Image Processing & Computer Vision
CT-527
Lecture No.2
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Summary of Lecture No. 1
• Image Processing
• Computer Vision
• Difference between Image Processing and Computer Vision
• Applications of Image Processing
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Lecture No 2
Lecture Outline
• History
• Fundamental Steps in Digital Image Processing
• Image Processing Basics
• Human Vision System and its limitations
• Analog Image and Digital Image
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istory of Image Processing
One of the first applications of digital images was in the newspaper industry,
when pictures were first sent by submarine cable between London and New
York.
Introduction of the Bartlane cable picture transmission system in the early
1920s reduced the time required to transport a picture across the Atlantic
from more than a week to less than three hours.
A digital picture produced in
1921 from a coded tape by a
telegraph printer with special
12 type faces.
History…..
Since 1929, for next 35 years; the researches have paid their attention to
improve the image quality or to improve the reproduction quality.
In 1964, these image processing techniques were being used at Jet
Propulsion Laboratory to improve the pictures of moon which have been
transmitted by ranger 7.
And, we can say that this is the time from where the image processing
techniques or the digital image processing techniques has got a boost and
this is considered to be the basis of modern image processing techniques.
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Image Processing Basics
Image Representation
(
Image Representation
A digital image is
composed of M rows and
N columns of pixels each
storing a value
Pixel values are most
often grey levels in the
range 0-255(black-
white)
We will see later on that
images can easily be
represented as matrices.
Image representation
At a particular point X Y in the image, conventionally
the X coordinate is taken vertically downwards and
the Y axis is taken horizontally towards right.
if I look at this image, this image is nothing but a 2
dimensional intensity function which is represented by
f (x, y).
f (x, y) is represented by product of 2 terms;
• one term is r (x, y)
• other term is i (x, y).
• r (x, y) is the refractivity of the surface of the
corresponding image point from where the
light gets reflected
• i (x, y), it represents the intensity of the
incident light.
Image digitalization
here are infinite number of points with infinite
once we get these sample values, at every point, the
ossible intensity values in real. value of sample is again continuous. So, it can assume
any of the infinite possible values.
ake samples of the image on a regular grid.
For that, the second operation that we have to do is
rst level representation of an image in a digital
DISCRETIZATION OF THE INTENSITY values of
omputer is SPATIAL DISCRETIZATION by grids:
different samples: called QUANTIZATION.
alled SAMPLING.
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Image Representation
• m number of rows and n number of columns
each of these elements in this matrix representation is called a pixel
or a pale/pictutre elements.
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Quantization
Each of this sample values are quantized and typically for image processing
applications,
The quantization is done using 8 bits for black and white image
24 bits for color image, there are 3 color planes - red, green and blue.
For each of the planes, if used 8 bits for quantization, then it gives us 24 bits which is
used for representation of digital color image.
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Values of sample
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Fundamental Steps in Digital Image Processing
Relationship with other Fields
Key Stages in Digital Image
Processing
Image Morphological
Restoration Processing
Image
Segmentation
Enhancement
Image Representation
Acquisition & Description
Object
Problem Domain recognition
Colour Image Image
Processing Compression
Key Stages in Digital Image
Processing: Image Aquisition
Image Morphological
Restoration Processing
Image
Segmentation
Enhancement
Image Representation
Acquisition & Description
Example: Take a picture Object
Problem Domain recognition
Colour Image Image
Processing Compression
Examples
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Key Stages in Digital Image
Processing: Image Enhancement
Image Morphological
Restoration Processing
Image
Segmentation
Enhancement
Image Representation
Acquisition & Description
Example: Change contrast
Object
Problem Domain
recognition
Colour Image Image
Processing Compression
Examples
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Key Stages in Digital Image
Processing: Image Restoration
Image Morphological
Restoration Processing
Example: Remove
Noise
Image
Segmentation
Enhancement
Image Representation
Acquisition & Description
Object
Problem Domain
recognition
Colour Image Image
Processing Compression
Example
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Key Stages in Digital Image
Processing: Morphological Processing
Extract
Image Morphological attributes
Restoration Processing useful for
describing
image
Image
Segmentation
Enhancement
Image Representation
Acquisition & Description
Object
Problem Domain recognition
Colour Image Image
Processing Compression
Example
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Key Stages in Digital Image
Processing: Segmentation
Divide
Image Morphological image into
Restoration Processing constituent
parts
Image
Segmentation
Enhancement
Image Representation
Acquisition & Description
Object
Problem Domain recognition
Colour Image Image
Processing Compression
Example
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Key Stages in Digital Image
Processing: Object Recognition
Image
regions
Image Morphological transformed
Restoration Processing suitable for
computer
processing
Image
Segmentation
Enhancement
Image Representation
Acquisition & Description
Object
Problem Domain recognition
Colour Image Image
Processing Compression
Example
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Key Stages in Digital Image
Processing: Representation &
Description
Finds &
Image Morphological Labels
Restoration Processing objects in
scene (e.g.
motorbike)
Image
Segmentation
Enhancement
Image Representation
Acquisition & Description
Object
Problem Domain recognition
Colour Image Image
Processing Compression
Example
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Key Stages in Digital Image
Processing: Image Compression
Reduce
Image Morphological
image size
Restoration Processing (e.g. JPEG)
Image
Segmentation
Enhancement
Image Representation
Acquisition & Description
Object
Problem Domain
recognition
Colour Image Image
Processing Compression
Example
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Key Stages in Digital Image
Processing: Colour Image Processing
Image Morphological
Restoration Processing
Image
Segmentation
Enhancement
Image Representation
Acquisition & Description
Object
Problem Domain recognition
Consider color
Colour Image Image
images (color
models, etc) Processing Compression
Example
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Fundamental Steps in Digital Image Processing
Essential steps when processing digital images:
Acquisition
Enhancement
Outputs are
Restoration
digital
images
Color image restoration
Wavelets
Morphological proces
Outputs are
Segmentation
attributes of the
image
Representation
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Recognition
Mathematics for Image Processing
Calculus
Linear algebra
Probability and statistics
Differential Equations (PDEs and ODEs)
Differential Geometry
Harmonic Analysis (Fourier, wavelet, etc)
Lecture No. 3
• Human Vision System
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Human Vision System
The best vision model we have !
Knowledge of images form in the eye can help us with
digital image processing.
Lets take a tour of human visual system
Reflected Light
The colours humans perceive are determined by nature of light reflected from
an object
For example, if white light (contains all wavelengths) is shone onto green object
it absorbs most wavelengths absorbed except green wavelength (color)
Colours Absorbed
Structure Of Human Eye
The lens focusses light from objects onto the retina.
The retina is covered with light receptors called
cones (6-7 millions) and rods (75-150 millions)
Rods are used for distinguishing illumination of
color.
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Image Formation In The Eye
Muscles in eye can change the shape of the lens allowing us focus on
near or far objects
An image is focused onto retina exciting the rods and cones and send signals
to the brain
Problem of Human Visual Image
System
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Example_1
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Human Eye Perception (Overlap between layers)
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Brightness Adaption & Discrimination
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Simultaneous Contrast
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Optical Illusions
• Some tricky stuff by our vision system
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Light and The Electromagnatic
Spectrum
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ght And The Electromagnetic Spectrum
Light: just a particular part of electromagnetic spectrum that can be
sensed by the human eye
The electromagnetic spectrum is split up according to the wavelengths of
different forms of energy
Electromagnetic Spectrum and
IP
Images can be made from any form of EM radiation
Images from Different EM
Radiation
Radar imaging (radio waves)
Magnetic Resonance Imaging (MRI) (Radio waves)
Microwave imaging
Infrared imaging
Photographs
Ultraviolet imaging telescopes
X-rays and Computed tomography
Positron emission tomography (gamma rays)
Ultrasound (not EM waves)
Example of Digital
Images
a) Natural landscape
b) Synthetically generated scene
c) Poster graphic
d) Computer screenshot
e) Black and white illustration
f) Barcode
g) Fingerprint
h) X-ray
i) Microscope slide
j) Satellite Image
k) Radar image
l) Astronomical object
Brightness Adaptation &
Discrimination
The human visual system can perceive approximately 10 10 different light
intensity levels
However, at any one time we can only discriminate between a much smaller
number - brightness adaptation
Similarly,
perceived intensity of a region is related to the light intensities of the
regions surrounding it
Representing Images
Image data structure is 2D array of pixel values
Pixel values are gray levels in range 0-255 or RGB colors
Array values can be any data type (bit, byte, int, float,
double, etc.)
Image (Spatial)
Sampling
A digital sensor can only measure a limited number of samples at a discrete
set of energy levels
Sampling can be thought of as: Continuous signal x
comb function
Image
Quantization
Quantization: process of converting continuous analog signal into its digital
representation
Discretize image I(u,v) values
Limit values image can take
Image Sampling And
Quantization
Sampling and quantization generates approximation of a real
world scene
Image Sampling And Quantization
A digital sensor can only measure a limited number
of samples at a discrete set of energy levels
Quantisation is the process of converting a
continuous analogue signal into a digital
representation of this signal
Image Sampling And Quantization
Remember that a digital image is always only an
approximation of a real world scene.
Spatial Resolution
Thespatial resolution of an image is determined by
how fine/coarse sampling was carried out
Spatial resolution: smallest discernable image detail
Vision specialists
talk about image resolution
Graphic designers
talk about dots per
inch (DPI)
Spatial Resolution
62 Vision specialists will often talk about pixel
size
Spatial Resolution
1024 * 1024 512 * 512 256 * 256
128 * 128 64 * 64 32 * 32
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Graphic designers will talk about dots per inch
Intensity Level Resolution
Intensitylevel resolution: number of intensity levels
used to represent the image
The more intensity levels used, the finer the level of detail
discernable in an image
Intensity level resolution usually given in terms of number
of bits used to store each intensity level
Number of
Number of Bits Examples
Intensit
y
Levels
1 2 0, 1
2 4 00, 01, 10, 11
4 16 0000, 0101, 1111
8 256 00110011, 01010101
16 65,536 1010101010101010
Saturation & Noise
Saturation: highest intensity
value above which color is
washed out
Noise: grainy texture pattern
Resolution: How Much Is Enough?
Thebig question with resolution is always
how much is enough?
Depends on what is in the image (details) and
what you would like to do with it (applications)
Key questions:
Does image look aesthetically pleasing?
Can you see what you need to see in image?
Resolution: How Much Is
Enough?
Example: Picture on right okay for counting number
of cars, but not for reading the number plate
Intensity Level Resolution
Low Detail Medium Detail High Detail
Image File Formats
Hundreds of image file formats. Examples
Tagged Image File Format (TIFF)
Graphics Interchange Format (GIF)
Portable Network Graphics (PNG)
JPEG, BMP, Portable Bitmap Format (PBM),
etc
Grayscale: 0 - 255 range
Image pixel values can be
Binary: 0 or 1
Color: RGB colors in 0-255 range (or other color model)
Application specific (e.g. floating point values in astronomy)
How many Bits Per Image
Element?
References
• Gonzalez R. C. & Woods R.E. (2008). Digital Image Processing.
Prentice Hall.
• Forsyth, D. A. & Ponce, J. (2011).Computer Vision: A Modern
Approach. Pearson Education.
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