Edge Detection and Image Segmentation: G52IVG, School of Computer Science, University of Nottingham

Edge Detection and Image Segmentation
G52IVG, School of Computer Science, University of Nottingham

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Detection of discontinuities
Points
Lines
Edges

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Detection of discontinuities
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R   wi zi
i 1
Zi corresponding pixel values

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Point detection
R T

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Line detection

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Line detection

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Edge detection

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Edge detection

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Edge detection

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Edge detection

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 Edge detection
 f 
 x 
 x  
G
 Gradient operators f      
G y   f 
 y 
 
 Magnitude of the gradient

f  G 2 x  G 2 y 
1
2 f  G x  G y
 Direction of the gradient vector

 Gy 
 x, y   tan  
1
 Gx 

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 Edge detection

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 Edge detection
Gy
Gx

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 Edge detection
Gx Gy

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 Edge detection

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 Edge detection

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 Edge detection

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 Edge detection

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 Edge detection
 Laplacian
 Laplacian of a 2d function f(x,y) is a 2nd order

derivative defined as
2 f 2 f
 f  2  2
2
x y
 Masks used to compute Laplacian

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 Edge detection
 Laplacian of gaussian (LoG)
 Because these kernels are approximating a second derivative

measurement on the image, they are very sensitive to noise. To
counter this, the image is often Gaussian smoothed before applying the
Laplacian filter. This pre-processing step reduces the high frequency
noise components prior to the differentiation step.
 In fact, since the convolution operation is associative, we can convolve

the Gaussian smoothing filter with the Laplacian filter first, and then
convolve this hybrid filter with the image to achieve the required result.
Doing things this way has two advantages:
 Since both the Gaussian and the Laplacian kernels are usually much smaller
than the image, this method usually requires far fewer arithmetic operations.
 The LoG (`Laplacian of Gaussian') kernel can be precalculated in advance so

only one convolution needs to be performed at run-time on the image.

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 Edge detection

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 Edge detection
 Zero Crossing Detector

(http://homepages.inf.ed.ac.uk/rbf/HIPR2/zeros.htm)
 The zero crossing detector looks for places in the Laplacian

of an image where the value of the Laplacian passes
through zero - i.e. points where the Laplacian changes
sign. Such points often occur at `edges' in images - i.e.
points where the intensity of the image changes rapidly,
but they also occur at places that are not as easy to
associate with edges.
 It is best to think of the zero crossing detector as some

sort of feature detector rather than as a specific edge
detector.

23
 Edge detection
 The core of the zero crossing detector is the

Laplacian of Gaussian filter, `edges' in
images give rise to zero crossings in the
LoG output.

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 Edge detection
Response of 1-D LoG filter to a step edge. The left hand graph shows a 1-D image, 200 pixels
long, containing a step edge. The right hand graph shows the response of a 1-D LoG filter with
Gaussian standard deviation 3 pixels.

25
 Edge detection
Response of 1-D LoG filter to a step edge. The left hand graph shows a 1-D image, 200 pixels
long, containing a step edge. The right hand graph shows the response of a 1-D LoG filter with
Gaussian standard deviation 3 pixels.

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 Edge detection

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 Edge detection
 Canny Edge Detector (http://homepages.inf.ed.ac.uk/rbf/HIPR2/canny.htm)

 The Canny operator works in a multi-stage process.
 First of all the image is smoothed by Gaussian convolution.
 Then a simple 2-D first derivative operator (somewhat like the Roberts
Cross) is applied to the smoothed image to highlight regions of the image
with high first spatial derivatives. Edges give rise to ridges in the gradient
magnitude image.
 The algorithm then tracks along the top of these ridges and sets to zero all
pixels that are not actually on the ridge top so as to give a thin line in the
output, a process known as non-maximal suppression.
 The tracking process exhibits hysteresis controlled by two thresholds: T1
and T2, with T1 > T2.
 Tracking can only begin at a point on a ridge higher than T1. Tracking then
continues in both directions out from that point until the height of the ridge
falls below T2.
 This hysteresis helps to ensure that noisy edges are not broken up into
multiple edge fragments.

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 Region Segmentation
 Region-based segmentation methods attempt to partition

or group regions according to common image properties.
These image properties consist of
1. Intensity values from original images, or computed values

based on an image operator
2. Textures or patterns that are unique to each type of region
3. Spectral profiles that provide multidimensional image data
 Elaborate systems may use a combination of these

properties to segment images, while simpler systems may
be restricted to a minimal set on properties depending of
the type of data available.

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 Thresholding

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 Thresholding

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 Region Splitting and Merging
 The basic idea of region splitting is to break the image into a set of disjoint
regions which are coherent within themselves:
 Initially take the image as a whole to be the area of interest.

 Look at the area of interest and decide if all pixels contained in the region satisfy
some similarity constraint.
 If TRUE then the area of interest corresponds to a region in the image.
 If FALSE split the area of interest (usually into four equal sub-areas) and consider
each of the sub areas as the area of interest in turn.
 This process continues until no further splitting occurs. In the worst case this
happens when the areas are just one pixel in size.
 This is a divide and conquer or top down method.
 If only a splitting schedule is used then the final segmentation would

probably contain many neighbouring regions that have identical or similar
properties.
 Thus, a merging process is used after each split which compares adjacent
regions and merges them if necessary. Algorithms of this nature are called
split and merge algorithms.
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33

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 Region Growing
 Region growing approach is the opposite of the split and

merge approach:
 An initial set of small areas are iteratively merged according

to similarity constraints.
 Start by choosing an arbitrary seed pixel and compare it with
neighbouring pixels.
 Region is grown from the seed pixel by adding in
neighbouring pixels that are similar, increasing the size of the
region.
 When the growth of one region stops we simply choose
another seed pixel which does not yet belong to any region
and start again.
 This whole process is continued until all pixels belong to some
region.
 A bottom up method.

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 Region Growing

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 Region Growing
 However starting with a particular seed pixel and letting this

region grow completely before trying other seeds biases the
segmentation in favour of the regions which are segmented
first.
 This can have several undesirable effects:
 Current region dominates the growth process -- ambiguities

around edges of adjacent regions may not be resolved correctly.
 Different choices of seeds may give different segmentation
results.
 Problems can occur if the (arbitrarily chosen) seed point lies on
an edge.

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 Region Growing
 To counter the above problems, simultaneous region growing

techniques have been developed.
 Similarities of neighbouring regions are taken into account in the

growing process.
 No single region is allowed to completely dominate the
proceedings.
 A number of regions are allowed to grow at the same time.
 similar regions will gradually coalesce into expanding regions.
 Control of these methods may be quite complicated but efficient
methods have been developed.
 Easy and efficient to implement on parallel computers.

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 Region Growing
 To counter the above problems, simultaneous region growing

techniques have been developed.
 Similarities of neighbouring regions are taken into account in the

growing process.
 No single region is allowed to completely dominate the
proceedings.
 A number of regions are allowed to grow at the same time.
 similar regions will gradually coalesce into expanding regions.
 Control of these methods may be quite complicated but efficient
methods have been developed.
 Easy and efficient to implement on parallel computers.

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 Advanced Image Segmentation Methods
Segment the
foreground objects

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 Advanced Image Segmentation Methods

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 Advanced Image Segmentation Image editing
(synthesis/composition)

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 Connected Components Labeling
(http://homepages.inf.ed.ac.uk/rbf/HIPR2/label.htm)

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(http://homepages.inf.ed.ac.uk/rbf/HIPR2/label.htm)
 Connected components labeling scans an image and

groups its pixels into components based on pixel
connectivity, i.e. all pixels in a connected component
share similar pixel intensity values and are in some way
connected with each other. Once all groups have been
determined, each pixel is labeled with a gray level or a
color (color labeling) according to the component it was
assigned to.
 Extracting and labeling of various disjoint and connected

components in an image is central to many automated
image analysis applications.

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(http://homepages.inf.ed.ac.uk/cgi/rbf/CVONLINE/entries.pl?TAG377)

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Edge Detection and Image Segmentation

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

Zi corresponding pixel values

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

 Direction of the gradient vector

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

 Laplacian of a 2d function f(x,y) is a 2nd order

 Masks used to compute Laplacian

G52IVG, School of Computer Science, University of Nottingham

 Laplacian of gaussian (LoG)

 Because these kernels are approximating a second derivative

 In fact, since the convolution operation is associative, we can convolve

 The LoG (`Laplacian of Gaussian') kernel can be precalculated in advance so

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

 Zero Crossing Detector

 The zero crossing detector looks for places in the Laplacian

 It is best to think of the zero crossing detector as some

G52IVG, School of Computer Science, University of Nottingham

 Zero Crossing Detector

 The core of the zero crossing detector is the

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

 Canny Edge Detector (http://homepages.inf.ed.ac.uk/rbf/HIPR2/canny.htm)

G52IVG, School of Computer Science, University of Nottingham

 Region-based segmentation methods attempt to partition

1. Intensity values from original images, or computed values

 Elaborate systems may use a combination of these

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

 Initially take the image as a whole to be the area of interest.

 If only a splitting schedule is used then the final segmentation would

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

 Region growing approach is the opposite of the split and

 An initial set of small areas are iteratively merged according

G52IVG, School of Computer Science, University of Nottingham

G52IVG, School of Computer Science, University of Nottingham

 However starting with a particular seed pixel and letting this

 This can have several undesirable effects:

 Current region dominates the growth process -- ambiguities

G52IVG, School of Computer Science, University of Nottingham

 To counter the above problems, simultaneous region growing

 Similarities of neighbouring regions are taken into account in the