Lecture5 PDF

Lecture 5.
Spatial Domain Linear Filtering g

ELEN E4830 Digital Image Processing S i 2010 Spring
Zhu Liu zliu@research.att.com li @ h tt AT&T Labs - Research David Gibbon d @ dcg@research.att.com h tt AT&T Labs - Research
Note: Part of the materials in the slides are from Gonzalezs Digital Image Processing and Prof. Yao Wangs lecture slides
Lecture Outline
Noise removal using low-pass filters Sharpening by b edge enhancement
Edge detection using high-pass filters Edge enhancement by high emphasis filters
Debluring techniques
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ELEN E4830 Digital Image Processing
Lecture 5, Page 2
Example of Noise Removal
Spring 2010
Lecture 5, Page 3
Noise Removal (Image Smoothing)

An image may be dirty (with dots, speckles, stains) Noise removal:
To remove speckles/dots on an image Dots can be modeled as impulses (salt-and-pepper or speckle) or continuously varying (Gaussian noise) Can be removed by taking mean values of neighboring pixels (e.g. 3x3 window) Equivalent to low low-pass pass filtering
Problem with low-pass filtering

May blur edges More advanced techniques
Rank order filtering including median filtering p g filtering g Morphological
Spring 2010 ELEN E4830 Digital Image Processing Lecture 5, Page 4
Averaging Filter: An Intuitive Approach

Replace each pixel by the average of pixels in a square window surrounding this pixel
f (m 1, n 1) + f (m 1, n) + f (m 1, n + 1) 1 g (m, n) = + f (m, n 1) + f (m, n) + f (m, n + 1) 9 + f (m + 1, n 1) + f (m + 1, n) + f (m + 1, n + 1)
Trade-off between noise removal and detail preserving:

Larger window -> can remove noise more effectively, y, but also blur the details/edges g
Example: 3x3 average

100 100 100 100 100 100 100 100 100 200 205 203 100 195 200 200 100 200 205 195 100 100 100 100 100
100 100 100 100 100

Spring 2010 ELEN E4830 Digital Image Processing
100 100 100 100 144 167 145 100 167 200 168 100 144 166 144 100 100 100 100 100
Lecture 5, Page 6
Example
(a) Original image (500x500 pixels) Sizes of the black squares: 3, 5, 9, 15, 25, 35 45 35, 45, 55 Diameter of the circles is 25 pixels The vertical bars are 5x100 pixels The noisy rectangles are 50x120 pixels (b-f) Smoothing with square averaging filters (b) 3x3 (c) 5x5 (d) 9x9 (e) 15x15 (f) 35x35
FIGURE 3.33 ab cd ef
Weighted Averaging Filter

Instead of averaging all the pixel values in the window, give the closer-by closer by pixels higher weighting, and far-away pixels lower weighting.
g (m, n) =
k = k 0 l = l0
h(k , l ) f (m k , n l ) = f (m, n) * h(m, n)
k1
l1
This type of operation is in fact 2-D 2 D linear convolution of f(m,n) by a filter h(m,n). Weighted g average g filter retains low frequency q y and suppresses high frequency = low-pass filter
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Lecture 5, Page 8
Example Weighting Mask
1
1 9
1 1 1
1 1 1
1 16
1 2 1
2 4 2
1 2 1
1 1
All weights must sum to one to reserve the average intensity
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Lecture 5, Page 9
Example of Weighted Average

100 100 100
1 9
100 100 200 205 195 200 200 205 100 100
100 203 200 195 100
100 100 100 100 100

1 16
1 1 1
1 1 1
1 1 1 100 145 168 144 100
100 100
1 2 1
2 4 2
1 2 1
100 100 100 100 100
100 100 144 167 167 200 144 166 100 100
100 100 100 100 100
100 100 100 100 100
100 100 156 176 174 201 156 175 100 100
100 100 158 100 175 100 156 100 100 100
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Lecture 5, Page 10
Example of Averaged Image
Original image
Averaged image
1 1 9 1
1 1 1 1 1 1 1
Weighted averaged image

1 16
1 2 1
2 4 2
1 2 1
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Lecture 5, Page 11
Computation Cost of Convolution

g (m, n) = f (m, n) * h(m, n) =
Suppose
k = l =
h( k , l ) f ( m k , n l ) = f ( k , l ) h( m k , n l )
k = l =
The size of the image (f) is M x N. The e size s eo of t the e filter te ( (h) ) is s K x L.
g (m, n) = f (m, n) * h(m, n) = h(k , l ) f (m k , n l )
k =0 l =0 K 1 L 1
Estimation on computation cost

Each pixel: KxL multiplication; KxL 1 addition. Total: MxNxKxL multiplication; MxNx(KxL-1) add. When f and h are squares: M=N, K=L
M2K2 multiplication lti li ti + M2(K2-1) 1) add. dd
Separable Filtering
If h(m,n) is separable: h(m, n)=hx(m)hy(n), the 2D convolution can be accomplished by first applying 1D filtering along each row using hy(n), (n) and then applying 1D filtering to the intermediate result along each column using the filter hx(n) h (n)
y
m=0
g (m, n) = f (m, n) * h(m, n) = f (m k , n l )h(k , l ) = f (m k , n l )hx (k )hy (l )

k l k l
f(m n) f(m,n)
m=M-1
gy(m,n)=f(m,n)*hy(n) hx(m)
g y (m, n) =
= f (m k , n l )hy (l ) hx (k ) k l = g y (m k , n)hx (k )
k
f (m, n l )h (l )
y l
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= ( f (m, n) * hy (n)) * hx (m)
g(m,n)=gy(m,n)*hx(m)
Lecture 4, Page 13
Computation Cost for Separable Filtering

Suppose
g (m, n) = f (m, n) * h(m, n) = ( f (m, n) * hy (n)) * hx (m)
The size of the image (f) is M x N. The size of the filter (h) is K x L
Each pixel in a row: L mul; L-1 add. g y (m, n) = f (m, n l )hy (l ) Each row: NxL mul; Nx(L-1) Nx(L 1) add add. l M rows: MxNxL mul; MxNx(L-1) add. Each p pixel in a column: K mul; K-1 add. Each column: MxK mul; Mx(K-1) add. g (m, n) = g y (m k , n)hx (k ) k N columns: NxMxK mul; NxMx(K-1) add. T t l MxNx(K+L) Total: M N (K+L) mul; l MxNx(K+L-2) M N (K+L 2) add. dd When f and h are squares: M=N, K=L
2M2K multiplication; 2M2(K-1) addition. Non-separable filtering: M2K2 multiplication + M2(K2-1) add
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Lecture 4, Page 14
Symmetrical Filter
The smoothing filter is symmetrical in both horizontal and vertical directions, as well as diagonal. -W
h(k , l ) = h(k ,l ) = h(k , l ) = h(k ,l )

Simplified calculation.
g (m, n) =
k = W l = W
k=0 W -W
H h
h(k , l ) f (m k , n l ) = f (m, n) * h(m, n)

+ h(0, l)( f (m, n l) + f (m, n + l))
l =1 W
l=0
g(m, n) = h(0,0) f (m, n)

W
+ h(k,0)( f (m k, n) + f (m + k, n))
k =1
+ h(k, l)( f (m k, n l) + f (m k, n + l) + f (m + k, n l) + f (m + k, n + l))

k =1 l =1
W W
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Lecture 5, Page 15
Computation Cost for symmetrical filter

General (2W+1) by (2W+1) filter
For each pixel: (2W+1) (2W 1)2 multiplications
g (m, n) =
k = W l = W
h( k , l ) f ( m k , n l )
Symmetrical filter
For each pixel:1+2W+W2=(W+1)2 multiplications
Example of computation cost saving

W = 2, and f is a 512x512 image Saving 512x512x(52-32)=29x29x24=222
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Lecture 5, Page 16
Common Smoothing Filters

1 1 1 1 2 1 1 1 ; 1 2 4 2 ; 1 2 1 16 (b + 2) 2 10 1 1 1 1 2 1 1 b b b 2 1 b 1 b , with b 1. 1
Criteria for designing a smoothing filter

h(k,l) h(k l)0 (function as averaging) h(k , l ) = 1 (the dynamic range is preserved)
k1 l1 k = k 0 l = l0
Spring 2010
Lecture 5, Page 17
Smoothing Filter is a Low-pass Filter

The 2D Fourier Transform of a smoothing filter
Image signal usually varies slowly, and noise is usually a wide band signal. Image edges and other details are blurred
Noise Removal by Averaging Multiple Images Assume y = x + n, where n ~ N(0, 2). Observe Obser e one image image, the noise is n Observe N images: yi = x + ni, i=1,,N, where ni ~ N(0, 2), and ni are independent.
1 y= N 1 yi = N i =1
N
1 ( x + ni ) = x + N i =1
n
i =1
y = x + n , where n ~ N (0, 2 / N )
Examples of Noise Removal by Averaging p Images g Multiple
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Lecture 5, Page 20
Image Sharpening
Sharpening : to enhance line structures or other details in an image Enhanced image = original image + scaled version of the line structures and edges in the image Line structures and edges can be obtained by applying a difference operator (=high pass filter) on the image p is still a weighted g averaging g g Combined operation operation, but some weights can be negative. In frequency domain, the filter has the high-emphasis character h t
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Lecture 5, Page 21
Example
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Lecture 5, Page 22
General Method of Edge Detection

Edge
1 1 1 h= 0 0 0 1 1 1
Non-Edge Non Edge No f Hh g |g|>T Yes Edge
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Lecture 5, Page 23
Isotropic Edge Detector

Criterion for designing a high-pass filter
F (0,0) = 0
F (u , v) =
m = n =
f (m, n)e
j 2 ( mu + nv )
k = k 0 l = l0
h(k , l ) = 0
k1
l1
Isotropic edge detectors (rotation invariant)

0 1 0 1 2 1 1 1 1 1 1 4 1; 2 4 2 = 2[1 2 1]. 4 8 8 0 1 0 1 2 1 1
Example of Edge Detection
Original image
Isotropic edge detection
Binary image
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Lecture 5, Page 25
Illustration of the First and the Second Derivatives of1-D digital g function
df = f ( x + 1) f ( x) dx
d2 f = [ f ( x + 1) f ( x)] [ f ( x) f ( x 1)] dx 2 = f ( x + 1) + f ( x 1) 2 f ( x)
The second derivative enhances fine detail better
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Lecture 5, Page 26
Edge Detector Using First-order Derivatives

f gx x f = grad ( f ) = = g y f y
2 2 M ( x, y ) = mag (f ) = g x + gy gx + g y
Roberts cross gradient operators
g x = ( z9 z5 ) and
g y = ( z8 z 6 )
Sobel operators
g x = ( z7 + 2 z8 + z9 ) ( z1 + 2 z 2 + z3 ) g y = ( z3 + 2 z6 + z9 ) ( z1 + 2 z 4 + z7 )
Edge Detector Using Second-order Derivatives

2 f 2 f = 2 + 2 x y f = f ( x + 1, y ) f ( x, y ) x 2 f = f ( x + 1, y ) 2 f ( x, y ) + f ( x 1, y ) 2 x 2 f = f ( x, y + 1) 2 f ( x, y ) + f ( x, y 1) 2 y
2 f
Laplacian Operator
2f = [ f ( x + 1, y ) + f ( x 1, y ) + f ( x, y + 1) + f ( x, y 1)] 4 f ( x, y )
0 1 0 0 1 0 1 4 1; 1 4 1; 0 1 0 0 1 0
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1 1 1 1 1 1 1 8 1; 1 8 1; 1 1 1 1 1 1
Lecture 5, Page 28
Directional Edge Detector

High pass in one direction and low pass in the orthogonal direction Prewitt edge detector
1 1 1 1 1 0 1 1 1 1 1 1 H x = 0 0 0 = 0 [1 1 1]; H y = 1 0 1 = 1[ 1 0 1] 3 3 3 3 1 1 1 1 1 1 0 1
Sobel edge detector

1 1 0 Hx = 4 1 1 1 H y = 2 4 Spring 2010 1
1 2 3 2 1 -1 -2 0 2 2 1 1 1 2 3 5 3 2 -2 -3 0 3 [ ] 0 0 = 0 1 2 1 ; 4 0 0 0 0 0 -3 -5 0 5 2 1 1 -2 -3 -5 -3 -2 -2 -3 0 3 0 1 1 -1 -2 -3 -2 -1 -1 -2 0 2 1 0 2 = 2[1 0 1] 5x5 Sobel edge detectors 4 Lecture 5, Page 29 ELEN 1 0 1 E4830 Digital Image Processing 1 2 3 2 1
Examples of Prewitt and Sobel Edge Detectors

Hx Prewitt edge detectors Hy
Hx Original image Hy
ELEN E4830 Digital Image Processing Lecture 5, Page 30
Sobel edge detectors

Spring 2010
Robust Edge Detection

Edge detectors are derivatives
They are sensitive to the noise in the image
2 2
f g= x
Solution: smooth the noisy image by Gaussian x +y filter ( (h) first 1

h ( x, y ) = 2
2
2 2
Laplacian operator
2 2 f f 2 f = 2 + 2 ; 2 (h * f ) = 2 (h ) * f x y
Laplacian of Gaussian (LoG)

Spring 2010
(h ) =
2
x + y 2
2 2
x2 + y2 2 2
Lecture 5, Page 31
Laplacian of Gaussian
Gaussian filter
Laplacian of Gaussian
0 0 1 0 0 0 1 2 1 0 1 2 16 2 1 0 1 2 1 0 0 0 1 0 0
Approximation of LoG by a 5x5 filter

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Lecture 5, Page 32
Nonlinear Edge Detector

Combine results from two orthogonal directional edge detectors and determine the magnitude and direction of the edge.
Non-Edge fx Hx fx2+fy2 g Edge
|g|>T
Hx fy
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tan-1(fx/fy)
theta
Lecture 5, Page 33
Edge Direction Histogram

A popular visual feature for high level feature (concept) detection
Compute the edge directions for all pixels Split the entire direction range [ [-, ] into N bins (e.g, N=8) Count the edge direction histogram for these N bins
3 2 1 6
4 5 7
Lecture 5, Page 34
Image Sharpening by High Pass Filters

Make the image sharper by enhancing the high frequency components of the image image. The desired image is the original plus an appropriately scaled high high-passed passed image
f s = f + f h
Sharpening filter
hs (m, n) = (m, n) + hh (m, n)
Matrix form
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H s = I + H h
Canny Edge Detector

Smooth image with 2D Gaussian Compute p edge g magnitude g and direction Suppress the non-maximum edges Hysteresis to eliminate streaking
x = imread(lena.bmp); y = edge(x, canny); imshow(y); (y)
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Lecture 5, Page 36
High Pass Filter Used in Image p g Sharpening

f(x) g(x)=f(x)*hh(x) fs(x)=f(x)+ag(x)
0 1 0 0 1 0 1 1 H h = 1 4 1 H s = 1 8 1 with = 1. 4 4 0 1 0 0 1 0
H s = I + H h
0 0 0 I = 0 1 0 0 0 0
Lecture 5, Page 37
Example of Image Sharpening by High Pass Filters
Original image
Sharpened image
Difference image
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Lecture 5, Page 38
Laplacian for Image Sharpening

g ( x, y ) = f ( x, y ) + c 2 f ( x, y )
0 1 c 1 when = 0 0 c = 1 when 1 0 1 4 1 1 4 1 0 1 1 1 or 1 0 0 1 1 or 1 0 1 1
1 8 1 1 1 1 1 8 1 1 1
0 1 0 (d) 1 4 1 0 1 0
1 1 1 (e) 1 8 1 1 1 1
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Lecture 5, Page 39
Image Sharpening by Low Pass Filters

The high pass image is obtained by subtracting a low passed version from the original one
f s = f + ( f f l ) = (1 + ) f f l
Sharpening filter
hs (m, n) = (1 + ) (m, n) hl (m, n)
Matrix form
H s = (1 + ) I H l
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Lecture 5, Page 40
Low Pass Filter Used in Image p g Sharpening

f(x) fl(x)=f(x)*hl(x) g(x)=f(x)-fl(x) fs(x)=f(x)+ag(x)
1 2 1 1 2 1 1 1 H l = 2 4 2 H s = 2 28 2 with = 1. 16 16 1 2 1 1 2 1
H s = (1 + ) I H l
Criteria for designing g g sharpening p g filters: There are both p positive and negative g Coefficients, h(0,0) > 0, and h(k, l)>0.
Example of Image Sharpening by High Pass Filters
Original image
Sharpened image
Difference image
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Lecture 5, Page 42
Challenges of Noise Removal and g Sharpening p g Image

How to smooth the noise without blurring the details too much? How to enhance edges without amplifying noise? Still a active research area
Spring 2010
Lecture 5, Page 43
Feature Enhancement by Subtraction
Taking an image without injecting a contrast agent first. Then take the image again after the organ is injected some special contrast agent (which go into the bloodstreams only). Then subtract the two images --- A popular technique in medical imaging
Human Visual System and Mach Bands
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Lecture 5, Page 45
Low-pass Response of the Human Visual System
The human visual system low-pass filters the scenes under observation. We will exploit this observation by hiding processing errors where humans cannot see
Wavelet-Domain Filtering
Courtesy of Prof. Ivan Selesnick

Image Deblurring
Noise removal considered thus far assumes the image is corrupted by additive noise
Each pixel is corrupted by a noise value, independent of neighboring pixels
Image blurring
When the camera moves while taking a picture Or when the object j moves Each pixel value is the sum of surrounding pixels The blurred image is a filtered version of the original
De-blurring De bl rring methods methods:

Inverse filter: can adversely amplify noise Wiener filter = generalized inverse filter Many advanced adaptive techniques
Blurring by Motion of Sensor

Without motion With motion ti

g ( x, y ) = f ( x, y )dt
0
y f (x,y) ( ,y)
g ( x, y ) = f [x x0 (t ), y y0 (t )]dt
0
G (u , v) =
T
j 2 ( ux + vy ) g ( x , y ) e dxdy j 2 ( ux + vy )
x
dxdy
0 T
f [x x (t ), y y (t )]dt e
0 0
= f [x x0 (t ), y y0 (t )] e j 2 ( ux + vy ) dxdy dt 0 d = F (u, v)e j 2 [ ux0 ( t ) + vy0 ( t )]dt

0 T
= F (u , v) e j 2 [ ux0 ( t ) + vy0 ( t )]dt

0
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j 2 [ ux0 ( t ) + vy0 ( t )] E4830 Digital = F (u , v) H (uELEN , v) where H (u , v)Image = e Processing dt 0
Lecture 5, Page 49
Blurring by Uniform Linear Motion

General case
G (u , v) = F (u , v) H (u , v) where H (u , v) = e j 2 [ux0 ( t ) + vy0 ( t )]dt
0 T
Uniform linear motion in x-direction only

x0 (t ) = at / T , y0 (t ) = 0 H (u , v) = e j 2uat / T dt =
0 T
T sin(ua)e jua ua
Uniform linear motion in both x and y directions

x0 (t ) = at / T , y0 (t ) = bt b /T H (u , v) = T sin[ (ua + vb)]e j (ua + vb ) (ua + vb)
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Example of Motion Blur
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Lecture 5, Page 51
Inverse Filtering
Inverse filtering )
G (u , v) F (u , v) = = F (u , v) H (u , v)
Blurring with additive noise
G (u , v) = F (u , v) H (u , v) + N (u , v)
Inverse filter
) G (u , v) N (u , v) F (u , v) = = F (u , v) + H (u , v) H (u , v)
Challenges
N(u,v) is normally unknown H(u,v) may have zero or very small values, then N(u,v)/H(u,v) may dominate d i t
Minimum Mean Square Error (Wiener) Filtering g

The goal is to minimize MSE The solution
) 2 e = E{( f f ) }
2
2 1 ) H (u , v) F (u , v) = G (u , v) 2 2 2 H (u , v) H (u , v) + N (u , v) / F (u , v)
Depends on the power spectrum of noise and the original image When there is no noise, , Wiener filter reduces to inverse filter.
Approximation for white noise

|N(u,v)|2 is constant
2 1 ) H (u , v) F (u , v) = G (u , v) 2 H (u , v) H (u , v) + K
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Lecture 5, Page 53
Inverse Filtering vs. Wiener Filtering
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Lecture 5, Page 54
Homework
1. Write a Matlab or C-program to simulate noise removal. First create a noisy image, by adding normal random noise to your image (In matlab, the noise can be generated using randn. You can multiple the resulting numbers by a scaling parameter, which controls the variance of the noise). Then apply an averaging filter to the noise added image. For a chosen variance of the added noise, you need to try different window sizes (from 3x3 to 7x7) to see which one gives you the best trade-off between noise removal and blurring. Hand in your program, the original noiseadded images at two different noise levels and the corresponding filtered images with the best window sizes. Write down your observation. W it a Matlab Write M tl b or C-program C f implementing for i l ti th the f following ll i simple i l edge d d detection t ti algorithm: l ith F For every pixel: i) find the horizontal and vertical gradients, gx and gy, using the Sobel operator; ii)
2 2 + gy calculate the magnitude of the gradient using g m = g x ; and iii) For a chosen threshold T,
2 2.
consider the p pixel to be an edge g p pixel if gm T. Save the resulting g edge g map p( (Use a g gray y level of 255 to indicate an edge pixel, and a gray level of 0 for a non-edge pixel). Apply this program to your test image, and observe the resulting edge map with different T values, until you find a T that gives you a good result. Hand in your program and the edge maps generated by two different th h ld values. threshold l W Write it d down your observation. b ti Hi Hint: t one automatic t ti way t to d determine t i T is i b by sorting the pixels based on the gradient magnitudes, and choose T such that a certain percentage (say 5%) of pixels will be edge pixels.
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Lecture 5, Page 55
Reading
R. Gonzalez, Digital Image Processing, Sections 3 3.4~3.8, 4~3 8 5 5.6~5.8. 6~5 8 A. K. Jain, Fundamentals of Digital Image Processing Section 7 Processing, 7.4 4 (except median filter).
Spring 2010
Lecture 5, Page 56

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Lecture 5.

Spatial Domain Linear Filtering g

ELEN E4830 Digital Image Processing

Example of Noise Removal

ELEN E4830 Digital Image Processing

Noise Removal (Image Smoothing)

Problem with low-pass filtering

Averaging Filter: An Intuitive Approach

Trade-off between noise removal and detail preserving:

Example: 3x3 average

100 100 100 100 100

Weighted Averaging Filter

h(k , l ) f (m k , n l ) = f (m, n) * h(m, n)

ELEN E4830 Digital Image Processing

Example Weighting Mask

All weights must sum to one to reserve the average intensity

ELEN E4830 Digital Image Processing

Example of Weighted Average

100 203 200 195 100

100 100 100 100 100

1 1 1 100 145 168 144 100

100 100 100 100 100

100 100 100 100 100

100 100 100 100 100

ELEN E4830 Digital Image Processing

Example of Averaged Image

Weighted averaged image

ELEN E4830 Digital Image Processing

Computation Cost of Convolution

Estimation on computation cost

g (m, n) = f (m, n) * h(m, n) = f (m k , n l )h(k , l ) = f (m k , n l )hx (k )hy (l )

= ( f (m, n) * hy (n)) * hx (m)

ELEN E4830 Digital Image Processing

Computation Cost for Separable Filtering

ELEN E4830 Digital Image Processing

h(k , l ) = h(k ,l ) = h(k , l ) = h(k ,l )

h(k , l ) f (m k , n l ) = f (m, n) * h(m, n)

g(m, n) = h(0,0) f (m, n)

+ h(k, l)( f (m k, n l) + f (m k, n + l) + f (m + k, n l) + f (m + k, n + l))

ELEN E4830 Digital Image Processing

Computation Cost for symmetrical filter

Example of computation cost saving

ELEN E4830 Digital Image Processing

Common Smoothing Filters

Criteria for designing a smoothing filter

ELEN E4830 Digital Image Processing

Smoothing Filter is a Low-pass Filter

Examples of Noise Removal by Averaging p Images g Multiple

ELEN E4830 Digital Image Processing

ELEN E4830 Digital Image Processing

ELEN E4830 Digital Image Processing

General Method of Edge Detection

Non-Edge Non Edge No f Hh g |g|>T Yes Edge

ELEN E4830 Digital Image Processing

Isotropic Edge Detector

Isotropic edge detectors (rotation invariant)

Example of Edge Detection

Isotropic edge detection

ELEN E4830 Digital Image Processing

The second derivative enhances fine detail better

ELEN E4830 Digital Image Processing

Edge Detector Using First-order Derivatives

Roberts cross gradient operators