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Fundamentos
Material de clase: http://www.robotica-up.org/ Education Digital Image Processing Biblio: Gonzalez (Rafael) & Woods (Richard), Digital Image Processing, Prentice Hall
Pasivos: cmaras, acsticos, brjula electrnica, odmetros y giroscopios Cmaras vs Sensores Activos:
- Todos los sensores activos son tecnologa invasiva detectables - Scanning secuencial lentos y rango limitado (lser) - Velocidad de muestreo (las cmaras son 25 veces mas rpidas) - Costo - 3D vs 2D - Las cmaras implican mayor carga de procesamiento
Imagen en la retina
Los lentes son flexibles Las fibras ciliares controlan los lentes: - Relajados para objetos lejanos (> 3m) - Tensos para objetos cercanos
Distancia focal: 14-17 mm
h?
Fovea: rea de mayor resolucin de la retina -Matriz de 1.5 x 1.5 mm -337,000 elementos (580 x 580) Cmara: 580 x 580 requiere 5 x 5 mm
h=2.55mm
Imgenes Digitales
Adquisicin de imgenes
Imgenes Digitales
Almacenamiento de una imagen Niveles de gris Color: Modelo RGB
Imgenes Digitales
b=M N k
Numero de bits en disco Formato Extensin
Ej: Imagen de 100x100 a 24 bits ocupa 240,000 bits o 30,000 bytes o 29.29 kB
JPEG (Joint Photographic Experts Group) jpg, jpeg TIFF (Tagged Image File Format)
0 255
AMxN
L=
Niveles de gris Ej: Imagen de 8 bits tiene 256 niveles posibles de gris
AMxNx3
bits
2k
L=
(2k)3
png
24, 48 bits
Mejor calidad
Ej: Imagen de 8 bits en RGB tiene 16,777,216 colores posibles Equivale a una imagen de 24 bits en gris
Reduccin de imgenes
1024 x 1024
Amplificacin de imgenes
512 x 512 1024 x 1024 256 x 256 1024 x 1024
Caminos (paths)
El camino del pixel p al pixel q es una secuencia de pixeles 4-8-m adyacentes
Review Problems
1 - Thinking purely in geometric terms, estimate the diameter of the smallest printed dot that the eye can discern if the page on which the dot is printed is 0.2 m away from the eyes. Assume for simplicity that the visual system ceases to detect the dot when the image of the dot on the fovea becomes smaller than the diameter of one receptor (cone) in that area of the retina. Assume further that the fovea can be modeled as a square array of dimensions 1.5 mm x 1.5 mm, and that the cones and spaces between the cones are distributed uniformly throughout this array. 2 - A common measure of transmission for digital data is the baud rate, defined as the number of bits transmitted per second. Generally, transmission is accomplished in packets consisting of a start bit, a byte (8 bits) of information, and a stop bit. Using these facts: (a) How many minutes would it take to transmit a 1024 x 1024 image with 256 gray levels using a 56K baud modem? (b) What would the time be at 750K baud, a representative speed of a phone DSL (digital subscriber line) connection? 3 - Consider the image segment shown. For V1={1} and V2={0} determine how many subsets are: (a) 4-adjacent, (b) 8-adjacent, and (c) m-adjacent.
0 1 0 1 1 1 1 1 0 1 0 1 0 1 1 0 1 1 0 1 0 0 1 0 0
4 - What kind of adjacency presents the blue pixels in the following image?
5 - Consider the image segment shown. (a) Let V={4, 5}. Compute the lengths of the shortest 4-, 8-, and m-path between p and q. If a particular path does not exist between these two points, explain why. (b) Repeat for V={0, 4}.
1 2 3 4 0 4 3 2 2 0 4 3 4 5 1 0 5 3 1 2 0 3 3 4 p 0 4 1 4 2 4 4 1 5 5 5 2