1

3.1
3.2
3.3 Marr-Hildreth
3.4
3.5

3.1

(Preprocessing)(Edge Detection)

(Zero-crossing)

:(Abrupt Change)
(Peak)(Threshold)

:(Zero Crossing)

3.2.1

3.2.2
3.2.1

3.2.3

f(x)

f(x)

f(x)

(a)

(b)

(c)

3.2.4
5

3.2
f(x, y) x

x f f ( x 1, y ) f ( x, y )
x

2x f f ( x 2, y ) f ( x 1, y ) [ f ( x 1, y ) f ( x, y )]
f ( x 2, y ) 2 f ( x 1, y ) f ( x, y )
x=x+1

2x f f ( x 1, y) 2 f ( x, y) f ( x 1, y)
y

2y f f ( x, y 1) 2 f ( x, y) f ( x, y 1)

2 f 2x f 2y f
f ( x, y 1) f ( x 1, y) f ( x, y 1) f ( x 1, y) 4 f ( x, y)

(3.2.1)
6

3.2.5(3.2.1)
0

-4

3.2.5

2 f ( x 1, y ) 2 f ( x 1, y )
2 f ( x 1, y) 2 f ( x 1, y) T
(x, y)
2 f ( x, y 1) 2 f ( x, y 1)
(x, y)
7

Sobel

Sobel
x
y
x f y f
(Magnitude)

tan

y f

x f

3.2.8 Sobel

x f y f
( x f )2 ( y f )2

(a) y (b) x

( x f ) 2 ( y f ) 2
1

1 2

Sobel
- Prewitt

(a) y (b) x
3.2.9 Prewitt

355Prewitt
T78
15

39

42

27

12

12

21

48

15

21

27

12

18

15

33

18

18

45

60

57

24

21

(1)

(2)

(3)

(4)

(5)

(6)

(7)

(8)

(9)

3.2.10(a)
Prewitt

3.2.10(b)Prewitt

x f
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)

-6-18-15=-39
18+15+15=48
15+15+9=39
-6+6+15=15
6+15-3=18
-15+3+9=-3
36+39+30=105
39+30+12=81
30+12+18=60

y f

x f y f

27+36+18=81
-12-6-24=-27
-30-39-24=-93
36+18+15=69
-6-9+3=-12
-39-24-15=-78
18+15+12=45
-9+3-36=-42
-24-15-36=-75

39+81 = 120 > T

48+27 = 75
39+93 = 132 > T
15+69 = 84 > T
18+12 = 30
3+78 = 81 > T
105+45 = 150 > T
81+42 = 123 > T
60+75 = 135 > T

10

3.2.10(1)(3)(4)(6)(7)(8)(9)

11

3.3 Marr-Hildreth

Marr-Hildreth

(Gaussian Smoothing Operator)

G( x, y) e
LOG (Laplacian of Gaussian)

x2 y 2
2 2

LOG 2 G( x, y, ) f ( x, y)

(3.3.1)
(3.3.2)

LOG [ 2G ( x, y, )] f ( x, y )

(3.3.3)

12

x
2
2 e 2
G( x, y, ) e 2 x
r 2 x 2 y
x

r2

2G
1 2r
x
x 2r
1 x 2 2 2r
)e
x 2 2 e ( 2 )( 2 )e 2 (
2
x

r2

G y2 e 2
y

r2

G 1 y 2 2

(
)e
y 2 2
2
2

r2

2G( x, y, ) G2 G2 12 ( x y 2 2 )e 2
2

(3.3.3) LOG

r2

1 x y
2 2
(

2)
e
* f ( x, y)
2
2
2

LOGc
LOG c(

x y 2
2

( x2 y 2 )

)e

2 2

13

1(3.3.4)?
55

(-2,2)

(-1,2)

(0,2)

(1,2)

(2,2)

(-2,1)

(-1,1)

(0,1)

(1,1)

(2,1)

(-2,0)

(-1,0)

(0,0)

(1,0)

(2,0)

(-2,-1) (-1,-1)

(0,-1)

(1,-1)

(2,-1)

(-2,-2) (-1,-2)

(0,-2)

(1,-2)

(2,-2)

25 (x, y)

x y 2
2

( x2 y 2 )

2 2

14

* ; xO
16-2-1

15


0 1 0
0
0
0 1 2 1 0

1 2 16 2 1

1
0

0
0 1 0
0

3.3.1

(3.3.4)

3.3.2 Marr-Hildreth

16

3.3.3 Canny
(Edge Map)

Canny

(Hysteresis)

17

3.4

3.4.1

3.4.1
v1 v 2 v 9
v1
v2
w

1 v 2 v
2
v9 1
w9
v9

0 2

1 2 1

(a)

1 2

(b)

(c)

1 2

(d)

(e)

(f)

(g)

(h)
3.4.1

(i)
18

3 3(Row Major Order)

t
z ( z1 , z2 ,..., z9 )
t
t
t
m

z
w9
m

w
m1 z w

9
2
2
1

m max{m1 , m2 ,..., m9 }

m3.4.1(a)
3.4.1(i)z

19

1?
?

W1

W2

S ,W1

S , W2

. . .

W3

W9

S
S , W9

. . .

Max
j

>T

Yes

No

20

3.5

( )
E (t ) Econt (t ) Ecurv (t ) Eimage dt
(3.6.1)
Econt

dc(t )

dt

Ecurv

d c(t )
dt 2

Eimage I

bi bi 1

bi 1 2bi bi 1

c (t )
b1 b2 b3 bn i i i 1
(Corner Point) i 0
21

(B-spline Curve)
vivi+1 vi+2 vi+3
N 0,3 (t ) N1,3 (t ) N 2,3 (t ) N3,3 (t )
Pi (t ) vi N 0,3 (t ) vi 1 N1,3 (t ) vi 2 N 2,3 (t ) vi 3 N 3,3 (t ) 0 t 1

(Blending Function)

N 0,3 (1) N1,3 (0)

'
'
N0,3
(1) N1,3
(0)

''
''
N0,3
(1) N1,3
(0)

N 0,3 (0) 0

N 3,3 (1) 0

N1,3 (1) N 2,3 (0)

'
'
N1,3
(1) N2,3
(0)

''
''
N1,3
(1) N2,3
(0)

'
N0,3
(0) 0

'
N3,3
(1) 0

N 2,3 (1) N 3,3 (0)

'
'
N2,3
(1) N3,3
(0)

''
''
N2,3
(1) N3,3
(0)

''
N0,3
(0) 0

''
N3,3
(1) 0

1 3
N 0,3 (t ) t

6
1
1
N1,3 (t ) (3t 3 3t 2 3t 1)
3
6
1 3 2
1
Pi (t ) t t t 1
N 2,3 (t ) (3t 3 6t 2 4)
3
6
6

1
1 3
2
N 3,3 (t ) (t 3t 3t 1)
6

3 1 vi
6 3 0 vi 1
0 3 0 vi 2

4 1 0 vi 3
3

22

Ecurv Econt
Eimage I

I m
m I
M m

M I

b1 3 3 b1
n

3.5.1

3.5.2

3.5.3

23