The document describes an iterative algorithm for enhancing edge intensities in digital images. It uses local cooperation and inhibition processes between edge elements to connect and strengthen relevant contours while suppressing unimportant edges. The algorithm works by iteratively updating edge intensities based on orientation and continuity attributes computed from local neighborhoods. It is designed for highly parallel computation and produces enhanced edge images with clearer contours in under ten iterations.
The document describes an iterative algorithm for enhancing edge intensities in digital images. It uses local cooperation and inhibition processes between edge elements to connect and strengthen relevant contours while suppressing unimportant edges. The algorithm works by iteratively updating edge intensities based on orientation and continuity attributes computed from local neighborhoods. It is designed for highly parallel computation and produces enhanced edge images with clearer contours in under ten iterations.
The document describes an iterative algorithm for enhancing edge intensities in digital images. It uses local cooperation and inhibition processes between edge elements to connect and strengthen relevant contours while suppressing unimportant edges. The algorithm works by iteratively updating edge intensities based on orientation and continuity attributes computed from local neighborhoods. It is designed for highly parallel computation and produces enhanced edge images with clearer contours in under ten iterations.
INRIA Sophia.-Antipoljs 2004 route des Lucioles 06565 Valbonne Cedex Fr an ce Abstract A ne w i t erat i ve al gori t hm for edge i nt ensi t y i mage enhancement i s proposed. It uses local cooperation- i nhi bi t i on processes t o prodzice an edge i mage i n which t he m,ost r el evad cont ours have reached maxi mal ac- t i vat i on, and smal l gaps and j unct i ons have been jilled i n. Imp1 e m e nt at i o n on a i n assively para1 1 e 1 m a chi n e has provided high speed perf ormances, a n d results of experiiiieiatatioiis wi t h real scene i mages are presented. The al gori t hm i s robust i n compl ex edge i mage cont ext , and i s perfectly stable under any number of i t erat i ons. 1 Introduction Contour detection in digital image processing is a fundamental step towards scene interpretation. A large class of methods, most widely used to extract image contours, consists in applying to each pixel a local discontinuity detector filter, and in thresholding tlie result to produce an edge map. The information extracted this way is difficult to use directly for scene analysis, because there is no straightforward relationship between digital image in- tensities and contours or surfaces of tlie scene real objects. Though, the human visual system performs scene interpretation using only perceived light inten- sities. The first step of this interpretation is known as Perceptual Grouping. During this preattentive process, regions are merged or splitted, new edges are inferred, some irrelevant edge elements disappear, fol- lowing rules first studied by Gestalt psycliophysiol- ogists (see [SI). I t should be emphasized that these processes precede the interpretation phase, and thus involve no high-level knowledge. This step of per- ceptual orgaiiisation is in our opinion a key coiidition for the success of interpretation. 2 Contour Grouping problem for two reasons: Contour grouping in aa edge image is a difficult 0 the number of possible edge configurations is al- most infinite, thus deciding what the best group- ing is relies on very complex rules 0 these rules depend on globa,l contour caracteris- tics, which are difficult to sxtract These observations imply t1ia.t a, grouping contour model must iinpleineiit int,era.c,tions between distant edge elements. Several a.pproaches have been used for this purpose. A diffusion plienoinenoii is obtained by iterating local upda.ting of field elements in Markov Random Field models (see [ 2 ] , [SI). Here a pixel value modification through one itera.tion only depends on a neighbourhood whose size is given by the order of the random field. As a consequence, the interaction rules between distant, pixels are defined in an implicit way, which provides few cont,rol over their definition as long as a multi-scale approach is not used. Another solution is to propagate inforination along the contours. This approa.ch was used in [7] to detect salient contours. Here more accura.te control over the iiitera,ction rules is provided; however the time needed for two pixels to intera.ct is proportional to their dis- tance along the contour. The general framework wepropose to use is a model of local interactions between objects, following rules depending on a. predefined set of attributes attached to each object. So a.s to meet time-efficiency constraints and accurate definition of the interaction rules, wealso believe that a. multiscale a.pproach should be used. These choices both provide an efficient way of com- puting global contour features, and allow accurate de- sign of the grouping rules, which is in our opinion the first requirement to obtain good results on real images. The algorithm described below is the first step to- wards this model. I t implements local interactions for the lowest scale only, where objects a.re the pixels of an edge inmge. Rehted works include relaxatmion labeling applied to contour enhancement (see [9]). In our case, using 315 0-8186-2924%7/92 $3.00 @ 1992 IEEB more coinplex rules lead to better gap filling capa- bilities as well as perfect stability for any number of iterations. Significant theoretical advances in coniput- ing curve orientation and curvature for curve inference have been made by Parent and Zucker in [GI . Their results should prove to be useful for the next elements of our model, when higher scale will require inore elab- orated curve segment inodelisation. The cooperation- inhihition concept has also been used by Grossberg and Riliiigolla (see [3]). In that work, iteration of lo- cal interactions allowed to implement coiiiplex contour grouping rules observed in human vision. However working with inore coiiiplex images coming from real world scenes lead us to use simpler and thus more ro- bust rules. 3 Model Overview interactions a.lready implemented: Five attributes have been used for the lowest scale 0 the edge element intensity, which is upda.ted a,t ea.cli iteration 0 two caracteristic coiit,our directions as defined be- low, used in a cooperat,ioii step 0 two reference values computed over the pixel neighbourhood, used in an inhibition step. The algorithm is obta.ined by iterating t.lie following sequence: 0 evaluation of attributes 0 application of the upda.ting rules. To a.chieve time efficiency constraint,s, the algo- rit,lim n7as designed t,o allow inassively parallel coin- puta.tions, while using oiily t,luee siinple basic opera- tions: 0 convolut,ion of t,he pixel neiglibourhooil Iby pre- comput,ed kernels. 0 masinia extra.ction 0 thresholding Experiinenta.1 results show t1ia.t this choice lead to very high speed performances. The a.lgorithni startas with iiimges of edge int,ensi- ties. They can be obta.inetl for example from an edge or line detection process applied on a graysmle ima.ge, followed by a no-ina.xima suppression in t,he contour direction. The final image is obt,ained by iteration of a two-step process over the image of edge int,eiisities: 0 Local cooperation: a,t positions where an incom- ing contour has been det,ected, compute a. best coiit,iiiuatioii directmion, and upda.te neiglibouriiig edge intensities accordingly. 0 Inhibition: a no-maxima suppression is performed at each position, in the maximal reinforcement direction defined below. The result, composed of the final edge intensities, is obtained in less t1ia.n ten it,erations, without any post- processing. Two parameters control t,he algorithm: 0 an activation threshold , which selects the po- sitions that ta.ke pa.rt in t,he cooperation step. 0 a continuation threshold. A local coopera.tion first takes place between neigh- bouring edge elements. For each hctive edge ele- ment (i.e. whose iiitensity is greater than the activa- tion threshold), a support, due is first computed for each of 16 predefined directxiom. 16 convolution kernels are defined to compute the support, values. Latera.1 inhibition is used to avoid selecting a. high intensity orthogona.1 contour ii1stea.d of a low intensity but well-oriented one. So the kernels ha.ve a positive center and a negative surround along the direction of int,erest,, and dues decrease with the d is t a.n ce . The maximal support va.lue is then extracted, and defines the iiicoining direct,ion . The remaining sup- port values a.re then weighted according to this incom- ing direction, so a.s to fa.vor st,raight continuations: the weights decrea.se from one for the straight continuation down to 0 a.s tlie angle with tlie incoining direction becomes inore acute. A second maximum is extracted over t,liese inoduhted values, and if it is greater than the cont.inuation threshold, i t defines the continua- tion direction. The continuation threshold is thus t.he value below which a posit.ion should be rega.rded as a real end-point, coiisideriiig the inforiimtions avail- able at this scale. These a.ttributes a.re used to update the edge in- tensity field. Since most positions lie on alrea,dy well- established contours, we dont want them to create new a.ctive positions. This is why end-points are first detect,ed: a. position is defined to be an end-point if aniong its S nearest neighbours, only one has a non- zero edge intensity, or t.wo have noli-zero intensities and are connected in a. konnexi ty pattern, and a position whose intensity is zero before the coopera- tion can be updated only by end-points. Each ac- tive edge element updat,es its neighbours depending 011 the incoining and cont,inuat,ion directtion previously detected. The updating a.mount only depends on the intensity of the upda.ting pixel, and is independent of t,he previous edge element. int,ensity.Fina.lly, Since there are inhibition terins in the contour kernels, the 316 intensities obtained after the cooperation step a.re set to zero when negative. After the cooperation step, which acts as a. hypoth- esis generator, we have to select the optimal contour positions. No-maxima suppression along the gra.dient orientation has often been used for this purpose in other models. However using a contour orientation leads to eliminate junction edge elements, as shown in the left, exa.inple of Figure 1. A quitme natural approa.ch successfully solves t.liis problem: let us define the maximal reinforcement. ori- entation as the orientation for which an edge element received its inaxiinal contribution in the cooperation step (right example of Figure 1). This maximal rein- forceinent orientation is in some wa.y the reason why a. position 1ia.s a high intensity. The key idea. is to set the int,ensity of a position to zero only if a neighbour- ing position obtained a higher intensity for i h e s a me r e as m. 4 reference value is computed on ea.cli side of a. positmion ort,liogonally to t,he nia.xiina1 reinforce- ment orientation, The edge intensities are upclat,ed by siinply setting to zero those which a.re less t,lian oiie of t,Iieir reference values. Fina.lly, a global t~liresholtl- ing is performed on the image to inainta.iii t,lie edge intensities below 1 (see [4] for further details). f ReferenFepixels ---_ Maximal reinforcement orientations Figure 1: Effect of no maxima suppression on junction pixels 4 Convergence and Stabilisation One reniarka.ble fea.ture of t,he algorithm is that, t,he result,ing image rema.ins very sta.ble under any 1111111- ber of it#erations. This has been achieved by strictly selecting the edge elements t.1ia.t take part, in t81ieco- operation step. Interesting groupings however are obt,a.ined in far less itera.tions, and all the results presented herein have been obtained after 10 iterations. At any given active position, two cases may occur: 0 a coiltinuation cont,our is detected in the neigh- bourhood of radius 4: since the ra.dius of the neighbourhood used for upda.ting is 2, the gap will be filled in 2 or 3 it,eratioiis. 0 if no continuation cont,our is detected, no updat- ing ta.kes place This explains why very few itera.tions are required. More iterations a,re usefull oiily in one mse: a con- tour formed by a long section of edge elements whose intensities a.re sma.ller than the a.ctiva.tion threshold, and with soiiie high intensity edge eleinents which will propgate t.he activa.tion 2 ~iixels further at each iter- ation. Thus the choice of 10 itera.tioiis corresponds to contours with non-zero iiia.ct.ive sections of maximal length 20, which covers the ma.jority of contours in most images. If many such contours are expected in an image, the activa.tion threshold should be lowered. 5 Experimental Results The algorithm has heen iinpleinented on a. Con- nection Ma.chine 2 system wi th a Sun4/390 front-end. The prograin is wri tkn in C, a. parallel extension of C for the Connection Machine. \Irit,liout, any opt,imiza.tion, 10 iterations a.re per- forined in &out 3 seconds wlien using one processor per pixel in the image (e.g. 128x128 image on the 16k processor Connection khcliine of I NRI A). This level of performaace was achieved by liiniting the algorithm to very ba.sic opera.tions, a.s described above. Writing the prograin in a lower-level 1a.nguage (like C-Paris for the Connection Machine) with some optimization should inalre the algorithm at least twice as fast. A st,ep edge detect,or has been applied to the gray- level image of an outdoor scene presented in Figure 2. Deriche algorithm, a recursive implementation of filt8ers deriver1 from Canny criteria. ([I]), 1:a.s been used for this purpose. Classica.1 no-maxima suppression in the gradient direction was then a.pplied to form the a.lgorithm input image, shown in Figure 3. The result presented in Figure 4 was obtained af- ter 10 iterations, and is the exa.ct output of the algo- ritliin without any thresholding, although low inten- sities are invisible in print>ecl images. The a.ctiva.tion threshold was set, to 0.05 a.nd t,he continmtion thresh- old t.0 0.025. The relevant cont,our elements all rea.ched sa.tura- t,ion value 1 ~ while the \ due of isola.ted ones reinained const,a.nt,, aiitl no t.liicl; lines 1ia.ve been introduced by t8he cooperatmion process. Most junctions and small gaps were successfully completed, as long as their size is less than t,he size of the intera.ction window. Longer gaps have been int,erpreted as contour end- points, which is t,he relevant choice at this scale, and 110 further diffusion has talteii pla.ce at the end-points. 317 The top of image 2, where many contours a.re only one pixel apart, deinonstra,tes the robustness of the process in a. dense edge image contest (compare Fig- ure 3 with Figure 4). I n order to a,ddress the problem of road detection, the algorithm has a.lso been applied on satellite im- a.ges, using a. ridge detector to forin the initial image. Full experimental results are provided in [4]. Perception, David Beardslee and Michael Wertheimer. Eds., (Princeton, N.J ), 11.55135, 1958. application of relasation labeling to line and curve en- hancernent. I EEE Tmnsoctions on Computers, Vol. C-26(4), Apr. 1977. [91s, NI , zucker, R, A, ~ ~ ~ ~ ~ ~ , , ~ l , alld A, Rosenfeld, 6 Coiiclusioii A new iterative algorithm that exhibits power- full contour enhancement capabilities has been imple- mented, and has been successfully a.pplied to complex innges of real scenes. I t achieves a very high speed efficiency, while being perfectly stable under any nun- ber of itera.tions. Thi s algorit,hin a.pplied to edge im- ages grea.tly improves the results of subsequent con- tour chaining or recognit,ion processes. However it is pa.rt of a. inore global archit,ect,ure, which is currently being implemented. Thi s inulti- scale model should provide an efficient iinpleinentation of complex rules for long-ra.nge interactions, which are required for perceptual contour grouping. Re fe re ii c e s [l] R. Deriche. Using Ca.nnys criteria to derive a re- cursively implemented optimal edge detector. Inter- notional Journal of Computev Ifision, pages 167-187, 1987. [23 S. Geman and D. Geman. Stochastic relamtion, Gibbs distributions, and the bayesian restoration of images. I EEE Transactions on Pattern Analysis and Machine IntelZiyence, Vol. PAMI-6(6), Nov. 1984. [3] S. Grossberg and E. Mingolla. Neural dynmiics of per- ceptual grouping: Test,nres, boundaries, and emergent, segmentations. Perception 63 Ps ychoph~s i cs , Vol. 38- 2:141-171, 1985. [71 F. Mangin, J . Zerubia, and M. Bertliod. Local edge grouping by simple process iteration. Technical Report, 1559, INRIA, November 1991. J . L. Marrocluin. A markovian raudom field of piece- wise straight, lines. Bioloyicol Cybernetics, 61:457-465, 1989. P. Parent and S. W. Zucker. Trace inference, curva- ture consistency, and curve detection. I EEE Truns- a.ctions on Padtern Analysis a.nd Madtine Intelligence, Vol. PAMI-11(8), Aug. 1989. A. Shaashua and S. Ullman. Structural saliency: The detection of globally salient, struct,ures using a. locally connected network. In Proc. NI PS 90, 1990. Figure 2: Source iinage Figure 3: All edges detected after edge detection + no-niasiina supression [PI M. Wert,lieimer. Untersuchungen zur lelire von der gestalt ii. Psycho/. For.sch., ( 4) , 1923. Tra.nsla.t,ecl as Principles of Perceptual Organization, in Readings in Figure 4: Resulting image after 10 iterations 318
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