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1 Introduction
The goal of image segmentation, is to distinguish objects from background.
Robust segmentation of structures is indeed required for a variety of image
analysis applications, including robot vision and biomedical image processing.
The digital images that we discuss in this paper are represented as matrix y of
intensity levels. We will assume that the intensity level is a fraction between
zero and one, and the intensity of a pixel at (i, j) is given by yi,j . Our goal
in segmentation, is to produce a segmentation matrix x, where xi,j can take
on only a xed number of dierent values between zero and one, corresponding
to the number of segmentation levels. For example, in the case of two levels,
xi,j ∈ {0, 1}.
2 Related Work
There are a number of approaches for image segmentation, the common ones
include: threshold techniques, boundary nding methods, region-based tech-
niques, and connectivity-preserving relaxation methods. We look at integrating
two of these approaches, boundary nding based and region-based techniques
using game theory.
Where is and js are indices in the neighborhood of pixel xi,j . The justication
for this objective function is simple. The rst summation is trying to minimize
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Figure 1: An example of simple image thresholding on a noisy image. Original
image is on the left (SNR 0.67), the thresholded image is on the right.
the dierence between the classication and the pixel intensity. Thus, in the
two-level case, we would want the pixels where yi,j is small (i.e. the pixel is
dark) to correspond to xi,j = 0 (black). Ignoring the second term (setting
λ = 0) would correspond to a simple threshold method. (See gure 1)
The second part of equation 1, seeks to minimze the dierence between
classications of neighboring pixels, essentially to minimize the region boundary.
As can be seen from gure 1, in only considering the intensity value we have
misclassied a huge number of noisy pixels. Enforcing the smoothness constraint
would force, for example, a single black pixel surrounded by white pixels to
become white.
There is a number of implementations of region-based methods. We cannot
do an exhaustive search, since even in the two-level case there are 2M N pos-
sibilities (where M and N are the image width and height.) One approach is
called pyramid-linking, initially suggested by Brut, referenced from Jäne [2] and
Morel et. al. [4]. The idea is rst to construct a pyramid from the image in the
following manner: each level of the pyramid has half the pixels of the previous
level, and each higher-level pixel has the average intensity of a 4x4 pixel block
of the previous pixel. Each pixel could be related to any one of 16 pixels on the
level below. We link a pixel on a higher level in such a way that minimizes our
energy function from (1). We will end up with a tree, that we could now easily
split according to the number of segmentation levels required.
Another approach is called region growing. The idea is to start from a seed,
which could be a single pixel, placed inside the region of interest. We then take
all the pixels on the boundary of the seed, and compute the value of E if each
of those pixels was in the region. We will accept all pixels for which the value
E falls below a certain threshold, and repeat the process until no pixels can be
accepted. You can see the output of this method in gure 2.
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Figure 2: An example of using region segmentation only
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Figure 3: Example of the Canny edge-detection lter on an image of a canine
heart. (a)original image. (b) Detected edges
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Figure 4: An example of an implementation of deformable contours by Li et.
al. [3]
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2.3 Game-theoretic integration
Our solution comes on the basis of the work done by Chakraborty and Duncan
[1]. We adapt a parallel game-theoretic decision-making procedure as shown
in the gure to image segmentation problem. The game is being played out
by a set of decision makers (or players) which in our case, will correspond to
the two segmentation modules that we want to integrate. The segmentation
problem discussed here can be formulated as a two player game. If p1 is the set
of strategies of player 1, and p2 is the set of strategies of player 2, then each
player is trying to minimize their payo function F i (p1 , p2 ). The goal is then
to nd the Nash Equilibrium of the system (p1 , p2 ), such that
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For the region-based module (player 1),
X X X
F 1 (p1 , p2 ) = min [yi,j − xi,j ]2 + λ2 (xi,j − xi−1,j )2 + (xi,j − xi,j−1 )2 (3)
x
i,j i,j i,j
X X
+α (xi,j − u)2 + (xi,j − v)2 (4)
(i,j)∈Ap̃ (i,j)∈Āp̃
where y is the intensity of the original image, x is the segmented image given
by p1 , u is the intensity of the image inside the contour given by p2 , and v is the
intensity outside the contour given by p2 . The rst term is trying to minimize
the dierence between the pixel intensity values and the found region, as well
as enforce continuity. The second term is trying to match the region and the
contour. The objective function for player 2 (the boundary nding module) is
as follows:
3 Implementation
Our implementation somewhat simplies Chakraborty and Duncan's approach,
however, having made this simplication relieves us of the requirement of the
prior shape information. The implementation is detailed in the sections below.
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Figure 6: Illustration of the region growing algorithm. (a) Original image. (b)
Seed Image. (c) Pixels queried at the rst iteration are marked with a question
mark. (d) Pixels accepted at the rst iteration are checked. (e) Pixels queried
at the second iteration. (f) Pixels accepted at the second iteration are checked,
pixels marked with an x are rejected.
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Figure 7: Illustration of the boundary nding module - Closing operation on a
binary image
4 Results
Our rst experiment was on a synthetic image with added noise. We compared
the output generated using our game theoretic integration method with the
output obtained using our region based segmentation module alone. We also
tested our method with real images from a variety of domains. As you can
see from the gures, our integrated game-theoretic image segmentation method
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Figure 8: Synthetic image example. (a) Original image with noise added. (b)
Output of region-based segmentation using game-theoretic integration. (c) Out-
put of region-based segmentation module alone. (d) Seed image.
produces a contour that ts the original image signicantly better than the
output produced from the region-based method alone.
5 Conclusions
We have presented a successful game-theoretic approach to the image segmenta-
tion problem. Our approach produces better results than each of the individual
modules, and it signicantly more robust to noise. Future work in this area
could include improving the region based and boundary nding algorithms, for
example by creating a region based algorithm that learns the seed instead of
having to provide it.
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Figure 9: Example using an image of a split papaya. (a) Original image. (b)
Boundary of the fruit interior found using the region-based segmentation mod-
ule alone, without using game theoretic integration. (c) Output using game-
theoretic integration.
Figure 10: Example using an image of a mushroom. (a) Original image. (b)
Output using game-theoretic integration.
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Figure 11: Example using an MR image of the brain. (a) Original image.
(b) Output using game-theoretic integration. The black contour outlines the
boundary of the corpus callosum.
References
[1] Amit Chakraborty and James S. Duncan. Game-theoretic integration for
image segmentation. In Pattern Analysis and Machine Intelligence, IEEE
Transaction on., pages 1230. IEEE, 1999.
[2] Bernd Jähne. Digital Image processing. Springer, Berlin, 6th edition, 2005.
[3] Chunming Li, Chenyang Xu, Changfeng Gui, and Martin D. Fox. Level
set evolution without re-initialization: A new variational formulation. In
Pattern Analysis and Machine Intelligence, IEEE Transaction on. IEEE,
2005.
[4] Jean-Michel Morel and Sergio Solimini. Variational Methods in Image Seg-
mentation. Birkhäuser, Boston, 1995.
[5] Memet Sezgin and Bülent Sankur. Survey over image thresholding tech-
niques and quantitative performance evaluation. Journal of Electronic Imag-
ing, 13(1):146168, 2004.
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