Beruflich Dokumente
Kultur Dokumente
Processing
Introduction
Briefreview of linear operators
Linear image smoothing techniques
Nonlinear image smoothing techniques
Introduction
Frequency spectrum
Statistical properties
Brief Review of Linear Operators
[Pratt 1991]
Convolution sum
Brief Review of Linear Operators
h22 h21 h20
L-1
h12 h11 h10 2
H h02 h01 h0
L-1
2 h22 h21 h20 Geometrical
0
h12 h11 h10
G
L-1
2
L-1 h22 h21 h20
h02 h01 h0
0
interpretation
h12 h11 h10
2
h02 h01 h0 of 2D
F
0
N-
L+1
convolution
N
N+L-1
Matrix formulation
t Af
Unitary transform
1
A A *T
Separable transform
T A C FA T
R
Transform is invertible
f A *T t A *T Af If
Brief Review of Linear Operators
0, k l
Inner product and energy are conserved
|| t || 2 t *T t (Af)*T (Af)
f *T A *T Af f *T If f *T f || f || 2
Unitary transform: a rotation in N-dimensional vector
space
Brief Review of Linear Operators
x2
2 1
x1
i 2 2 2
W N exp{ } cos( ) i sin( )
N N N
Brief Review of Linear Operators
1D DFT
1 N 1
i 2
t (u )
N
n 0
f (n) exp{
N
un}, u 0,1,..., N 1
2D DFT M 1 N 1
1 u v
t (u , v)
MN m 0 n 0
f (m, n) exp{i 2( m n)}
M N
u 0,1,..., M 1, v 0,1,..., N 1
Brief Review of Linear Operators
1 1 1 1
1 1 1 1
1 1 1
h 2 1 1 1 *
L 1 L L
1 1 1 1
Linear Image smoothing techniques
Box filters. Arithmetic mean LL operator
Separable
Can be computed recursively, resulting in
roughly 4 operations per pixel
m,n
m,n+1
L pixels
Linear Image smoothing techniques
Box filters. Arithmetic mean LL operator
Optimality properties
Signal and additive white noise
N N N
1 1 1
g
N
k 1
( f k nk )
N
k 1
fk
N
n .
k 1
k
N
1
z
N
n .
k 1
k
1 N N 1 2
2
(l , k ) 2
=
N k 1 l 1 N
Linear Image smoothing techniques
Box filters. Arithmetic mean LL operator
k 1
2 ( g )
0
g
N
1
g
N
f
k 1
k
Linear Image smoothing techniques
Box filters. Arithmetic mean LL operator
Frequency response:
Non-monotonically decreasing with frequency
1 1 1 1
1 1 1
1 1 1 [111] 1 hx hy
9 3 3
1 1 1 1
( N 1)/ 2
i 2
t (u) hx (0)
n ( N 1)/ 2
hx (n) exp{
N
un}
1 2 2
t (u ) cos( u )
3 3 N
Linear Image smoothing techniques
Box filters. Arithmetic mean LL operator
An example
8 5 8 8 5 8 1 1 1 7 7 7 7 7 7
1
8 5 8 8 5 8 1 1 1 7 7 7 7 7 7
9
8 5 8 8 5 8 1 1 1 7 7 7 7 7 7
8 5 8 5 8 5 1 1 1 6 7 6 7 6 7
1
8 5 8 5 8 5 1 1 1 6 7 6 7 6 7
9
8 5 8 5 8 5 1 1 1 6 7 6 7 6 7
Linear Image smoothing techniques
Box filters. Arithmetic mean LL operator
1
b1 1 1
2
1
b 1 2 1 b 1 * b 1
2
4
1
b 1 4 6 4 1 b 1 * b 1 * b 1 * b 1
4
16
1
b 1 6 15 20 15 6 1 b 1 * b 1 * b 1 * b 1 * b 1 * b 1
6
64
As size increases, the shape of the filter is closer to a Gaussian one
Linear Image smoothing techniques
Binomial filters. 2D versions
1 1 2 1
1 1 1
b 2 1 2 1 * 2 2 4 2
4 4 16
1 1 2 1
1 1 4 6 4 1
4 4 16 24 16 4
1 1 1
b 1 4 6 4 1 * 6
4
6 24 36 24 6
16 16 256
4 4 16 24 16 4
1 1 4 6 4 1
Linear Image smoothing techniques
Binomial filters. Frequency response
1
b 1 2 1
2
4
t (u )
1 1 2
cos( u )
2 2 N
b4
1
16
1 4 6 4 1
1 1
2 2
2
t (u ) [ cos( u )]2
N
Monotonically decreasing
with frequency
Linear Image smoothing techniques
Binomial filters. Example
Result of size L
box filter
Size L binomial
L
Nonlinear image smoothing
The median filter [Pratt 1991]
Block diagram
f(1)
f1
f(2)
f2
. . f(m)
. Order . select
.
. samples
f(N) median
fN
f (1) f ( 2) f ( 3) f ( N )
N 1
m N is odd
2
Nonlinear image smoothing
The median filter
Numerical example
3 7 8
2 3 7 6
4 6 7
2, 3, 3, 4, 6, 7, 7, 7, 8
Nonlinear image smoothing
The median filter
Nonlinearity
Optimality
Grey level plateau plus noise. Minimize sum of
absolute differences:
N
( g ) | f k g |
k 1
Result:
g median{ f 1 , f 2 , f 3 , , f N } f ( m )
If 51% of samples are correct and 49% outliers,
the median still finds the right level!
Nonlinear image smoothing
The median filter
Caution: points, thin lines and corners are erased by the median filter
Test images
x2 x(2)
x3 x(3)
a Min(a,b)
x4 x(4)
b Max(a,b)
x5 x(5)
x6 x(6)
x7 x(7)
Nonlinear image smoothing
The median filter
Example of color
median filtering
5x5 pixels window
Up: original image
Down: filtered image
Nonlinear image smoothing
The weighted median filter
2 3 2
1 2 1
3 7 8
2 3 7 6
4 6 7
2, 2, 3, 3, 3, 3, 4, 6, 6, 7, 7, 7, 7, 7, 8
Nonlinear image smoothing
The multi-stage median filter
R2 R4
m5
R1
mi = median( Ri ), i =1,2,3,4.
Block diagram
weights
f(1)
f1 a1
f(2)
f2
a2
y
. .
.
ordering . sum
. .
f(N)
fN
aN
a
k 1
k 1 y = a1f(1) + a2 f(2)+...+ aN f(N)
Nonlinear image smoothing
Rank-order filters (L filters)
Some examples
a1=1
Percentile . . .
Min
Particular cases
filters (rank of grey level
selection): aN=1 morphological
filters
. . . Max
0%,
50% am=1
. . . . . .
100% Median
a1=.5 aN=.5
. . .
Mid range
Nonlinear image smoothing
Rank-order filters (L filters)
Optimality
N
( f ) | f ( k ) f |r Minkovski distance
k 1
M 1 median{ f1 , f 2 , f 3 , , f N }
M 2 median{| f i M 1 |}, i 1,2,..., N
output average{ f i : | f i M 1 | M 2 }
reg 8 reg 7
Nonlinear image smoothing
Conditional mean
1, if | f (m k , n l ) f (m, n) | th
h( k , l )
0, otherwise
K h( k , l )
k l
s() and r() are space and range similarity functions (Gaussian
functions of the Euclidian distance between their arguments).
Nonlinear image smoothing
Bilateral filter
|| x c x || 2
h(x) exp{ }
s
h(x) K(d(x c x); s )
Nonlinear image smoothing
Bilateral filter
Mean shift filtering replaces each pixels value with the most probable local value, found
by a nonparametric probability density estimation method.
{x i }i 1...n xi R d
The multivariate kernel density estimate obtained in the point x with the kernel K(x) and
window radius r is:
1 n
x xi
f (x) d
nr
K
i 1 r
For the Epanechnikov kernel, the estimated normalized density gradient is proportional
to the mean shift:
r2 f ( x) 1
d 2 f (x)
M r ( x)
nx
x
x i S r ( x )
i x
S is a sphere of radius r, centered on x and nx is the number of samples inside the sphere
Nonlinear image smoothing
Mean shift filtering
Example1.
Nonlinear image smoothing
Mean shift filtering
Detail of a 24x40
window from the
cameraman
image
a) Original data
b) Mean shift paths for
some points
c) Filtered data
d) Segmented data
Nonlinear image smoothing
Mean shift filtering
Example 2
Nonlinear image smoothing
Mean shift filtering