Le Dung Digital Image Processing Chapter III

DIGITAL IMAGE PROCESSING
Dr. Le Dung
Dung.le@hust.edu.vn
0904982398
HANOI UNIVERSITY OF SCIENCE AND TECHNOLOGY
SCHOOL OF ELECTRONICS AND TELECOMMUNICATION
Chng III:
PHN ON NH
(Image Segmentation)
Ni dung
TCH BIN NH (EDGE DETECTION)
TCH KHUNG XNG NH (SKELETON EXTRACTION)
TCH VNG NH (REGION SEGMENTATION)
KHI NIM BIN CA NH (Image Edges)

Grayscale image
Edges
Types of Edge
s u r f a c e
d e p t h
s u r f a c e
il l u m in a t io n
S thay i chi ti bin

Luminance profile of an edge
S t e p
R o o f
L in e
nh Grayscale thng dng tch bin

Color typically isnt need when looking for edges
Less Computation in gray scale, no R,B,G
Gray value = 0.2989*R+ 0.5870*G + 0.1140*B
K thut tm bin nh
Luminance profile I(x,y)
First derivative
Second derivative
Edge direction and strength

Gradient
Gradient direction:
The edge strength is given by the gradient magnitude
10
ng bin nh khi c nhiu
Edge with noise

Edge Magnitude ?
Edge Orientation ?
High Detection Rate and Good Localization ?
11
Edge Detection with noise

Gradient with noise
Where is the edge?

12
Cn gim nhiu trc khi tch bin

Images can have noise in them
Heat waves
Dust
Smoke
Acquisition Noise
Solution Noise filter

nh c nhiu
nh tch bin
13
Noise reduction
Gaussian Mask Gaussian Filter
14
Noise reduction
Gaussian Filter Smoothing (Gaussian blur)
Original
Smoothed
15
Edge Detection after noise reduction

Smooth first, then Gradient
16
Calculate Gradient Image

- Achieved by obtaining the magnitude for each pixel
from the outConvX[][] and the outConvY[][]
- Iterate through each pixel i and j
- Magnitude[i][j] =
outConvX[i ][j] 2 outConvY[i ][j] 2 )
- Gradient direction = tan -1 (outConvY[ ][]/outCon vX[][])
17
Discrete version of gradient
18
The Sobel operators
19
The Sobel operators
Grad x
Grad y
20
The Prewitt operators
21
The Compass operators
22
The Laplacian Edge Detector
23
The Laplace-4 for Edge Detector
24
Laplacian Operator with a Blur Edge
25
Laplacian Zero-crossing Operator
26
The Laplace-8 for Edge Detector
27
Canny Edge Detector

Developed by John Canny in 1986
28
Canny Edge Detector
1. Noise reduction (5x5 Gaussian filter)

2. Finding the intensity gradient of the image (Sobel X & Y)
3. Non-maximum suppression (loi b im khng cc i)
4. Tracing edges through the image and hysteresis threshold
(ngng tri tr - n hi)
29
Edge Detection with Sobel filter
30
Edge Detection with Sobel filter should be thinned
31
Non-maximum suppression
Non-maximum suppression is an edge thinning technique :
Select the single maximum point (peak) along the gradient direction.
32
Peaks
The matrix is represented with values
of the pictures Magnitude[][]
Since current pixels Magnitude[i][j] > relevant
pixels Magnitude[i][j]
12 34 23 Gradient
direction
peak[i][j] = true
85 90 30
23
78
90
Since current pixels Magnitude[i][j] < relevant

pixels Magnitude[i][j]
Gradient
12 34 23
direction
85 90 99
peak[i][j] = false
23
78
90
33
Tin trnh thc hin loi b cc im khng cc i :
34
V d:
35
Kt qu v d ng bin c lm mnh
36
Double Threshold and Hysteresis
Strong
High threshold
Weak
Connectivity
Weak
Low threshold
37
Double Threshold and Hysteresis

Final[] is another Boolean matrix that represents peak
values that are accepted by the double threshold
High Threshold ( strong edges)
Values is selected by the programmer
If the Magnitude[] > High Threshold and peak[] == true then
that pixel is a peak in Final[] (certain edges)
Low Threshold ( weak edges)

Value is selected by the programmer
If High Threshold > Magnitude[] > Low Threshold
and peak[] == true
Tracking: (Hysteresis): Weak edge pixels have a connectivity of

a strong edge pixel.
38
Getting the High Threshold

For i = 0 to Row length
For j = 0 to column length
if(peak[i][j] == true && magnitude[i][j] > High)
peak[i][j] = false
final[i][j] = true
else if(peak[i][j] == true && magnitude[i][j] < Low)
peak[i][j] == false
final[i][j] == false
39
Example High Threshold

High threshold: 80
Peak Table
Magnitude Table
7
Final Table
77 43 32 21 21
45 81 1
91 1
34 43 65 67 34 2
1
91 1
1
91 1
92 1
83 82 82 3
1
2
Table
True Peak
True Final
False Peak
False Final
40
Getting The Low Threshold

MoreToDo = On
While(MoreToDo == On)
{ MoreToDo = Off
if(Final[i][j] == true)
For p = -1 to 1
For q = -1 to 1
if(peak[i+p][j+q] == true)
{ Final[i+p][j+q] == true
peak[i+p][j+q] = false
MoreToDo = On
}
}
41
Example Low Threshold

General Peaks Table
with High and Low:
Final Table:
Table
Low Peak
High Peak
True Final
False Peak
False Final
42
Output
if(Final[i][j] == true)
print white pixel
else
print black pixel
43
Double Threshold and Hysteresis Result
l nh s
44
SKELETON OF IMAGE
l nh s
45
TRCH LC KHUNG XNG NH
Skeleton
Nh phn ha nh (Binary image converter)

Thut ton bin i nh khong cch (Distance Transform)
Lc tch xng nh trn nh Distance transformation image
l nh s
46
DISTANCE TRANSFORM
l nh s
47
DISTANCE TRANSFORM IMAGE
l nh s
48
K THUT N MN TCH XNG
l nh s
49
CC BC N MN TCH XNG (1)

+ Bt u n mn t im c khong cch bng 2, sau lp li vi khong cch
tng dn ln (3,4,5 n khong cch ln nht)
+ im ang xt s khng b n mn trong cc trng hp sau:
4 ln cn trc tip u l im nn (background) v c t nht 1 ln
cn khc l im nh foreground.
Trong 4 ln cn trc tip th c 3 im l im nn (1 im cn li l
foreground).
Trong 4 ln cn trc tip th c 2 im l im nn th
3 trng hp sau l khng n mn:
?
C 4 ln cn trc tip u khng l im nn (tc l c 4 im

u l im foreground)
l nh s
50

V d 1: Cho nh Distance transform image sau
l nh s
51

V d 1: n mn im nh c khong cch bng 2
l nh s
52

l nh s
53

l nh s
54

l nh s
55

V d 1: n mn im nh c khong cch bng 7 Kt thc
l nh s
56
nh xng c th cho kt qu nhn dng tt hn
l nh s
57
TCH VNG NH
Dng Histogram
Dng Connected Component Labeling Algorithm
l nh s
58
TCH VNG NH DNG HISTOGRAM (1)
l nh s
59
TCH VNG NH DNG HISTOGRAM (2)

Histogram
Cutting direction
2 horizontal cutting lines

d12
2
1
Horizontal
Cutting line
Vertical cutting lines 10
Code Area
Border
9 8 7 6
5 4 3 2 1
Histogram
12 pixels
(pixels)
Vertical
direction
Selected area
Threshold 10 pixels
pixels
20
Position of numbers
V1
V2
V3
V4
V5
Border
l nh s
60
THUT TON CONNECTED COMPONENT LABELING

Tch cc vng nh khng lin kt
3
3
7
7
7
7
B T i PD NM GA T L AL
B tp r
n ht h u TOt N
l nh s
61
CC BC CA THUT TON CCL (1)

1
Cc im cha
dn nhn c gi
tr bng 1
(im nn gi tr
bng 0)
1
1
1
1
nh cn phn
vng bng
thut ton
CCL
10
Kmax
.....
Mng theo di s kt hp nhn

l nh s
62

Bt u t im
[0,0] i t tri
sang phi, trn
xung di.
im cha c
dn nhn s
c nh nhn
mi k.
2 im ln cn
phi v di
cha c dn
nhn cng c
nh nhn k lun
1
1
nh cn phn
vng bng
thut ton
CCL
1
1
1
1
1
1
(dng 4-connectivity)
1
10
Kmax
.....

l nh s
63

Nhn k s
c tng
dn ln
3
1
1
1
nh cn phn
vng bng
thut ton
CCL
1
1
10
Kmax
.....

l nh s
64

im c
nh nhn k ri
s c dng
nh tip cc
im ln cn phi
v di cha dn
nhn
3
4
nh cn phn
vng bng
thut ton
CCL
Vy khi im ln
cn phi cng
dn nhn ri th
sao?.
1
1
1
10
Kmax
.....

l nh s
65

Khi im ln cn
phi dn nhn
So snh
dng nh nh
hn
nh cho im
ln cn di.
1
1
nh cn phn
vng bng
thut ton
CCL
ng thi ghi
nhn 1 s kt
hp nhn trong
mng theo di
10
Kmax
.....

l nh s
66

Tng th nh
nhn cc im
nh v cc v tr
kt hp nhn
trong lt nh
nhn ln u.
nh cn phn
vng bng
thut ton
CCL
10
Kmax
.....

l nh s
67

nh li nhn cho
cc im nh c
nhn kt hp da
vo mng theo
di s kt hp
nhn.
nh cn phn
vng bng
thut ton
CCL
10
Kmax
.....

l nh s
68
M RNG CCL: TNH S IM NH MI VNG (1)

Va nh nhn
theo thut ton
CCL va m s
im nh cng
nhn.
3
4
4
5
Ghi li trn
mng theo di
nhn.
3
6
3
8
Nhn
.....
m s im
.....
10
Kmax
l nh s
69
M RNG CCL: TNH S IM NH MI VNG (2)

Vng nh va
nh nhn va
nh s lng
im nh (Label
&Weight)
1
1
1
1
Trn mng
theo di nhn s
cng gp s im
nh cc nhn b
kt hp
ng dng ?
1
1
Nhn
.....
m s im
6+5+
2
6+2
.....
10
Kmax
l nh s
70
TCH LC VNG NHIU VI CCL ALGORITHM
l nh s
71
TCH LC VNG QUAN TM VI CCL ALGORITHM (1)
l nh s
72
TCH LC VNG QUAN TM VI CCL ALGORITHM (2)
l nh s
73
Morphological Operators
(Cc ton t hnh thi)
Cc ton t Morphological thng nhn mt nh nh
phn (binary image) hay nh a mc xm (greyscale
image) v mt phn t cu trc SE (structuring element)
(mt ma trn, kernel) nh l d liu u vo, sau kt
hp chng bng cch s dng tp php ton nh giao,
hp, bao gm, b (intersection, union, inclusion,
complement) cho ra mt nh kt qu c cng kch thc.
Morphological operations the shape of the object
l nh s
74
X
Morphological Operator: Structuring Elements
SE = kernel
o r ig in
l nh s
75
Morphological Operator: Probing the SE on the Image
SE neither fits, nor

hits the image
Structure
Element
SE fits the image
The binary image
SE hits (intersects)
the image
l nh s
76
Morphological Operator: Example: Fit - Hit
https://www.cs.auckland.ac.nz/courses/compsci773s1c/lectures/ImageProcessing-html/topic4.htm
l nh s
77
Morphological Operator: Cc k hiu v php ton
A is a set in Z2 ,
a=(a1,a2) an element of A, aA If not, then aA
: null (empty) set
A subset of B: AB
Union of A and B: C=AB
Intersection of A and B: D=AB
Disjoint sets: AB=
Complement of A: Ac = {x|xA}
Difference of A and B:
A-B = {x|xA, x B} = ABc
l nh s
78
Morphological Operator: V d cc php ton
l nh s
79
Morphological Operator: Reflection and Translation

Reflection of B: denoted by BR and X(x1,x2) is reference point.
BR = {x|x=-b, for bB}
Translation of B by X(x1,x2), denoted by (B)x :
(B)x = {c| c=b+x, for bB}
l nh s
80
Morphological Operator: Erosion (xi mn)

A B = {x | (B)x A}
The erosion of A by B is the set of all points x such that B,
translated by x, is contained (fits) in A (B usually is the
structure element)
The basic effect of the Erosion operator on a binary
image is to erode away the boundaries of regions of
foreground pixels.
Thus areas of foreground pixels shrink in size, and
holes within those areas become larger.
l nh s
81
Morphological Operator: Erosion operation

The eroded image
(A B)
The original image

(A)
SE fits
SE hits but doent fit

on the image A
will be eroded
The pixel is eroded
SE = B
3x3
l nh s
82
Morphological Operator: Erosion Example (1)

The eroded image
The original image
?
SE
l nh s
83
Morphological Operator: Erosion Example (2)
SE
Original image
The erosion of the

original image
l nh s
84
Morphological Operator: Erosion Applications

Application Example (1)
Boundary Extraction: The boundary of a set A, can be obtained
by first eroding A by B and then performing the set difference
between A and its erosion.
( A) A A B
l nh s
85
Morphological Operator: Erosion Applications

l nh s
86
Morphological Operator: Dilation (trng n)

A B = {x | (BR)x A }
1.
2.
Obtaining the reflection of B ( BR) with its origin as

the reference point and then shifting this reflection by x.
The dilation of A by B then is the set of all x
displacements such that BR and A overlap by at least
one nonzero pixel (hit).
l nh s
87
Morphological Operator: Dilation operation

The original image
(A)
The dilated image

(AB)
BR and A overlap (hits)
BR and A dont overlap
SE = B =BR
l nh s
88
Morphological Operator: Dilation Example (1)

The original image
The dilated image
?
SE
=B
= BR
l nh s
89
Morphological Operator: Dilation Exercise

The dilated image ?
The original image
SE
SER
l nh s
90
Morphological Operator: Dilation

Hole Filling
1. Forming an array X0 of 0s (the same size as the array
containing A), except the locations in X0 corresponding to the
given point in each hole, which we set to 1.
2. Xk = (Xk-1 + B) Ac
k=1,2,3,
Stop the iteration if Xk = Xk-1
l nh s
91

Hole Filling
l nh s
92

l nh s
93
Morphological Operator:
Duality (Erosion & Dilation)
Erosion and dilation are duals of each other with respect to set
complementation and reflection
A B
A B
A B
A B
and
l nh s
94
Morphological Operator:
Duality (Erosion & Dilation)
Erosion and dilation are duals of each other with respect to set
complementation and reflection
A B
z | B Z A
z | B Z A
c
z | B Z Ac
Ac B
l nh s
95
Morphological Operator: Opening & Closing

The opening of set A by structuring element B,
denoted A B, is defined as
A B A B B
The closing of set A by structuring element B,
denoted A B, is defined as
A B A B B
l nh s
96
Morphological Operator: Opening & Closing

Properties of Opening
(a) A B is a subset (subimage) of A

(b) if C is a subset of D, then C B is a subset of D B
(c) ( A B) B A B
Properties of Closing
(a) A is subset (subimage) of A B

(b) If C is a subset of D, then C B is a subset of D B
(c) ( A B) B A B
l nh s
97
Morphological Operator: Opening Example
l nh s
98
Morphological Operator: Closing Example
l nh s
99
Morphological Operator: Opening & Closing Application

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DIGITAL IMAGE PROCESSING

HANOI UNIVERSITY OF SCIENCE AND TECHNOLOGY

SCHOOL OF ELECTRONICS AND TELECOMMUNICATION

HANOI UNIVERSITY OF SCIENCE AND TECHNOLOGY

SCHOOL OF ELECTRONICS AND TELECOMMUNICATION

HANOI UNIVERSITY OF SCIENCE AND TECHNOLOGY

SCHOOL OF ELECTRONICS AND TELECOMMUNICATION

KHI NIM BIN CA NH (Image Edges)

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S thay i chi ti bin

nh Grayscale thng dng tch bin

Gray value = 0.2989*R+ 0.5870*G + 0.1140*B

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Edge direction and strength

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ng bin nh khi c nhiu

Edge with noise

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Edge Detection with noise

Where is the edge?

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Cn gim nhiu trc khi tch bin

Solution Noise filter

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Edge Detection after noise reduction

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Calculate Gradient Image

outConvX[i ][j] 2 outConvY[i ][j] 2 )

- Gradient direction = tan -1 (outConvY[ ][]/outCon vX[][])

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Discrete version of gradient

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The Sobel operators

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The Sobel operators

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The Prewitt operators

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The Compass operators

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The Laplacian Edge Detector

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The Laplace-4 for Edge Detector

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Gray value = 0.2989R+ 0.5870G + 0.1140*B