Digital Image Processing Using Matlab: Haris Papasaika-Hanusch Institute of Geodesy and Photogrammetry, ETH Zurich

Digital Image Processing Using Matlab
Haris Papasaika-Hanusch
Institute of Geodesy and Photogrammetry, ETH Zurich
haris@geod.baug.ethz.ch
Digital Image Processing Using Matlab 2
Images and Digital Images
A digital image differs from a photo in that the values are all
discrete.
Usually they take on only integer values.
A digital image can be considered as a large array of discrete

dots each of !hich has a brightness associated !ith it. "hese
dots are called picture elements or more simply pixels.
"he pi#els surrounding a given pi#el constitute its

neighborhood A neighborhood can be characteri$ed by its
shape in the same !ay as a matri#% !e can speak of a &#&
neighborhood or of a '#( neighborhood.

Digital Image Processing Using Matlab &
Digital Image Processing Using Matlab )
Aspects of Image Processing
Image Enhancement: Processing an image so that the result

is more suitable for a particular application. *sharpening or de+
blurring an out of focus image highlighting edges improving
image contrast or brightening an image removing noise,
Image Restoration: "his may be considered as reversing the

damage done to an image by a kno!n cause. *removing of blur
caused by linear motion removal of optical distortions,
Image Segmentation: "his involves subdividing an image into

constituent parts or isolating certain aspects of an image.
*finding lines circles or particular shapes in an image in an
aerial photograph identifying cars trees buildings or roads.
Digital Image Processing Using Matlab '
Types of Digital Images
inary: -ach pi#el is .ust blac! or "hite. /ince there are only
t!o possible values for each pi#el *01, !e only need one bit
per pi#el.
#rayscale: -ach pi#el is a shade of gray normally from $

*black, to %&& *!hite,. "his range means that each pi#el can be
represented by eight bits or e#actly one byte. 2ther
greyscale ranges are used but generally they are a po!er of %.
Tr'e (olor or R#% -ach pi#el has a particular color3 that color
is described by the amount of red green and bl'e in it. If each
of these components has a range 042'' this gives a total of
%&)
*
different possible colors. /uch an image is a 5stack6 of
three matrices3 representing the red green and bl'e values
for each pi#el. "his means that for every pi#el there correspond
& values.
inary Image
Digital Image Processing Using Matlab (
#rayscale Image
(olor Image
#eneral (ommands
imread% :ead an image
fig're% creates a figure on the screen.
imsho"+g,% !hich displays the matri# g as an image.
pix-al on% turns on the pi#el values in our figure.
impixel+i./,% the command returns the value of the pi#el *i.,
iminfo% Information about the image.

(ommand 0indo"
Data Types
Image Information
Digital Image Processing Using Matlab 1&
it Planes
;reyscale images can be transformed into a se<uence of binary

images by breaking them up into their bit1planes.
=e consider the grey value of each pi#el of an 8+bit image as an 8+

bit binary !ord.
"he $th bit plane consists of the last bit of each grey value.
/ince this bit has the least effect *least significant bit plane,.
"he 2th bit plane consists of the first bit in each value *most
significant bit plane.
Digital Image Processing Using Matlab 1)
Initial Image
Digital Image Processing Using Matlab 1'
it Plane $
it Plane 3
Digital Image Processing Using Matlab 1(
it Plane 2
Spatial Resol'tion
Spatial resol'tion is the density of pi#els over the image% the

greater the spatial resolution the more pi#els are used to
display the image.
4al-e the si$e of the image% It does this by taking out every
other ro! and every other column thus leaving only those
matri# elements !hose ro! and column indices are even.
Do'ble the si$e of the image% all the pi#els are repeated to
produce an image !ith the same si$e as the original but !ith
half the resolution in each direction.
Interpolation
Extrapolation
Arithmetic 5perations
"hese operations act by applying a simple function y>f*#, to

each gray value in the image.
/imple functions include adding or s'btract a constant value

to each pi#el% y > #?@ *imadd imsubtract,
M'ltiplying each pi#el by a constant% y > @A# *immultiply

imdivide,
(omplement% Bor a grayscale image is its photographic

negative.
Addition 1 S'btraction
M'ltiplication1Di-ision
Digital Image Processing Using Matlab 2)
(omplement
Digital Image Processing Using Matlab 2'
Addition
Image: J
Image: J+!
S'btraction
Image: J
Image: J-"!
Digital Image Processing Using Matlab 2(
M'ltiplication
Image: J
Image: J#$
Di-ision
Image: J
Image: J%
(omplement
Image: J
Image: ""-J
Digital Image Processing Using Matlab &0
4istograms
;iven a grayscale image its histogram consists of the

histogram of its gray levels3 that is a graph indicating the
number of times each gray level occurs in the image.
=e can infer a great deal about the appearance of an image

from its histogram.
In a dar! image the gray levels !ould be clustered at the lo!er

end
In a 'niformly bright image the gray levels !ould be clustered at

the upper end.
In a "ell contrasted image the gray levels !ould be !ell spread

out over much of the range.
Problem% ;iven a poorly contrasted image !e !ould like to

enhance its contrast by spreading out its histogram. "here are
t"o !ays of doing this.
4istogram Stretching +(ontrast Stretching,
Poorly contrasted image of range CabD
=e can stretch the gray levels in the center of the range out by
applying a piece!ise linear function
"his function has the effect of stretching the gray levels CabD to
gray levels CcdD !here aEc and dFb according to the e<uation%
imad.ust*ICabDCcdD,
Pi#el values less than c are all converted to c and pi#el values
greater than d are all converted to d.
j=
cd
ba
iac
4istogram Stretching
Digital Image Processing Using Matlab &&
efore 4istogram Stretching
Digital Image Processing Using Matlab &)
After 4istogram Stretching
Digital Image Processing Using Matlab &'
4istogram E6'ali7ation
"he trouble !ith the previous method of histogram stretching is

that they re<uire user input.
Gistogram e<uali$ation is an entirely automatic procedure.
/uppose an image has L different gray levels 0,1,2,...,1-L and

that gray level i occurs n
i
times in the image. /uppose also that
the total number of pi#els in the image is n so that
n
0
+n
1
+n
2
+...n
L
=n. "o transform the gray levels to obtain a
better contrasted image !e change gray level i to%
and this number is rounded to the nearest integer.
A roughly e<ual number of pi#els is mapped to each of the L

levels so that the histogram of the output image is
appro#imately flat.
efore 4istogram E6'ali7ation
Digital Image Processing Using Matlab &(
After 4istogram E6'ali7ation
Thresholding
Single thresholding% A grayscale image is turned into a binary

image by first choosing a gray level T in the original image and
then turning every pi#el black or !hite according to !hether its
gray value is greater than or less than T.
A pi#el becomes !hite if its gray level is > T
A pi#el becomes black if its gray level is <= T
Double thresholding% Gere !e choose t!o values "1 and "2 and
apply a thresholding operation as%
A pi#el becomes !hite if its gray level bet!een T1 and T2
A pi#el becomes black if its gray level is other!ise

Thresholding
Digital Image Processing Using Matlab )0
Spatial 8iltering
Move a 5mas!6% a rectangle *usually !ith sides of odd length,

or other shape over the given image.
A ne! image !hose pi#els have gray values calculated from the
gray values under the mask.
"he combination of mask and function is called filter.
Hinear function of all the gray values in the mask then the filter
is called a linear filter.
/patial filtering re<uires & steps%

1.position the mask over the current pi#el
2.form all products of filter elements !ith the corresponding elements
of the neighborhood
&.add up all the products.
"his must be repeated for every pi#el in the image.
filter2*filterimageshape,
Mas!s
8iltering
0or!ing
8lo"
Digital Image Processing Using Matlab )&
8re6'encies9 :o" and 4igh Pass 8ilters
8re6'encies are the amount by !hich grey values change !ith

distance.
4igh fre6'ency components are characteri$ed by large

changes in grey values over small distances3 *edges and noise,
:o" fre6'ency components are parts characteri$ed by little

change in the gray values. *backgrounds skin te#tures,
4igh pass filter% if it 5passes over6 the high fre<uency

components and reduces or eliminates lo! fre<uency
components.
:o" pass filter% if it 5passes over6 the lo! fre<uency

components and reduces or eliminates high fre<uency
components.
Digital Image Processing Using Matlab ))
#a'ssian 8ilters
;aussian filters are a class of lo!+pass filters all based on the

;aussian probability distribution function%
!here is the standard deviation% a large value of produces

to a flatter curve and a small value leads to a 5pointier6
curve.
Ilurring -ffect
Digital Image Processing Using Matlab )'
#a'ssian 8ilters
#a'ssian 8ilters
Digital Image Processing Using Matlab )(
;oise
Joise is any degradation in the image signal caused by

e#ternal disturbance.
Salt and pepper noise% It is caused by sharp sudden

disturbances in the image signal3 it is randomly scattered !hite
or black *or both, pi#els. It can be modeled by random values
added to an image
#a'ssian noise% is an ideali$ed form of !hite noise !hich is

caused by random fluctuations in the signal.
Spec!le noise% It is a ma.or problem in some radar

applications. It can be modeled by random values multiplied by
pi#el values.

Salt < Pepper ;oise
#a'ssian ;oise
Digital Image Processing Using Matlab '0
Spec!le ;oise
& 'oti(ation: detect changes
change in the pi)e* (a*ue *arge gradient
Gradient
operator
image
Thresho*ding
edge
map
x(m,n)
g(m,n)
I(m,n)
'
>
otherwise
th n m g
n m I
!
+ , , - + .
, , -
We can implement those two steps by basic MATLAB functions.
Edge Detection
./ Pre0itt operator / 1o2e* operator
1
1
1
]
1
. ! .
. ! .
. ! .
1
1
1
]
1

. . .
! ! !
. . .
1
1
1
]
1
. ! .
!
. ! .
1
1
1
]
1

. .
! ! !
. .
(ertica*
hori3onta*
(ommon Edge 5perators
Digital Image Processing Using Matlab '&
(anny Edge Detector
:o" error rate of detection
=ell match human perception results
#ood locali7ation of edges
"he distance bet!een actual edges in an image and the edges

found by a computational algorithm should be minimi$ed
Single response
"he algorithm should not return multiple edges pi#els !hen

only a single one e#ists
Digital Image Processing Using Matlab ')
Edge Detectors
Color Image
Grayscale Image
Digital Image Processing Using Matlab ''
Edge Detectors
Sobel
Canny
(olor Images
A color model is a method for specifying colors in some

standard !ay. It generally consists of a &D coordinate system
and a subspace of that system in !hich each color is
represented by a single point.
R#% In this model each color is represented as & values R G

and B indicating the amounts of red green and blue !hich
make up the color.
4S=%
Gue% "he 5true color6 attribute *red green blue orange yello!
and so on,.
/aturation% "he amount by !hich the color as been diluted !ith

!hite. "he more !hite in the color the lo!er the saturation.
Kalue% "he degree of brightness% a !ell lit color has high intensity3 a
dark color has lo! intensity.
Digital Image Processing Using Matlab '(
(olor Image
(olor (on-ersion
Initial (olor Image
R# (olor Space
RED GREEN
BLE
4S= (olor Space
!E
S"#R"#I$N %"LE
(5:5R (5MP5SITE
"ster & "ster '
"ster (
(5:5R (5MP5SITE
"ster &)()'
"ster ()&)' "ster ')()&

Digital Image Processing Using Matlab: Haris Papasaika-Hanusch Institute of Geodesy and Photogrammetry, ETH Zurich

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Digital Image Processing Using Matlab

Usually they take on only integer values.

A digital image can be considered as a large array of discrete

"he pi#els surrounding a given pi#el constitute its

Image Enhancement: Processing an image so that the result

Image Restoration: "his may be considered as reversing the

Image Segmentation: "his involves subdividing an image into

#rayscale: -ach pi#el is a shade of gray normally from $

imread% :ead an image

fig're% creates a figure on the screen.

imsho"+g,% !hich displays the matri# g as an image.

pix-al on% turns on the pi#el values in our figure.

impixel+i./,% the command returns the value of the pi#el *i.,

iminfo% Information about the image.

;reyscale images can be transformed into a se<uence of binary

=e consider the grey value of each pi#el of an 8+bit image as an 8+

Spatial resol'tion is the density of pi#els over the image% the

"hese operations act by applying a simple function y>f*#, to

/imple functions include adding or s'btract a constant value

M'ltiplying each pi#el by a constant% y > @A# *immultiply

(omplement% Bor a grayscale image is its photographic

;iven a grayscale image its histogram consists of the

=e can infer a great deal about the appearance of an image

In a dar! image the gray levels !ould be clustered at the lo!er

In a 'niformly bright image the gray levels !ould be clustered at

In a "ell contrasted image the gray levels !ould be !ell spread

Problem% ;iven a poorly contrasted image !e !ould like to

Poorly contrasted image of range CabD

"he trouble !ith the previous method of histogram stretching is

Gistogram e<uali$ation is an entirely automatic procedure.

/uppose an image has L different gray levels 0,1,2,...,1-L and

and this number is rounded to the nearest integer.

A roughly e<ual number of pi#els is mapped to each of the L

Single thresholding% A grayscale image is turned into a binary

A pi#el becomes !hite if its gray level is > T

A pi#el becomes black if its gray level is <= T

A pi#el becomes !hite if its gray level bet!een T1 and T2

A pi#el becomes black if its gray level is other!ise

Move a 5mas!6% a rectangle *usually !ith sides of odd length,

"he combination of mask and function is called filter.

/patial filtering re<uires & steps%

"his must be repeated for every pi#el in the image.

8re6'encies are the amount by !hich grey values change !ith

4igh fre6'ency components are characteri$ed by large

:o" fre6'ency components are parts characteri$ed by little

4igh pass filter% if it 5passes over6 the high fre<uency

:o" pass filter% if it 5passes over6 the lo! fre<uency

;aussian filters are a class of lo!+pass filters all based on the

!here is the standard deviation% a large value of produces

Joise is any degradation in the image signal caused by

Salt and pepper noise% It is caused by sharp sudden

#a'ssian noise% is an ideali$ed form of !hite noise !hich is

Spec!le noise% It is a ma.or problem in some radar

Digital Image Processing Using Matlab )8

:o" error rate of detection

=ell match human perception results

#ood locali7ation of edges

"he distance bet!een actual edges in an image and the edges

"he algorithm should not return multiple edges pi#els !hen

A color model is a method for specifying colors in some

R#% In this model each color is represented as & values R G

/aturation% "he amount by !hich the color as been diluted !ith

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