2102676 digital image processing 7.pdfdigital image processing lecture 7 image segmentation razi...
TRANSCRIPT
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Digital Image Processing
Lecture 7Image Segmentation
Razi University
School of Electrical Engineering &
Computer Science
Spring Semester 2020
Content and Figures adapted from Gonzales and et al. , “Digital Image Processing. 1
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Segmentation
Types of segmentation
Point, line and edge detection
Edge linking
– local and global methods
– Hough transform
Thresholding
– global and local, optimal methods
– multivariable thresholding
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Image Segmentation
Process of dividing an image into two or more regions
– regions of interest (ROI)
– background / foreground
– clustering, boundary detection
Further shift towards image analysis / machine vision
One of the most difficult tasks of machine vision
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Segmentation Properties
Accuracy – good boundary localisation
Robustness to noise, false boundaries
– sensor types can help this
Fixed/variable number of clusters?
Region or boundary based?
– similarity or discontinuity measures
Connectivity
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Discontinuity Detection
Process of finding points, lines and edges
Detects significant local variations in image statistics
– grey levels, local mean/variance, texture features, etc.
General process:
– filter and threshold
Filter kernel determined by object to be detected
– gradient filter, Laplacian filter, and others.
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Point Detection
Detection of single isolated
points
Laplacian filter can detect
such locations
Threshold is applied to find
likely points of image
Can be generalised to larger points by rescaling
image (shrinking) or increasing filter size
1 1 1
1 -8 1
1 1 1
yxr ,
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Line Detection
Filters can be designed to detect lines of different directions
– generally 1 pixel wide
– can be adjusted by same techniques as points
Again, spatial filtering with thresholding is used to detect likely line regions
Filter kernel sums to zero to ensure no response in ‘flat’ image regions.
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Line Detection (Cont’d)
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Let R1, R2, R3, and R4 denote the responses of the masks in the figure
below, from left to right.
Suppose that all masks are run through an image.
If, at a certain point in the image, |Ri| > |Rj|, for all j = i, that point
is said to be more likely associated with a line in the direction of mask
i.
Horizontal + 45O Vertical - 45O
-1 -1 -1
2
-1-1-1
2 2
-1 -1 2
-1
-1-12
-1 2
-1 2 -1
-1
-12-1
-1 2
2 -1 -1
-1
2-1-1
-1 2
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Line Detection Example
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Edge Detection
Formally defined as a boundary between
two regions of an image
– difficult to model mathematically
– often does not correspond to grey-level changes
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Edge Detection (Cont’d)
Requires local measurable property
– grey level values, average, std. deviation, texture feature,
colour, etc..
Areas of strong change in property are considered
edges
– can be measured using first derivative
– values above threshold are considered edge pixels (edgels)
– second derivative is also useful for locating edges
– Note:
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Edge Profile
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Edge detectionby derivativeoperator
Edge Profile
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Noisy Edges
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Eliminating Effects of Noise
Edges require smoothing to remove noise
– low-pass filtering
Ringing would have extremely adverse effect
– ideal, most Butterworth filters are unacceptable
– Gaussian filter is ideal in this situation
Cutoff frequency (sigma) is dependent upon estimated noise levels of image
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Gradient Operators
1st derivative is not defined for 2 dimensions
– require approximation using gradient operators
Gradient vector:
Gradient magnitude and direction are also important properties
y
fx
f
G
G
y
xf
16
22yx GGmagf )( f
yx GGf – The approximation is:
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Gradient Operators (Cont’d)
The direction of the gradient vector also is an important quantity. The
direction angle of the vector at (x,y) is
Because derivatives enhance noise, the smoothing effect is a
particularly attractive feature of the Sobel operators which its masks
are
And
f
x
y
G
Gtanyx 1),(
Gx = (z7 + 2z8 + z9) – (z1 + 2z2 + z3)
Gy = (z3 + 2z6 + z9) – (z1 + 2z4 + z7)
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Gradient Filters
-1 0 1
-2 0 2
-1 0 1
-1 -2 -1
0 0 0
1 2 1
0 -1
1 0
-1 -1 -1
0 0 0
1 1 1
-1 0
0 1
-1 0 1
-1 0 1
-1 0 1Roberts
Prewitt
Sobel18
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Edge Localisation
Threshold is applied to gradient magnitude
– sum of magnitudes often used as approximation
– values over threshold considered edges
– may result in ‘thick’ edges
– valid edges can be missed if gradient is not high enough
– value of threshold depends on image content, and
desired error tradeoff
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Gradient Examples
Original
No
smoothing
Smoothed(
5x5 avg)
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Laplacian
The Laplacian of a 2D function, f(x,y), is a 2nd-
order derivative defined as:
For a 3x3 region, the form most frequently used in
practice is:
2
2
2
22
y
f
x
ff
)( 864252 4 zzzzzf
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The Laplacian responds to transitions on intensity.
As a 2nd-order derivative, the Laplacian typically is sensitive to noise.
The Laplacian produces double edges and is unable to detect edge direction.
The Laplacian usually plays the secondary role of detector for establishing whether a pixel is on the dark or light side of an edge.
A more general and reliably use of the Laplacian is in finding the “location” of edges using its zero-crossing property:
– This concept is based on convolving an image with the Laplacian of a 2D Gaussian function of the form: h(x,y)=exp[-(x2+y2)/2s2].
Where s is the standard deviation (Marr and Hildreth [1980]).
– Let r2 = x2 + y2. Then 2h = [(r2 – s2)/s2] exp[-r2/2s2]
– The result of convolving an image will blur that image. The degree of blurring is proportional to s.
Laplacian (Cont’d)
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The zero-crossing works well in cases when edges are
blurry or when a high noise content is present.
The zero-crossings offer reliable edge detection.
0 -1 0-10-10
-1 4
Mask usedto computethe Laplacian
Cross section of 2h. 2h shown as an intensity function.(From Marr [1982].)
Laplacian (Cont’d)
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(a) Original image;
(b) Result of convolving (a) with 2h;
(c) Result of making (b) binary to simplify detection of zero-crossings;(d) Zero-crossing. (From Marr [1982].)
Laplacian (Cont’d)
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Laplacian for Edge Detection
Zero crossings of Laplacian represent edges
– very sensitive to noise
– smoothing even more critical than for gradient
Gaussian and Laplacian filters can be combined (via
convolution) to form single kernel
Laplacian of Gaussian (LoG):
2224
222 ,
2
2
yxrer
rh
r
s
s
s
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Laplacian of Gaussian
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Detecting Zero-Crossings
Basic approach
– threshold with value of 0
– perform morphological boundary detection
Problems
– all closed loops
– small zero-crossings are not always desired
Applying a non-zero (positive and negative) threshold is a possible solution
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LoG Example
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LoG Failure
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Edge Linking
Gradient-based edge detection often leads to
incomplete boundaries
Linking used to bridge gaps and prune false
edges
Two basic approaches:
– local techniques
– global techniques
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Local Edge Linking
Examine local neighbourhood of each edgel
– size of neighbourhood dependent on application
– ‘similar’ points are linked, forming boundary
Similarity measure can be:
– strength of gradient
– direction of gradient
Additional constraints can be applied for specific problems
– direction/magnitude of gradient in certain ranges
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Local Edge Linking
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Hough Transform
Global approach to edge linking
Transforms image into Hough (line) domain
– lines represented by angle and position
– significantly fast than line searching approach
Each edge pixel could be part of infinite number of lines y = ax + b
– each with unique angle(a) and location(b)
Line in image represents point in HT
Point in image represents locus in HT
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Hough Transform (Cont’d)
y = ax+b is not the best representation
– a approaches infinity for vertical lines
Better:
– theta ranges from –90 to 90
– rho ranges from 0 to diagonal width of image
sincos yx
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Hough Transform Example
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Hough Transform Edge
Linking Lines in edgemap will have high point values in
Hough transform
– points over a threshold can be considered full lines and
linked in edge image
– gaps in line are filled if required
Hough transform can be easily extended to arbitrary
shapes
– suitable parameter space is required
– higher dimensionality -> more computations
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Image Thresholding
Used to separate objects from background
– form of image segmentation
Can operate on any local statistic
– grey levels only considered here
Can be applied successfully when an image
has two (or more) dominant modes
– can also be applied to smaller image regions
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Image Thresholding
Threshold can be generalised as a function
yxfyxpyxTT ,,,,,
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Thresholding Function
Global thresholds
– depend only on f(x,y)
Local thresholds
– also depend on p(x,y)
Adaptive thresholds
– also dependent on x,y
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Illumination Effects
Non-uniform illumination can cause serious problems for thresholding algorithms
– causes histogram ‘blurring’
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Simple Global Thresholding
Single value of T is used for entire image
– works only in well controlled conditions
– copes poorly with illumination effects
– often fails in presence of shadows
Selection of T
– median or average grey-level value
– (max+min)/2
– iterative refinement approach
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Global Thresholding Example
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Adaptive Thresholding
Simple approach
– divide image into regions
– use separate threshold value for each region
Not all regions require thresholding
– need property to determine this – standard deviation works
well in many cases
Regions with small white or black areas are often
thresholded incorrectly
– further splitting of region can overcome this
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Adaptive Thresholding
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Optimal Thresholding
Determining the ‘best’ threshold for a given region is
a non-trivial problem
– may contain < 2 or >2 modes
– modes may not be well separated in histogram
Optimal thresholds are designed to produce the
minimum segmentation error
– by some pre-defined criteria
– often makes some assumptions regarding the PDF’s of the
region
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Optimal Thresholding
Assume histogram is comprised of two
separate PDF’s
– prior probabilities may or may not be equal
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Optimal Thresholding
Full PDF is then given by:
Given a threshold T, the overall error is
defined as
Minimised when,
zpPzpPzp 2211
dzzpPdzzpPTET
T
1122
TpPTpP 2211
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Optimal Thresholding
PDF’s of two distributions are rarely known
Often estimated with two Gaussians, with
parameters
Assuming equal variances, T can be
obtained by:
For P1=P2, T is the average of means
2211 ,,, ss
2
1
21
2
21 ln2 P
PT
s
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Appendix A: Hough Transform
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Appendix A: Hough Transform
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Appendix A: Hough Transform
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Appendix A: Hough Transform
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