recognize the features inside the BB. For testing or implementation, the lower left third molar was located automatically from the testing group in the new images, using the optimized detector after the training procedure, by creating a BB around the potential location. If more than one feasible BB was created, the lower left third molar was chosen from the farthest left-hand side (the farthest right-hand side of the image). The lower left third molar was then cropped by using the location of the selected BB.

Developmental stages of the classification procedure

To prepare data for training the classification model, the lower left third molars in 800 training images (160 images per stage) were cropped manually as shown in Fig. 2. The CNN model was used in this study to classify the cropped lower left third molars automatically in D to H stages. The transfer learning technique (Pan and Yang 2010) was used to accelerate and improve the performance using the pre-trained network. GooLeNet (Szegedy et.al., 2015) was used in a prior study by the authors (Upalananda et.al., 2021), and it produced successful outcomes. In this study, ResNet50 (He et.al., 2016) was applied and compared with the previous report. Twenty percent of the training data was separated in order to validate the classification performance during each training epoch. The network was trained using the Adam optimizer (Kingma and Ba 2015) and a hyperparameter tuning strategy. Data augmentation, which entails scaling, rotation, and translation, was used to increase the amount of data because of its limited availability. After the training process, the trained model was used to classify the cropped images.

The classification results were compared with the expert-evaluated ground truth in order to evaluate the classification performance. In this study, sensitivity, specificity, positive predictive value (PPV), negative predictive value (NPV), and accuracy were reported as shown in Eqs. (1) to (5):

$$\textrm{Sensitivity}=\frac{\textrm{TP}}{\left(\textrm{TP}+\textrm{FN}\right)}$$
(1)
$$\textrm{Specificity}=\frac{\textrm{TN}}{\left(\textrm{FP}+\textrm{TN}\right)}$$
(2)
$$\textrm{PPV}=\frac{\textrm{TP}}{\left(\textrm{TP}+\textrm{FP}\right)}$$
(3)
$$\textrm{NPV}=\frac{\textrm{TN}}{\left(\textrm{FN}+\textrm{TN}\right)}$$
(4)
$$\textrm{Accuracy}=\frac{\textrm{TP}+\textrm{TN}}{\left(\textrm{TP}+\textrm{TN}+\textrm{FP}+\textrm{FN}\;\right)}$$
(5)

where TP, TN, FP, and FN refer to images of true positive (images from the stage under consideration were classified correctly), true negative (images from other stages were classified correctly), false positive (images from other stages were classified as the stage under consideration), and false negative (images from the stage under consideration were classified into other stages), respectively.

Age estimation procedure

The next step was estimating age based on the classified stage of the lower left third molar. The regression equations proposed by Duangto et al. for males and females are given in Eqs. (6) and (7), respectively (Duangto et.al., 2017):

$$y=7.648+0.753\textrm{x}+0.093{\textrm{x}}^2$$
(6)
$$y=6.421+1.256\textrm{x}+0.055{\textrm{x}}^2$$
(7)

where y is the estimated age and x is the development score, which ranges from 5 to 9, according to the lower left third stage classification of the molar (D to H).

To evaluate the preciseness of age estimation, Pearson’s linear correlation coefficient was calculated.

Results

Lower left third molar localization

In 200 panoramic images of the test set, the lower left third molar positions were located automatically. To achieve the best results, the ACF parameters of the detector were fine-tuned. The number of stages was set to 3, and the negative samples factor to 3 throughout the experiments. According to the experiments, the detector could identify the location of the lower left third molar accurately with 99.50% accuracy (199 of 200 images). The location of the lower left third molar could not be detected in only one case.

Developmental stages of the classification

The CNN model was trained using the transfer learning technique, based on the pre-trained network, ResNet50, and used to classify the 199 detected and cropped images. The optimal parameters were a maximum epoch of 30, an initial learning rate of 0.001, a number of epochs for drop** the learning rate of 15, and a factor for drop** the learning rate of 0.1. The network was fed with 32 images for one batch size (mini batch size = 32). The performance for each developmental stage is shown in Table 1. The average sensitivity, specificity, PPV, NPV, and accuracy were 83.41%, 96.11%, 84.02%, 96.08%, and 93.66%, respectively. The confusion matrix of the classification results for all stages is shown in Table 2. The classification results showed that the percentage of accuracy ranged from 67.50 to 97.50%, with 83.25% on average.

Table 1 Confusion matrix between the developmental stages being assessed by the expert and classified by the proposed method
Table 2 Evaluation metrics in each classified stage

Age estimation

The classified developmental stages were used to estimate age using the equation proposed by Duangto (Duangto et.al., 2017). Table 3 displays the percentage of accuracy for each difference in estimated age using the proposed method and chronological age ranging from ±0.5 to ±5.5 years. The results showed that in more than 90% of the data, the proposed technique could estimate age with a difference of no more than ±4.0 years from chronological age. The result achieved an overall mean absolute error of 1.94 years and median absolute error of 1.72 years. Finally, the correlation coefficient between estimated and chronological age was calculated. It demonstrated an excellent correlation with ρ = 0.91 (p < 0.05).

Table 3 Percentage of accuracy in age estimation of lower third molars in males and females within different values between estimated dental age in the proposed method and chronological age from ±0.50 to ±5.50 years

Discussion

Applications of artificial intelligence (AI) are now used widely across many areas. In forensic science, it also is used to estimate age automatically, which might reduce operator variability and operation time. Automated age estimation using bones of the hand (Thodberg et.al., 2009; Thodberg et.al., 2017; Pan et.al., 2020; Remy et.al., 2021), pelvis (Li et.al., 2019), knee (Demircioğlu et.al., 2022), lumbar vertebrae (Malatong et.al., 2022), and trabecular bone (Sattarath et.al., 2021), as well as dental images, has been proposed in previous studies. Dental age estimation, by considering tooth development, showed less variability than other developmental factors and also indicated good relationship to chronological age (Chandramohan et.al., 2015). In a previous study (Upalananda et.al., 2021), the authors’ proposed an accurate semiautomated approach based on Demirjian’s method (Demirjian et.al., 1973) for assessing the developmental stage of the mandibular third molars in dental panoramic images (stages D to H). There are some processes that require manual interaction. The ACF detector, deep learning, and transfer learning techniques were therefore used in this study to develop a fully automated dental age evaluation technique.

In the localization procedure using the ACF detector, the location of the lower left third molar could not be detected in only one case, which was in stage H. As seen in Fig. 3a, the lower left third molar in this case aligned vertically. There were no cases with the same alignment as this case in the training set. Most of the examples in the training set were not vertically aligned, as shown in Fig. 3b.

Fig. 3
figure 3

A case of localization error in which the lower left third molar aligned vertically (a) and difference from others in the training set that were not vertically aligned (b)

This study only focused on stages D to H because they covered the age of 18 years or thereabouts, which is the age at which people are legally classified from children to adults. If the proposed method is reliable, it might be able to help in accurately estimating the age of young adults, which is unknown in situations requiring legal discretion. According to the classification results, the early stages (D and E) had higher accuracy than the later ones (F to H), and every misclassification differed by one stage from the developmental stage determined by the observer, which is consistent with the authors’ previous study (Upalananda et.al., 2021) and that by Dhanjal (Dhanjal et.al., 2006). Since the roots in the early stages (D and E) were significantly distinct from other stages, they were easy to classify. On the other hand, it was difficult to distinguish between the later stages (F to H), as their root structures were similar. In particular, only the distal roots for stages G and H had differences, which were very difficult to consider. They corresponded to the human assessment according to Demirjian’s method, which considers root transformation of the lower left third molar. This situation was represented by heat maps using gradient-weighted class activation map** (Grad-CAM) (Selvaraju et.al., 2017), which was used to confirm where the network is visually, and its focus on specific patterns in the image. The most specific positions focused on by Grad-CAM were in most cases close to the root of the lower third molars, as shown in Fig. 4a. Another possibility for classification error was the network focusing on the wrong positions (not near the roots), as shown in Fig. 4b.

Fig. 4
figure 4

Heat maps implemented using Grad-CAM. a Most specific positions focused on close to the root of the lower third molars and b examples of misclassification where the network focused on incorrect positions

It was advisable to apply population-specific standards to enhance the accuracy of forensic age estimations, based on wisdom teeth mineralization (Olze et.al., 2004). Three previous works studied dental age estimation in the Thai population using the third molar (Duangto et.al., 2017; Thevissen et.al., 2009; Verochana et.al., 2016). Thevissen used maxillary and mandibular third molars, while Verochana and Duangto used only the mandibular third molar to estimate age. According to a report on dental panoramic images from de Oliveira (de Oliveira et.al., 2012), relevant anatomical structures were superimposed over the maxillary third molar tooth. Mandibular third molar teeth were therefore more suitable for age estimation than maxillary ones because they were clearer on panoramic images. This study applied equations from Duangto et al. to determine the age in develo** stages of the third molars because their participants ranged in age from 8 to 23 years, which was comprehensive and applicable to this study. The difference between estimated and chronological age in their study ranged from ±0.5 to ±4.0 years, whereas it ranged from ±0.5 to ±5.5 years in this one. The misclassification in the developmental stage of the classification procedure might be the cause of increased errors.

Table 4 shows a comparison between proposed methods in recent studies on dental age estimation published within the last 5 years. Their outcomes could not be compared directly because they used different datasets, experimental settings, and evaluation metrics. Zaborowicz et al. employed the extracted tooth and bone parameters from panoramic images by using ImageJ software as the input features for the deep learning neural model to assess the age of children and adolescents (4–15 years) (Zaborowicz et.al., 2022). Their experimental results showed a mean absolute error of 4.61 months and correlation coefficient of 0.93. Vila-Blanco et al., Hou et al., and Atas et al. used pre-trained CNN models to train the full panoramic images for age estimation without the classification procedure (Atas et.al.,

Availability of data and materials

The data sets analyzed in this study are available from the corresponding author on reasonable request.

Abbreviations

ACF:

Aggregate channel features

AI:

Artificial intelligence

BB:

Bounding box

CNN:

Convolutional neural network

DANet:

Dental Age Net

DASNet:

Dental Age and Sex Net

FN:

False negative

FP:

False positive

FS:

Full segmentation

Grad-CAM:

Gradient-weighted Class Activation Map**

I3M:

Third molar maturity index

NPV:

Negative predictive value

PPV:

Positive predictive value

ROI:

Region of interest

RS:

Rough segmentation

R-CNN:

Region-based convolutional neural networks

TN:

True negative

TP:

True positive

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Acknowledgements

The authors would like to thank the Faculty of Dentistry, Chiang Mai University, for providing the useful dataset. The authors also gratefully acknowledge the subjects who participated in this study.

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PP, SS, UY, and KW conceived of the idea presented. WU collected the data. PP and KW developed the methodologies. PP and KW performed the experiments and analysis and wrote the main manuscript. All authors discussed the results and contributed to the final manuscript. The authors read and approved the final manuscript.

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Correspondence to Kittichai Wantanajittikul.

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This study was approved by the review board of the Faculty’s Human Experimentation Committee, Faculty of Dentistry, Chiang Mai University, Chiang Mai, Thailand (document no. 50/2019). Informed consent was waived due to the retrospective nature of the study according to the board policy.

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Pintana, P., Upalananda, W., Saekho, S. et al. Fully automated method for dental age estimation using the ACF detector and deep learning. Egypt J Forensic Sci 12, 54 (2022). https://doi.org/10.1186/s41935-022-00314-1

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