Intensity transformation and spatial filtering

Digital Image Processing Lecture 3 Intensity Transformation& Spatial Filtering

Lecturer: Ha Dai Duong Faculty of Information Technology

I. Introduction

Spatial Domain vs. Transform Domain

Spatial Domain

Image plane itself, directly process the intensity values of the image plane Process the transform coefficients, not directly process the intensity values of the image plane

Transform (Frequency) domain

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Intensity transformation and spatial filtering

I. Introduction

Spatial Domain Process

g ( x, y ) = T [ f ( x, y )]) f ( x, y ) : input image g ( x, y ) : output image T : an operator on f defined over a neighborhood of point ( x, y )
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I. Introduction

Spatial Domain Process

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Intensity transformation and spatial filtering

II. Intensity transformation function

Intensity transformation function s = T (r )

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II. Intensity transformation function

Some basic Functions

intensity

transformation

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II.1. Negative
Image negatives s = L 1 r

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II.1. Negative

Small lesion

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II.2. Log Transform

Log Transformations s = c log(1 + r )

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II.2. Log Transform

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Intensity transformation and spatial filtering

II.3. Power Law

s = cr

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II.3. Power Law

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Intensity transformation and spatial filtering

II.3. Power Law

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II.4. Piecewise-Linear Transform..

Contrast Stretching
Expands the range of intensity levels in an image so that it spans the full intensity range of the recording medium or display device

Intensity-level Slicing
Highlighting a specific range of intensities in an image often is of interest

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Intensity transformation and spatial filtering

II.4. Piecewise-Linear Transform

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Intensity transformation and spatial filtering

II.5. Bit Plane Slicing

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II.5. Bit Plane Slicing

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Intensity transformation and spatial filtering

III. Histogram processing

Histogram Equalization Histogram Matching Local Histogram Processing Using Histogram Statistics Enhancement

for

Image

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III. Histogram processing

Histogram h(rk ) = nk rk is the k th intensity value nk is the number of pixels in the image with intensity rk

nk MN nk : the number of pixels in the image of Normalized histogram p (rk ) = size M N with intensity rk
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III. Histogram processing

No. of pixels
6

2 4 3 2

3 2 2 4

3 4 3 2

2 3 5 4

5 4 3 2 1

4x4 image Gray scale = [0,9]

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Gray level
0 1 2 3 4 5 6 7 8 9

histogram
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III. Histogram processing

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Intensity transformation and spatial filtering

III.1. Histogram Equalization

As the low-contrast images histogram is narrow and centered toward the middle of the gray scale, if we distribute the histogram to a wider range the quality of the image will be improved. We can do it by adjusting the probability density function of the original histogram of the image so that the probability spread equally

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III.1. Histogram Equalization

Histogram transformation
s

s = T(r)
Where 0 r 1 T(r) satisfies

sk= T(rk) T(r)

(a). T(r) is single-valued and monotonically increasingly in the interval 0r1 (b). 0 T(r) 1 for 0r1

rk

r
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Intensity transformation and spatial filtering

III.1. Histogram Equalization

2 conditions of T(r)

Single-valued (one-to-one relationship) guarantees that the inverse transformation will exist Monotonicity condition preserves the increasing order from black to white in the output image thus it wont cause a negative image 0 T(r) 1 for 0 r 1 guarantees that the output gray levels will be in the same range as the input levels. The inverse transformation from s back to r is r = T -1(s) ; 0 s 1
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III.1. Histogram Equalization

Let

pr(r) denote the PDF of random variable r ps(s) denote the PDF of random variable s

If pr(r) and T(r) are known and T-1(s) satisfies condition (a) then ps(s) can be obtained using a formula :

ps(s) = pr(r)
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dr ds
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III.1. Histogram Equalization

A transformation function is a cumulative distribution function (CDF) of random variable r :

s = T ( r ) = pr ( w )dw
0

CDF is an integral of a probability function (always positive) is the area under the function Thus, CDF is always single valued and monotonically increasing Thus, CDF satisfies the condition (a) We can use CDF as a transformation function

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III.1. Histogram Equalization

ds dT ( r ) = dr dr r d p ( w ) dw = r dr 0 = pr ( r )

p s ( s ) = pr ( r ) = pr ( r )

dr ds 1 pr ( r )

Substitute and yield

= 1 where 0 s 1
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III.1. Histogram Equalization

Ps(s):

As ps(s) is a probability function, it must be zero outside the interval [0,1] in this case because its integral over all values of s must equal 1. Called ps(s) as a uniform probability density function ps(s) is always a uniform, independent of the form of pr(r)

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III.1. Histogram Equalization

Discrete Transformation Function

The probability of occurrence of gray level in an image is approximated by n where k = 0 , 1 , ..., L- 1 p r ( rk ) = k n The discrete version of transformation
s k = T ( rk ) = =

j=0

pr ( rj ) = 0 , 1 , ..., L- 1
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nj n

where k

j=0

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III.1. Histogram Equalization

Thus, an output image is obtained by mapping each pixel with level rk in the input image into a corresponding pixel with level sk in the output image In discrete space, it cannot be proved in general that this discrete transformation will produce the discrete equivalent of a uniform probability density function, which would be a uniform histogram

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III.1. Histogram Equalization

Example

before

after

Histogram equalization

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III.1. Histogram Equalization

Example
before after Histogram equalization

The quality is not improved much because the original image already has a broaden gray-level scale
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III. Histogram processing

No. of pixels
6

2 4 3 2

3 2 2 4

3 4 3 2

2 3 5 4

5 4 3 2 1

4x4 image Gray scale = [0,9]

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Gray level
0 1 2 3 4 5 6 7 8 9

histogram
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III.1. Histogram Equalization

Example
0
0 0 0 0

Gray Level No.of pixels

1
0 0 0 0

2
6 6
6/ 16

3
5 11

4
4 15

5
1 16

6
0 16

7
0 16

8
0 16

9
0 16

n
k

j=0

s=
j =0

nj n

11 / 15 / 16 / 16/ 16/ 16/ 16/ 16 16 16 16 16 16 16

sx9

3.3 3

6.1 6

8.4 8

9
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III.1. Histogram Equalization

Example
3 8 6 3 6 3 3 8 6 8 6 3 3 6 9 8

No. of pixels
6 5 4 3 2 1 0 1 2 3 4 5 6 7 8 9

Output image Gray scale = [0,9]

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Gray level Histogram equalization

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III.2. Histogram Matching

Generate a processed image that has a specified histogram

Let pr ( r ) and pz ( z ) denote the continous probability density functions of the variables r and z. pz ( z ) is the specified probability density function. Let s be the random variable with the probability s = T (r ) = ( L 1) pr ( w)dw
0 r

Define a random variable z with the probability G ( z ) = ( L 1) pz (t )dt = s

0 z

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III.2. Histogram Matching

s = T ( r ) = ( L 1) p r ( w ) dw
0

G ( z ) = ( L 1) p z ( t ) dt = s
0

z = G 1 ( s ) = G 1 [T (r ) ]
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III.2. Histogram Matching

Procedure
1.

Obtain pr(r) from the input image and then obtain the values of s

s = ( L 1) pr ( w)dw
0

2.

Use the specified PDF and obtain the transformation function G(z)

G ( z ) = ( L 1) pz (t )dt = s
0

3.

Mapping from s to z

z = G 1 ( s )
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III.2. Histogram Matching

Example
Assume an image has a gray level probability density function pr(r) as shown. Pr(r) 2 1 0 1 2 r
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2 r + 2 ;0 r 1 pr ( r ) = ; elsewhere 0

p r ( w ) dw = 1

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III.2. Histogram Matching

Example
We would like to apply the histogram specification with the desired probability density function pz(z) as shown. Pz(z) 2 1 0
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2z pz ( z ) = 0

;0 z 1 ; elsewhere
z

p
0

( w )dw = 1

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III.2. Histogram Matching

Example
s=T(r) 1

1. Obtain the transformation function T(r)

s = T ( r ) = pr ( w )dw
0

= ( 2 w + 2 )dw
0

= w 2 + 2w
0
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r 0

= r + 2r
2
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III.2. Histogram Matching

Example
2. Obtain the transformation function G(z)

G ( z ) = ( 2 w )dw
0

= z2

z 0

= z2

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III.2. Histogram Matching

Example

3. Obtain the inversed transformation function G-1

G ( z ) = T (r ) z 2 = r 2 + 2r z = 2r r 2
We can guarantee that 0 z 1 when 0 r 1
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III.2. Histogram Matching

Procedure in discrete cases

1.

Obtain pr(rj) from the input image and then obtain the values of sk, round the value to the integer range [0, L-1]

sk = T (rk ) = ( L 1) pr (rj ) =
j =0

( L 1) k nj MN j =0

2.

Use the specified PDF and obtain the transformation function G(zq), round the value to the integer range [0, L-1].

G ( zq ) = ( L 1) pz ( zi ) = sk
i =0

3.

Mapping from sk to zq

zq = G 1 ( sk )
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III.2. Histogram Matching

Example

Suppose that a 3-bit image (L=8) of size 64 64 pixels (MN = 4096) has the intensity distribution shown in the following table (on the left). Get the histogram transformation function and make the output image with the specified histogram, listed in the table on the right.

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III.2. Histogram Matching

Example
Obtain the scaled histogram-equalized values,

s0 = 1, s1 = 3, s2 = 5, s3 = 6, s4 = 7, s5 = 7, s6 = 7, s7 = 7.
Compute all the values of the transformation function G,

G ( z0 ) = 7 pz ( z j ) = 0.00
j =0

0
s0 s2

G ( z1 ) = 0.00 0 G ( z5 ) = 4.55 5

G ( z3 ) = 1.05 1 G ( z7 ) = 7.00 7
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0 G ( z4 ) = 2.45 2 s1
G ( z2 ) = 0.00 G ( z6 ) = 5.95
s7
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6 s3

s4 s5 s6

III.2. Histogram Matching

Example
rk 0 1 2 3 4 5 6 7
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s0 = 1, s1 = 3, s2 = 5, s3 = 6, s4 = 7, s5 = 7, s6 = 7, s7 = 7.

rk zq 03 1 4 25 36 47 57 67 77
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III.2. Histogram Matching

Example

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III.2. Histogram Matching

Example

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III.3. Local Histogram Processing

Define a neighborhood and move its center from pixel to pixel At each location, the histogram of the points in the neighborhood is computed. Either histogram equalization or histogram specification transformation function is obtained Map the intensity of the pixel centered in the neighborhood Move to the next location and repeat the procedure

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III.3. Local Histogram Processing

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III.4. Using Histogram Statistics

Average Intensity

m = ri p (ri )
i =0
L 1 i =0

L 1

1 = MN

M 1 N 1 x =0 y =0

f ( x, y )

un (r ) = (ri m) n p (ri )
Variance
2 L 1 i =0

= u2 (r ) = (ri m) 2 p(ri )

1 MN

M 1 N 1 x =0 y =0

[ f ( x, y ) m ]

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III.4. Using Histogram Statistics

Local average intensity msxy = ri psxy (ri )
i =0 L 1

sxy denotes a neighborhood

Local variance
L 1 i =0

s2 = (ri ms )2 ps (ri )
xy xy xy

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III.4. Using Histogram Statistics

E f ( x, y ), if msxy k0 mG and k1 G sxy k2 G g ( x, y ) = otherwise f ( x, y ), mG : global mean;

G : global standard deviation

k0 = 0.4; k1 = 0.02; k2 = 0.4; E = 4

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IV. Using Arithmetic/Logic Operators

Arithmetic/Logic operations perform on pixel by pixel basis between two or more images, except NOT operation which perform only on a single image Logic operation performs on gray-level images, the pixel values are processed as binary numbers:

Light represents a binary 1, and Dark represents a binary 0

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IV.1. Logic Operators

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IV.2. Image Subtraction

g(x,y) = f(x,y) h(x,y)

Extraction of the differences between images

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IV.3. Image Averaging

Consider a noisy image g(x,y) formed by the addition of noise (x,y) to an original image f(x,y)

g(x,y) = f(x,y) + (x,y)

If noise has zero mean and be uncorrelated then it can be shown that if

g ( x, y )

= image formed by averaging K different noisy images

1 g ( x, y ) = K
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g ( x, y )
i =1 i
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IV.3. Image Averaging

Then

2 g ( x, y ) =
2 g ( x , y ) , 2 ( x , y )

1 2 ( x, y ) K
= variances of g and

if K increase, it indicates that the variability (noise) of the pixel at each location (x,y) decreases.
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IV.3. Image Averaging

Thus

E{g ( x, y )} = f ( x, y )

E{ g ( x , y )}

= expected value of g (output after averaging) = original image f(x,y)

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V. Spatial Filtering
A spatial filter consists of (a) a neighborhood, and (b) a predefined operation Linear spatial filtering of an image of size MxN with a filter of size mxn is given by the expression

g ( x, y ) =

s = a t = b

w(s, t ) f ( x + s, y + t )

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V. Spatial Filtering

Example

M=3, N=3 3x3 Or M=5, N=5 5x5

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V.1. Smoothing Filters

Smoothing filters are used for blurring and for noise reduction Blurring is used in removal of small details and bridging of small gaps in lines or curves Smoothing spatial filters include linear filters and nonlinear filters.

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V.1. Smoothing Filters

Linear filters
The general implementation for filtering an M N image with a weighted averaging filter of size m n is given g ( x, y ) =
s = a t = b

w(s, t ) f ( x + s, y + t )
s = a t = b

w(s, t )
n = 2b + 1.

where m = 2a + 1,

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V.1. Smoothing Filters

Linear filters

Averaging Filter Masks

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a c e b d f

V.1. Smoothing Filters

Example
Averaging Filter Masks a). original image 500x500 pixel b). - f). results of smoothing with square averaging filter masks of size n = 3, 5, 9, 15 and 35, respectively. Note:

Big mask is used to eliminate small objects from an image. The size of the mask establishes the relative size of the objects that will be blended with the background.
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V.1. Smoothing Filters

Example

original image

result after smoothing with 15x15 averaging mask

result of thresholding

we can see that the result after smoothing and thresholding, the remains are the largest and brightest objects in the image.
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V.1. Smoothing Filters

Order-Statistics Filters (Nonlinear Filters)

The response is based on ordering (ranking) the pixels contained in the image area encompassed by the filter Example

Median filter : R = median{zk |k = 1,2,,n x n} Max filter : R = max{zk |k = 1,2,,n x n} Min filter : R = min{zk |k = 1,2,,n x n}

Note: n x n is the size of the mask

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V.1. Smoothing Filters

Median Filter
Median: X= {x1,x2,, x2b+1}, x is called the median of X if x greater than or equal b elements and less than or equal b other elements in X; For example: X={3,2,3,2,3,4,5,6,5} (b=4) -> Median is 3 Peplaces the value of a pixel by the median of the gray levels in the neighborhood of that pixel (the original value of the pixel is included in the computation of the median) Quite popular because for certain types of random noise (impulse impulse noise salt and pepper noise) , they provide excellent noisenoise noisereduction capabilities, capabilities with considering less blurring than linear smoothing filters of similar size

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V.1. Smoothing Filters

Median Filter

Example

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V.2. Sharpening Spatial Filters

Foundation Laplacian Operator Unsharp Masking and Highboost Filtering Using First-Order Derivatives for Nonlinear Image Sharpening - The Gradient
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V.2. Sharpening Spatial Filters

The first-order derivative of a one-dimensional function f(x) is the difference

f = f ( x + 1) f ( x) x

The second-order derivative of f(x) as the difference

2 f = f ( x + 1) + f ( x 1) 2 f ( x) x 2
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V.2. Sharpening Spatial Filters

Foundation

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V.3. Method based on Laplace Operator

Laplace Operator
The second-order isotropic derivative operator is the Laplacian for a function (image) f(x,y)

2 f = f ( x + 1, y ) + f ( x 1, y ) 2 f ( x, y ) x 2 2 f = f ( x , y + 1) + f ( x , y 1) 2 f ( x , y ) y 2

2 f 2 f f = 2 + 2 x y
2

2 f = f ( x + 1, y ) + f ( x 1, y ) + f ( x, y + 1) + f ( x, y 1) - 4 f ( x, y )
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V.3. Method based on Laplace Operator

Masks

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V.3. Method based on Laplace Operator

Image sharpening in the way of using the Laplacian:

where g(x,y) sharpened image

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V.3. Method based on Laplace Operator

Example

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V.4. Unsharp Masking and Highboost Filtering

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V.4. Unsharp Masking and Highboost Filtering

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V.4. Unsharp Masking and Highboost Filtering

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V.4. Unsharp Masking and Highboost Filtering

Example

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V.4. Unsharp Masking and Highboost Filtering

Example

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V.5. Method based Derivatives (Gradient)

on

First-Order

For function f ( x, y ), the gradient of f at coordinates ( x, y ) is defined as f g x x f grad( f ) = g y f y

The magnitude of vector f , denoted as M ( x, y ) M ( x, y ) = mag(f ) = g x 2 + g y 2

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V.5. Method based Derivatives (Gradient)

on

First-Order

The magnitude of vector f , denoted as M ( x, y ) M ( x, y ) = mag(f ) = g x 2 + g y 2

M ( x, y ) | g x | + | g y |
z1 z4 z7 z2 z5 z8 z3 z6 z9
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M ( x, y ) =| z8 z5 | + | z6 z5 |

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V.5. Method based Derivatives (Gradient)

on

First-Order

Roberts Cross-gradient Operators M ( x, y ) | z9 z5 | + | z8 z6 |

z1 z4 z7

z2 z5 z8

z3 z6 z9

Sobel Operators M ( x, y ) | ( z7 + 2 z8 + z9 ) ( z1 + 2 z2 + z3 ) | + | ( z3 + 2 z6 + z9 ) ( z1 + 2 z4 + z7 ) |

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V.5. Method based Derivatives (Gradient)

on

First-Order

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V.5. Method based Derivatives (Gradient)

on

First-Order

Example

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V.6. Combining Spatial Enhancement Methods

Solve:

1. Laplacian to highlight fine detail 2. Gradient to enhance prominent edges 3. Gray-level transformation to increase the dynamic range of gray levels

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V.6. Combining Spatial Enhancement Methods

Exampe

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V.6. Combining Spatial Enhancement Methods

Exampe

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