COMPUTER VISION & IMAGE PROCESSING

Chapter 2: Digital Image

Fundamentals

Instructor: Fikru T.
Email: fikrutafesse08@gmail.com
tafesse.fikru@yahoo.com

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 Basic Concept of Image

Digital Image Processing Basics

– Image processing is the process of manipulating digital images.
– Digital Image Processing means processing digital image by
means of a digital computer.
Image processing mainly include the following steps:
– Importing the image via image acquisition tools;
– Analyzing and manipulating the image;
– Output in which result can be altered image or a report which is
based on analyzing that image. 2
 Basic Concept of Image …
What is an Image?
– An image is defined as a two-dimensional function, F(x,y), where x and y
are spatial coordinates, and the amplitude of F at any pair of coordinates
(x,y) is called the intensity of that image at that point.
– When x, y and amplitude values of F are finite, we call it a digital image.
– In other words, an image can be defined by a two-dimensional array
specifically arranged in rows and columns.
– Digital Image is composed of a finite number of elements, each of which
elements have a particular value at a particular location.
– These elements are referred to as picture elements, image elements,
and pixels. 3
 Digital Image Representation

– An image can be defined as 2D signal that varies over the spatial

coordinates x and y , and can be written mathematically as f(x, y).

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 Digital Image Representation
…
– In general, the image can be written as a mathematical function
f(x, y) as follows:

– Each element of this matrix array is called pixel.

– The spatial resolution ( number of pixels) of digital image is M * N.
– The gray level resolution( Number of gray levels) L is L = 2k
– Where k is the number of bits used to represent the gray levels of
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 Digital Image Representation
…
– For example, an image with 256 possible gray-level values is called an
8-bit image.
– The gray levels are integers in the interval [0, L-1].
– This interval is called the gray scale.
– The number , b, of bits required to store a digitized image is b= M * N
*K.
– Example:
» For an 8-bit image of size 512 * 512, determine its gray-scale and
storage size
» Solution: ⸫ k = 8, M = N = 512 6
 Digital Image Representation
…

– The value of the function f(x, y) at every point indexed by a row

and a column is called grey value or intensity of the image.
– Resolution is an important characteristic of an imaging system.
– It is the ability of the imaging system to produce the smallest
discernable details, i.e. the smallest sized object clearly, and
differentiate it from the neighboring small objects that are
present in the image.
– The number of rows in digital image is called vertical
resolution. 7
 Digital Image Representation
…
– Image resolution depends on two factors
1. Optical resolution of the lens
2. Spatial resolution
– A useful way to define resolution is the smallest number of line pairs
per unit distance.
» Spatial resolution also depends on two parameters:
• Number of pixels of the image
• Number of bits necessary for adequate intensity resolution,
referred to as the bit depth.
» The number of bits necessary to encode the pixel value is called
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 Digital Image Representation
…

– So the total number of bits necessary to represent the

image is
= number of rows * Number of columns * Bit
depth
– Example: What is the storage requirement for a 1024 x
1024 binary image?
– Solution: =1024 * 1024 * 1
= 1048576 bits 9
 Digital Image Acquisition
Process
– Image Acquisition is the first step in any image processing system.
– The general aim of any image acquisition is to transform an optical
image (real-world data) into an array of numerical data which could
be later manipulated on a computer.
– Image acquisition is achieved by suitable cameras.
– We use different cameras for different applications.
– If we need an X-ray image, we use a camera (film) that is sensitive to
X-rays.
– If we want an infrared image, we use cameras that are sensitive to
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 Digital Image Acquisition Process
Cont.…
– In image Processing, Image acquisition is defined as the action of
retrieving an image from some source, usually a hardware-based source
for processing.
– It is the first step in the workflow sequence because, without an
image, no processing is possible.
– The image that is acquired is completely unprocessed.
– Now the incoming energy is transformed into voltage by the
combination of input electrical power and sensor material that is
responsive to a particular type of energy being detected.
– The output voltage waveform is response of the sensor and a digital
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Digital Image Acquisition Process
Cont.…

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Digital Image Acquisition Process
Cont.…

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 Digital Image Acquisition Process
Cont.…
1. Image Acquisition using a single sensor
– Example of a single sensor is a photodiode.
– Now to obtain a 2D image using a single sensor, the motion should be
in both x and y directions.
» Rotation provides motion in one direction.
» Linear motion provides motion in the perpendicular direction.

– This is an expensive method and we can obtain high-resolution images

with high precision control.
– But the downside of this method is that it is slow. 14
Digital Image Acquisition Process
Cont.…

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 Digital Image Acquisition Process
Cont.…
2. Image Acquisition using a Line sensor(Sensor strips)
– The sensor strip provides imaging in one direction.
– Motion perpendicular to the strip provides imaging in other direction.

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 Digital Image Acquisition Process
Cont.…
3. Image Acquisition using an array Sensor
– In this, individual sensors are arranged in the form of a 2D array.
– This type of arrangement is found in digital cameras.
» Eg. CCD array
– In this, the response of each sensor is proportional to the integral of the light
energy projected onto the surface of the sensor.
– Noise reduction is achieved by letting the sensor integrate the input light
signal over minutes or ever hours.
– Advantage:
» Since sensor array is 2D, a complete image can be obtained by the focusing
the energy pattern onto the surface of the array. 17
Digital Image Acquisition Process
Cont.…

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 Image Sampling and
Quantization
– For numerous ways to acquire images, objective is same
» To generate digital images from sensed data.
– The output of most sensors is a continuous voltage waveform
whose amplitude and spatial behavior are related to the physical
phenomenon being sensed.
– To create a digital image, we need to convert the continuous
sensed data into digital form.
– Sampling the analog signal mean instantaneously measuring the
voltage of the signal at fixed interval in time. 19
 Image Sampling and
Quantization
– The value of the voltage at each instant is converted into a number
and stored.
– The number represents the brightness of the image at that
point.
– The " grabbed " image is now a digital image and can be accessed
as the two dimensional array of data.
– Each data point is called a pixel(picture element).
– The notation used to express a digital image : I(r, c)
– I(r, c) = The brightness of the image at point (r, c)
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 Image Sampling and
Quantization …
Basic Concepts in Sampling and Quantization
– Let a continuous image f is to be converted to digital form.
– An image may be continuous with respect to the x and y
coordinates, and also in amplitude.
– To convert it to digital form, we have to sample the
function in both coordinates and in amplitude.
– Digitizing the coordinate values is called sampling.
– Digitizing the amplitude values is called quantization.
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 Image Sampling and
Quantization …
– A plot of amplitude(intensity level)
values of the continuous image along
the line segment AB.
– To sample this function, we take
equally spaces samples along line AB.
– The spatial location of each sample is
indicated by a vertical tick mark in the
bottom part of the figure.
– The set of these discrete locations
gives the sampled function. 22
 Representation of Different Image
Types
–Images can be broadly of four types:
1. Binary images
2. Gray-scale images
3. Color images
4. Multispectral images
1. Binary images
– Images with only two values(0, 1). Or it is 1-bit
image.
– Simple to process and analyze. 23
 Representation of Different Image
Types …
– Obtained from gray-level( or color ) image g(x,y) by
thresholding.
– Characteristics of function:
» b(x,y) = 1; if g(x,y) <T
0; if g(x,y) >=T where T is thresholding
value.
– Very useful for industrial applications.
2. Gray-scale Images
– Gray-scale images are referred to as monochrome(one- 24
 Representation of Different Image
Types …

– The number of bits used for each pixel determines the

number of different gray levels available.
– The typical gray-scale image contains 8 bits/pixel data,
which allows us to have 256 different gray levels.
– In applications like medical imaging and astronomy, 12 or
16 bits/pixel images are used.
– These extra gray level become useful when a small section
of image much larger to discern detail.
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 Representation of Different Image
Types …
3. Color Images
– Color images can be modeled as three-band monochrome
image data, where each band of data corresponds to a
different color.
– The actual information stored in a digital image data is the
gray-level information in each spectral band.
– Typical color images are represented as red, green, and
blue(RGB images).
– Using the 8-bit monochrome standard as a model, the 26
 Representation of Different Image
Types …
4. Multispectral Images
– Multispectral images typically contain information outside
the normal human perceptual range.
– This may include infrared, ultraviolent, X-ray, acoustic
or radar data.
– These are not images in the usual sense because the
information represented is not directly visible by the human
system.
– However, the information is often represented in visual form 27
Representation of Different Image
Types …

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 Mathematical Tools used in Digital Image
Processing

– It is functional techniques that are used for computation

systematic or concept based method/principle.
– An image to carry out different process, we are using this
mathematical tools.
– This »mathematical
Noise removaltools» help
Colorin image processing to carry out
» Morphin
» Filtering
the process such as: transferring g
» Masking » De – blurring » Etc.
» Enhancing » Sharpening
» Mixing » Segmentation
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 Mathematical Tools used Cont.…

– Different types of mathematical tools and operations used in

Digital Image Processing are:
» Array vs Matrix operations
» Linear vs Non-Linear operations
» Arithmetic operations
» Set and Logic operations
» Spatial operations
» Probabilistic methods

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 Mathematical Tools used …

1. Array vs Matrix operations

– Let us consider two images of 2x2 which is subjected to array
operation as shown below.

– Array products of two images is given below:

– An array operation involving one or more images is carried

out on a pixel-by-pixel basis. 31
 Mathematical Tools used …

Matrix operations
– Let us consider two images of 2x2 which is subjected to array
operation as shown below.

– Now Matrix product of two images is given below:

– A matrix operation is carried out between rows and columns of

the two images. 32
 Mathematical Tools used …

2. Linear and Non-linear operations

– One of the most important classifications of an image
processing method.
– Consider a general operator, H, that produces an output
image, g(x, y), forH[f(x,
a giveny) = image,
input g(x, f(x, y):
y)
– H is said to be a linear operator if :
H[aifi(x, y) + ajfj(x, y) = aiH[fi(x, y)] +

ajH[ fj(x, y)]

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 Mathematical Tools used …

– Where ai, aj, fi(x, y) are arbitrary constants and images (of the
same size), respectively.
– Equation indicates that the output of linear operation due to the
sum if two inputs is the same as performing the operation on the
inputs individually and then summing the results.
– In addition, the output of a linear operation to constant times an
input is the same as the output of the operation due to the original
input multiplied by that constant.
– The first property is called the property of additivity and the
second is called the property of homogeneity. 34
 Mathematical Tools used …

– As an example, suppose that H is sum operator ∑,

∑[aifi(x, y) + ajfj(x, y) = ∑aiH[fi(x, y)]

+∑ajH[ fj(x, y)]

= ai∑fi(x, y) + aj∑fj(x, y)
– We conclude that the sum=operator
aigi(x, is + ajg. j(x, y)
y)linear
– Consider the max operation, whose function is to find the
maximum value of the pixels in an image.

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 Mathematical Tools used …

– Max operator is nonlinear.

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 Mathematical Tools used …

– Linear operation are exceptionally important because they are

based on , the output of a linear operation to constant times an
input is the same as the output of the large body of theoretical
and practical results that are applicable to image processing.
– Nonlinear systems are not nearly as well understood, so their
scope of application is more limited.
– But there are several nonlinear image processing operations
whose performance far exceeds what is achievable by their
linear counterparts. 37
 Mathematical Tools used …

3. Arithmetic Operations
– Arithmetic operations between images are array operations.
– They are carried out between corresponding pixel pairs.
– The four arithmetic operations are denoted as :

Addition: s(x, y) = f(x, y) +

g(x, y)
Substruction: d(x, y) = f(x, y) -
g(x, y)
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 Mathematical Tools used …

– x = 0, 1, 2, …, M-1 and y = 0, 1, 2, …, N-1.

– M and N are the row and column sizes of the images.
– s, d, p, and v are images of M x N also.
– Image arithmetic in this manner involves images of the same
size.
– Image addition is used to reduce the noise content by
adding a set of noisy images.
– This is a technique used frequently for image enhancement.
– In practice, these images must be registered(aligned) in order
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Mathematical Tools …

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 Mathematical Tools …

– A frequent application of image subtraction is in the

enhancement of difference between images which are not
noticeable by human.

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 Mathematical Tools …

– An important application of image multiplication(and division)

is shading correction

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 Mathematical Tools …

– An important application of image age multiplication is in masking also

called as region of interest operations.

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 Mathematical Tools used …

4. Set and Logical Operations

– Basic set operations

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 Mathematical Tools used …

– Set operations
involving grayscale
images.

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 Mathematical Tools …

Logic Operations
– Logic operations are
extensively used in Image
Morphology.
– Illustration of logical operations
involving foreground (white )
pixels.

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 Mathematical Tools …

5. Spatial Operations
– Spatial operations are performed directly on the pixels
of the given image.
– Classification:
i. Single pixel operations
ii. Neighborhood operations
iii.Geometric spatial transformations
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 Mathematical Tools …

i. Single pixel operations

– The simplest operation we perform on a digital
image is to alter the values of its individual pixels
based on their intensity.
– It can be expressed as s = T(z)
 Z-intensity of original image.
 S-intensity of transformed image.

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 Mathematical Tools …

ii. Neiborhood pixel

operations
– Local averaging
using neighborhood
processing.

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 Mathematical Tools …

iii. Geometric transformations

– Geometric transformations modify the spatial relationship
between pixels in an image.
– The transformation of coordinates may be expressed as

 Where(x, y) is coordinates of pixels in transformed

image(v,w) is coordinates of pixels in original image.
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 Mathematical Tools …

– One of the most used spatial coordinate transformations in

the affine transform given by

– By using this we can scale, rotate, translate a set of

coordinate system depending on T value.

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Mathematical Tools …

End!!!
Thank You!!!
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