CSE464 & CSE468 : Image
Processing and Pattern
Recognition
Image Segmentation
by:
Hossam El Din Hassan Abd El Munim
حسام الدين حسن عبد المنعم
Computer & Systems Engineering Dept.,
Ain Shams University,
1 El-Sarayat Street, Abbassia, Cairo 11517
1
Image Segmentation
The process of image segmentation/classification aims to partition the
image into regions of interest.
It is a key component in image analysis and computer vision
The literature is quite rich; early work started in late 1960’s.
Example: Separate/outline the kidney from surrounding tissues
in a low resolution MRI scan
2
Image Segmentation Challenges
• Noise
• Inhomogeneities
• lack of Strong Edges
• Different Objects may Share Similar Colors or Gray levels
• Cluttered/Occluded/Overlapped Objects
3
Segmentation Approaches
1. Boundary-Based
• Edge detectors (e.g., Marr-Hildreth 1980)
• Active contours/snakes (Kass et al., 1987)
• Active shape models (T.F. Cootes 1996)
2. Region-Based
• Deformable templates
• Statistical/clustering techniques
• MRF-based techniques (Besag 1974)
• Active appearance models (T.F. Cootes 1998)
4
Thresholding
image with dark image with dark
background and background and
a light object two light objects
5
Multilevel thresholding
• a point (x,y) belongs to
– to an object_1 class if f(x,y) T1
– to another object_2 class if T2 ≥ f(x,y) > T1
– to background if f(x,y) > T2
• T depends on
– only f(x,y) : only on gray-level values Global threshold
– both f(x,y) and p(x,y) : on gray-level values and its
neighbors Local threshold
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Example 1
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Example 2
Bone and Non-Bone Tissues
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Basic Global Thresholding
Algorithm
Based on visual inspection of histogram
1. Select an initial estimate for T.
2. Segment the image using T. This will produce two
groups of pixels: G1 consisting of all pixels with gray
level values > T and G2 consisting of pixels with gray
level values T
3. Compute the average gray level values 1 and 2 for
the pixels in regions G1 and G2
4. Compute a new threshold value:-
T = (1 + 2)/2
5. Repeat steps 2 through 4 until the difference in T in
successive iterations is smaller than a predefined
parameter ϵo.
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Example
note: object and
background intensities are
really separable which is
clear in the histogram.
ϵ0 = 0
3 iterations
with result T = 125
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Example: Limitation (T=104.3327)
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The Role of Illumination: Another
Limitation
easily use global thresholding
object and background are separated
f(x,y) = i(x,y) r(x,y)
a). computer generated
reflectance function
b). histogram of
reflectance function
c). computer generated
illumination function
(poor)
d). product of a). and c).
e). histogram of product
image
difficult to segment 12
Basic Adaptive Thresholding
As a Solution
• subdivide original image into small areas.
• utilize a different threshold to segment each
subimages.
• since the threshold used for each pixel
depends on the location of the pixel in terms
of the subimages, this type of thresholding is
adaptive.
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Example : Adaptive Thresholding
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Example: Global Thresholding
(T=157.5487)
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Example: Adaptive Thresholding
10X10 Blocks
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Optimal Global and Adaptive Thresholding
Object/Background Case
p( z ) P1 p1 ( z ) P2 p2 ( z )
P1 P2 1
P1 and P2 are called Prior Probabilities and p(z) is the
normalized histogram function 17
Segmentation/Classification Decision
if P1 p1 ( z ) P2 p2 ( z )
Pixel is Classified as Object
Else
Pixel is Classified as Background
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Total Segmentation Error
T
E1 (T )
p 2 ( z ) dz
E2 (T ) p1 ( z )dz
T
E (T ) P2 E1 (T ) P1 E2 (T )
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Minimum Error
Differentiating E(T) with respect to T (using Leibniz’s
rule) and equating the result to 0
dE(T ) d ( P2 E1 (T ) P1 E2 (T ))
0
dT dT if P = P then 1 2
the optimum threshold
is where the curve
find T which makes p1(z) and p2(z) intersect
P1 p1 (T ) P2 p2 (T )
20
Gaussian Density
Example: use PDF = Gaussian density : p1(z) and p2(z)
p( z ) P1 p1 ( z ) P2 p2 ( z )
( z 1 ) 2 ( z 2 )2
P1 2 12 P2 2 22
e e
where 2 1 2 2
• 1 and 12 are the mean and variance of the Gaussian
density of the object
• 2 and 22 are the mean and variance of the Gaussian
density of the background 21
Solution: Quadratic Equation
B B 4 AC
2
T
2A
22
Solution: Quadratic Equation
Equal Variances
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Solution: Quadratic Equation
Equal Variances and Equal Priors
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Example: Lung Segmentation from
CT Images
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Example: Object Parameters
Estimation (Mean=40, Variance=4.4)
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Example: Background Parameters
Estimation (Mean=223, Variance=8)
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Example: Segmentation Results
P1=P2=0.5
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Example: Isolate Lungs by flood-fill
Algorithm
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Segmentation/Classification Decision of
Color Images
Segmentation/Classification Decision of
Color Images(Same Rules but Feature
Vector )
if P1 p1 ( z ) P2 p2 ( z )
Pixel is Classified as Object
Else
Pixel is Classified as Background
z [ R G B] T
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Gaussian Density: Multivariate
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Computation Issues
log( p( x)) (d / 2) log(2 ) (1/ 2) log(| |) (1/ 2)(x )t 1 ( x )
Instead of
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Gaussian Density: Multivariate
Parameters Estimation
•Given n pixels with color vectors X1, X2, …,Xn: the mean vector
and covariance matrix can be estimated as follows:-
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Example1: Object parameters Estimation
Example1: Background parameters
Estimation
Example1: Results
Example1: Results-Object Boundary
Example2: Object/Background parameters
Estimation
Example2: Results
Example2: Results-Object Boundary
Example3: Object/Background parameters
Estimation
Example3: Results
Example3: Results-Object Boundary
Sources of Error
1. Feature is not appropriate
2. Object or background PDF is not appropriate
3. Parameters are not estimated correctly
4. Training samples are not enough
