Electrical/Computer Engineering Design Project Fall 2002 Lecture 3 Computer Vision
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Topics
Computer vision system Image enhancement Image analysis Pattern Classification
Electrical Engineering Design Project - Fall 2002
Image Processing System
receiver
camera operators terminal
robot
Dual purpose: 1.Provide feedback for operator 2. Recognize victims (must be automated)
Electrical Engineering Design Project - Fall 2002
Image Processing System
Camera Receiver
Image
Digitizer
Image Processor
Digital Computer
Storage Device
Display
Electrical Engineering Design Project - Fall 2002
Image representation
Images are usually represented by a 2-D intensity function f(x,y) where
x and y represent spatial coordinates The value of f is proportional to the brightness (gray level) of the image.
A digital image u(m,n) is represented by a matrix whose rows and columns identify a point in an image and matrix element value identifies the gray level at that point. Each point is referred to as a picture element or pixel
Electrical Engineering Design Project - Fall 2002
Image representation
For computer storage, an array with the number of gray levels being a power of 2 is selected. A typical gray level image contains 256 shades of gray (8 bit) Values are stored between 0 - 255
Columns(16) Rows(16)
u(m,n) = value
Electrical Engineering Design Project - Fall 2002
Objective of Computer Vision
The field of computer vision can be divided into two areas
Image enhancement Image analysis
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Image enhancement
Refers to the accentuation or sharpening of image features such as edges, boundaries, or contrast to make an image more useful for display and analysis.
Image Enhancement
Point Operations Contrast stretching Noise clipping Window Slicing Histogram modeling
Spatial Operations Noise smoothing Median Filtering Unsharp masking Low-pass, bandpass, high-pass filtering
Transform Operations Linear filtering Root filtering Homomorphic filtering
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Point Operations
Mapping a given gray level u [0, L] into a gray
level v [0, L] according to v = f(u) Contrast Stretching For low-contrast images that occur because of: Poor or non-uniform lighting Non-linearity or small dynamic range of sensors. u 0ua (u a) a u b (u - b) b u L
v=
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Contrast Stretching
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Thresholding
Output is a binary image.
Example:
u(m,n) =
1(255)
0(0) 120
u
v(m,n) =
threshold
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Histogram Equalization
The effect of performing histogram equalization on an image is to produce a uniform distribution of gray levels in an image. The equalization process spreads out the peaks in an image and while compressing the range of intensities in regions of the histogram that have relatively few pixels. The histogram represents the relative frequency of occurrence of the various gray levels in an image. Equalization provides a way to enhance minor intensity variations in an apparently uniform image - method to emphasize dim features.
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Histogram Equalization Examples
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Image Math
Image math operations (addition, subtraction, multiplication and division) use two images to create a third image using pixel by pixel application of the mathematical operator.
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Boolean Operations
Image A Image B A OR B
A AND B
A XOR B
NOT A
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Spatial Operations
Spatial filtering involves passing a weighted mask, or kernel, over the noisy image and replacing the original image pixel value corresponding to the centre of the kernel with the sum of the original pixel values in the region corresponding to the kernel multiplied by the kernel weights.
Electrical Engineering Design Project - Fall 2002
Spatial Operations
Performed on local neighborhoods of input pixels. Image is convolved with a finite response filter called a spatial mask (window). Spatial average - each pixel is replaced by a weighted average of its neighborhood pixels. - average filter- used for noise smoothing, low-pass filtering
1/9 1/9 1/9
1/9 1/9 1/9
1/9 1/9 1/9
3 x 3 window
Has a blurring effect.
Electrical Engineering Design Project - Fall 2002
Masks edge detection
-1
Prewitt
0 0 0
1 1 1
1 0 -1
1 0 -1
1 0 -1
-1 -1
-1
Sobel
0 0 0
1 2 1
1 0 -1
2 0 -2
1 0 -1
-2 -1
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Transformations
Images can be transformed using techniques similar to those in systems and signals. f(t) h(t) g(t)
Except now the signal is represented in 2-D space instead of 1-D time. Examples of transformations include: - Fourier transforms - Cosine transforms - Walsh transform
Electrical Engineering Design Project - Fall 2002
Image Analysis
Goal is to extract important features from image data, from which a description, interpretation, or understanding of the scene can be provided.
Image Analysis
Feature Extraction Spatial features Transform features Edges and boundaries Shape features Moments Texture
Segmentation Template matching Thresholding Boundary detection Clustering Quad-trees Texture matching
Classification Clustering Statistical Decision trees Similarity Measures Min. spanning tree
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Segmentation
Includes: 1. 2. Thresholding Edge detection
Thresholding - separate different portions of the image based on the gray level values.
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Blob Labeling
Each blob is labeled with a unique value. Scan image until a on pixel is encountered. Label every pixel connected to the pixel with the same label value
Label this pixel and every connected pixel with a 1
4-connected
8-connected
2
Usually use 8-connected.
1 3
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Edge Detection
Edge detection segment the image by finding sharp edges. Can be performed using a spatial mask
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Feature extraction
Feature extraction involves finding features of the segmented image. Usually performed on a binary image produced from a thresholding operation.
Common features include:
1. 2. 3. 4. Area. Perimeter. Center of mass. Compactness.
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Feature extraction - area
Count the number of pixels in each labeled blob.
2 1 3
Simple algorithm scan images and count the number of pixels labeled with a 2
for(i=0;i<width;i++){ for(j=0;jheight;j++){ if(image[i][j]==2 area[2] += 1; } }
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Feature extraction - perimeter
The number of pixels in a blob that border a 0
2 1 3
Perimeter pixels
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Feature extraction - compactness
Other features can be obtained from simple measurements. Compactness = permiter2/4area For a perfect circle
Compactness = (2r)2/4 (r2)
= 42r2 / 42r2 = 1
Long skinny blobs will have a high value for compactness.
Electrical Engineering Design Project - Fall 2002
Other Features
Formfactor A B C D 0.257 0.256 0.459 0.457 Aspect Ratio 1.339 2.005 1.294 2.017
Roundness A B C D 0.587 0.584 0.447 0.589
Convexity 0.351 0.483 0.349 0.497
Solidity 0.731 0.782 0.592 0.714
Compactness 0.766 0.764 0.668 0.768
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Pattern Classification
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Simple Pattern Classification
Nearest neighbor N nearest neighbors
sample
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Next Day - Robotics
Electrical Engineering Design Project - Fall 2002
