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Topology Preserving Alternating Sequential Filter for Smoothing 2D and 3D Objects

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2D and 3D objects

Michel Couprie(a,b) and Gilles Bertrand(a,b)

(a) Laboratoire A2 SI, ESIEE Cit´e Descartes B.P. 99, 93162 Noisy-Le-Grand Cedex France

(b) Institut Gaspard Monge, Unit´e Mixte de Recherche CNRS-UMLV-ESIEE UMR 8049

e-mail: m.couprie@esiee.fr, g.bertrand@esiee.fr; url: www.esiee.fr/a2si

ABSTRACT

We introduce the homotopic alternating sequential filter as a new method for smoothing 2D and 3D objects in binary images.

Unlike existing methods, our method offers a strict guarantee of topology preservation. This property is ensured by the exclusive use of homotopic transformations defined in the framework of digital topology. Smoothness is obtained by the use of

morphological openings and closings by metric discs or balls of increasing radius, in the manner of an alternating sequential

filter. The homotopic alternating sequential filter operates both on the object and on the background, in an equilibrated way.

It takes an original image X and a control image C as input, and smoothes X “as much as possible” while respecting the

topology of X and geometrical constraints implicitly represented by C. Based on this filter, we introduce a general smoothing

procedure with a single parameter which allows to control the degree of smoothing. Furthermore, the result of this procedure

presents small variations in response to small variations of the parameter value. We also propose a method with no parameter

for smoothing zoomed binary images in 2D or 3D while preserving topology.

Keywords: Shape smoothing, digital topology, homotopy, mathematical morphology, alternating sequential filters.

1. INTRODUCTION

Shape smoothing plays an important role in image processing and pattern recognition. For example, the analysis or recognition

of a shape is often perturbed by noise, thus the smoothing of object boundaries is a necessary pre-processing step. Also, when

zooming or warping binary digital images, one obtains a crenelated result that must be smoothed for better visualization. The

smoothing procedure can also be used to extract some shape characteristics: by making the difference between the original and

the smoothed object, salient or carved parts can be detected and measured.

Many different approaches have been proposed for smoothing shapes:

- Ad hoc transformation rules applied to chain-coded object boundaries (2D only).1

- Morphological filtering applied directly to the shape.2

- Morphological filtering applied to a curvature plot of the object’s contour (2D only).3

- Filtering of the medial axis.4

- Filtering of a multiple scale boundary representation (2D morphological scale space).5

- Linear filtering. The most popular algorithm to perform linear filtering is the Laplacian smoothing (well suited to 2D-vector

or 3D-mesh representations). 6–9

- Diffusion equations: partial differential equations, similar to the classical heat equation, are used to model the evolution of a

curve or a surface in space-time. 10,11

In all previous works, it was always assumed that the shape to be smoothed is a single object, in other words, its boundary is

a simple closed curve (in 2D) or surface (in 3D). What happens if we want to apply the smoothing to a whole scene composed

of several objects? If we apply any of the proposed schemes to each object independently and then merge the results, there is

no guarantee that the images of two disjoint objects will be disjoint. More generally, little attention has been paid to global

topological properties of smoothing procedures. Even when applied to a single object, there is no formal proof that known

smoothing schemes preserve the object’s topological characteristics (number of connected components and cavities, number of

tunnels in 3D), with the remarkable exception of a result concerning the evolution of a 2D plane curve under the heat equation

which has been proved to shrink towards one point. 12

We introduce a new method for smoothing 2D and 3D objects in binary images while preserving topology. Here, objects are

defined as sets of grid points, and topology preservation is ensured by the exclusive use of homotopic transformations defined

in the framework of digital topology.13 Smoothness is obtained by the use of morphological openings and closings by metric

the dilation by Br is the operator δr defined by: ∀X ∈ P (E). We also propose a method with no parameter for smoothing zoomed binary images in 2D or 3D while preserving topology. Alternating sequential filters were introduced by Sternberg14 and were extensively studied by Serra. like erosion and dilation. The ball Br is termed as the structuring element of the dilation. Based on this filter. It is well known that for any r. we restrict ourselves to the minimal set of notions that will be useful for our purpose.14. 1d shows ASF25 (X) superimposed to the contour of the set X given in Fig. Let r be S an integer. We denote by Z the set of relative integers. BASIC NOTIONS OF MATHEMATICAL MORPHOLOGY In this section. 16. In particular. superimposed to ASF25 (X). and idempotent. It takes an original image X and a control image C as input.φ1 ◦ γ1 As illustrated in Fig.15 and the definition of alternating sequential filters. y) = [(x1 − y1 )2 + (x2 − y2 )2 ]1/2 . 4e). in order to obtain the desired smoothing effect. (c): ASF9 (X). ∗α(X) = α(X). Let x ∈ E.18 ). X ⊆ Y ⇒ γr (X) ⊆ γr (Y )). 15 Although these filters are useful both for binary and greyscale images. Also. x ∈ X. r ∈ N. A ball Br (x) ⊆ X is maximal for X if it is not strictly included in any other ball included in X. this is why we introduce new operators: homotopic cutting and homotopic filling. For any operator α. The opening by Br is defined by γr = δr ◦ εr . in the manner of alternating sequential filters. The Euclidean distance d on E is defined by d(x. 1. Unless explicitly stated. where X denotes the complementary set of X in E. defined by Br (x) = {y ∈ E. We denote by Br the map which associates to each x in E the ball Br (x). the opening operator γr is increasing (∀X. Let X ⊆ E. Let us now recall the notion of medial axis (see also17. The medial axis of X. the result of this procedure presents small variations in response to small variations of the parameter value.14 For the sake of simplicity. We can notice that ASF25 (X) is neither a superset nor a subset of X. denoted by MA(X). An alternating sequential filter is a composition of openings and closings by balls of increasing radius: ASFn = φn ◦ γn ◦ φn−1 ◦ γn−1 ◦ .Y subsets of E. and the closing by Br is defined by φr = εr ◦ δr . anti-extensive (∀X ⊆ E. and by E the discrete plane Z2 . (b): ASF3 (X). γr (γr (X)) = γr (X)). Fig. Furthermore. is the set of the centers of all the maximal balls for X (see Fig. where d is a distance on E.discs or balls of increasing radius. we consider only morphological operators based on structuring elements which are balls in the sense of the Euclidean distance. we define the dual operator ∗α by: ∀X ∈ P (E). extensive (∀X ⊆ E. (a) (b) (c) (d) Figure 1. Notice that opening and closing are dual to each other. where P (E) denotes the set of all the subsets of E. 1a. d(x. An operator on E is a mapping from P (E) into P (E). and smoothes X “as much as possible” while respecting the topology of X and geometrical constraints implicitly represented by C. The erosion by Br is the operator εr defined by duality: εr = ∗δr . we denote by Br (x) the ball of radius r centered on x. which combine a filtering effect with the guarantee of topology preservation. (a): a set X. y) ≤ r}. we limit our presentation to the binary case for simplicity. we introduce a general smoothing procedure with a single parameter which allows to control the degree of smoothing. an alternating sequential filter can be used to smooth the contour of an object. . the closing operator φr is increasing. The homotopic alternating sequential filter is a composition of homotopic cuttings and fillings by balls of increasing radius. r ∈ N. γr (X) ⊆ X). we recall some basic notions of mathematical morphology for binary images. X ⊆ φr (X)). A point x ∈ E is defined by (x1 . and idempotent (∀X ⊆ E. x2 ) with xi ∈ Z. 2. . . (d): the contour of X. δr (X) = x∈X Br (x). the choice of the Euclidean distance will be assumed.15 All these morphological filters do not preserve topology.

In other words. (a): a set X (the line is one pixel thick). see Fig. we must use the n-adjacency for X. the results of ASF n and those of its dual ∗ASFn can be very different. n) = (8. . Also. . (n. γ1 ◦ φ1 . The point y ∈ E is n-adjacent to x ∈ E if y ∈ Γ∗n (x). . We define Γ∗n (x) = Γn (x) \ {x}.13 For the sake of simplicity. An n-path is a sequence of points x0 . 3.. |y1 − x1 | + |y2 − x2 | ≤ 1}. it may be noticed that the result of an alternating sequential filter ASFn may change dramatically for a small variation of the parameter n (for example. 8). we will denote by n a number such that n = 4 or n = 8. We consider the two neighborhoods relations Γ4 and Γ8 defined by. Informally.. . We say that two points x. xk with xi n-adjacent to xi−1 for i = 1 . or n-components in short. (b): ASF1 (X). 4)) and we do not write the subscript n unless necessary.g. we can remove the point p from X without “changing the topology of X”. In many applications we need to smooth an object while preserving its topology. For the sake of simplicity. (d): ASF25 (X). we limit this presentation to the 2D case. Notice the changes in the number of connected components of both X and X. This defines an equivalence relation. (c): ∗ASF1 (X). applying the same alternating sequential filter to the complementary of the object would give approximately∗ the same result (up to the complementation). 3. In the following. In order to have a correspondence between the topology of X and the topology of X. for each point x ∈ E: Γ4 (x) = {y ∈ E. (a): a set X. In such a case. the alternating sequential filter does not provide satisfactory results. such as binarized fingerprint images. X]. we assume in the sequel that an adjacency pair has been chosen (e. The equivalence classes for this relation are the n-connected components of X. (b): ASF3 (X). This problem occurs when the object and the background are imbricated together and have the same thickness. a simple point p of a discrete object X is a point which is “inessential” to the topology of X. . as illustrated in Fig. But in some particular cases. The set composed of all n-connected components of X which are n-adjacent to a point x is denoted by Cn [x. but to γn ◦ φn ◦ γn−1 ◦ φn−1 ◦ . 2. 4) or (4. k. This kind of configuration may appear in certain real-world images. The notion of simple point is fundamental to the ∗ In fact the dual of the operator ASFn is not equal to ASFn itself. (c): ASF9 (X).In most cases. Great Britain suddenly vanishes from the Europe map between n = 22 and n = 23). |y2 − x2 |) ≤ 1}. A subset X of E is said to be n-connected if it consists of exactly one n-connected component. we have to consider two different kinds of adjacency for X and X 13 : if we use the n-adjacency for X. y of X are n-connected in X if there is an n-path in X between these two points. max(|y1 − x1 |. BASIC NOTIONS OF DIGITAL TOPOLOGY In this section. Γ8 (x) = {y ∈ E. we recall some basic notions of digital topology for binary images. with (n. (a) (b) (c) Figure 2. n) = (8. (a) (b) (c) (d) Figure 3.

4e-f). 4c). (f): centered skeleton of X. 4a-b). Several strategies have been proposed to compute homotopic skeletons which are well centered with respect to the original object.definition of topology-preserving transformations in discrete spaces. if Y is lower homotopic to X and if there is no simple point for Y in Y \C (see e. In (b. there is a duality between lower and upper homotopy (see Fig. The set C is called the constraint set relative to this skeleton. Let X be any finite subset of E. (a): a set X (in white).f) the original set X appears in dark gray for comparison.19 hence to implement efficiently topology preserving operators: x ∈ E is simple for X ⊆ E ⇔ T (x.13.20. and let C be a subset of X. see22 for a survey. We say that a subset Y of X is a homotopic ultimate skeleton of X if Y is lower homotopic to X and if there is no simple point for Y (see Fig. Γ∗8 (x) ∩ X]. (b): a set which is lower homotopic to X.21). We say that Y is a homotopic ultimate skeleton of X constrained by C if C ⊆ Y . X) = 1. X) = 1 and T (x. X) = #Cn [x. Γ∗8 (x) ∩ X]. depending on the order in which simple points are selected. The point x ∈ X is simple (for X) if each n-component of X contains exactly one n-component of X \ {x} and if each ncomponent of X ∪ {x} contains exactly one n-component of X.e.d. the two connectivity numbers are defined as follows (#X stands for the cardinality of X): T (x. (d): a homotopic ultimate skeleton of X. (e): medial axis of X. X) = #Cn [x. The following property allows us to locally characterize simple points. We will denote by H(X. The subset Y of E is lower homotopic to X if Y = X or if Y may be obtained from X by iterative deletion of simple points (see Fig.g. (see Fig. We give below a definition and a local characterization of simple points in E = Z2 . there may exist several different ultimate skeletons for a same set X. 4d). T (x. Let X ⊆ E and x ∈ E. Let X be any finite subset of E. (a) (b) (c) (d) (e) (f) Figure 4. A homotopic ultimate skeleton of X constrained by its medial axis is called a centered skeleton of X. (c): a set which is upper homotopic to X. A particularly useful constraint set is the medial axis of X.C) a homotopic ultimate skeleton of X constrained by C obtained by . The set Y is upper homotopic to X if Y is lower homotopic to X. in other words. Let X be any finite subset of E. Clearly.

C). We see that H(Y. taking as constraint set the erosion of the original object X by a ball Br (see Fig. this operation is anti-extensive. (iii) has a parameter specifying the “smoothness” of the result. This operator thickens the set X by iterative addition of points which are simple for X and which belong to the set C.following one of these strategies. In this section. we choose a strategy which consists in selecting simple points in increasing order of their distance to the background. Let us first consider a “homotopic equivalent” of the erosion. The requirement (i) will be achieved by the use of the previously introduced homotopic operator H (and its dual ∗H). and homotopic transformations. 4. The size of the structuring element (i. and (v) smoothes the object and its complementary in an equilibrated way. an operator which shrinks an object while preserving its topology. called homotopic constrained thickening. Like the erosion. (a): a set X. i. which guarantee topology preservation. This dilation has the effect of “reconstructing” some parts of the object which . (b): a set Y ⊆ X.e. thanks to a pre-computed quasi-Euclidean distance map. we also define the operator ∗H. but it is not increasing.23 By duality. we focus on the requirements (i). (ii) and (iii). (iv) has a continuous behaviour with regard to this parameter. and we will call homotopic constrained thinning this operator H. The opening operator consists in an erosion followed by a dilation of the same size. 6. and which has been shrinked according to the size parameter r (when not in contradiction with topology preservation). For the illustrations of this paper. (ii) preserves the main geometrical features of the object. ε20 (X)) and H(Y. ε20 (Y )) is not included in H(X. ∗H(X. which provide the desired smoothing effect. The compliance to requirement (ii) and the smoothing effect will be obtained by constraining the homotopic operators by morphological dilations and erosions.C) = H(X. as shown by Fig. (c): ε5 (X) superimposed to X. and for any finite superset C of X. as follows: for any finite subset X of E. TOPOLOGICALLY CONTROLLED OPERATORS Our goal is to propose a smoothing filter which: (i) preserves topology. Such an operator may be defined as a particular case of the homotopic constrained thinning H. (c): the union of H(X. (a): a set X. 5). (b): ε5 (X). (d): H(X. Requirements (iv) and (v) will be considered in section 5.e. We obtain a result which is homotopic to the original object. ε20 (Y )). ε5 (X)). (a) (b) (c) (d) Figure 5. the radius of the ball) for these morphological operators will allow to fullfil requirement (iii). until stability. Now suppose we want to have a “homotopic equivalent” of the opening operator. (a) (b) (c) Figure 6. we will combine morphological operators. ε20 (X)). To achieve these goals.

5). δr (X)) . for such an operator. εr (X)) . We can easily see that for any r. δr (Y ) ∩ X). where Y = H(X. Figures 7d and 8 illustrate these operators. which would be deleted by the classical opening and closing. First. except that thin parts of the object which are necessary for the preservation of topology are left unchanged. Let X be any finite subset of E. (b): H(X. εr (X)) (Fig. On the other hand. δ20 (Y )). to make the intersection with X and to use this as a constraint for the homotopic thickening of H(X. To ensure both the anti-extensivity and the preservation of the parts that survive the thinning. εr (X)) (see the result in Fig. contrary to the opening. several choices may be considered. (b): homotopic filling HF5 (X). we could use the opening of the original set as a constraint for the operator H. where Z = ∗H(X. it is then natural to take the result of the homotopic thinning H(X. HCr is anti-extensive and HFr is extensive. δ20 (Y ) ∩ X). Intuitively. they consist of thin lines or isolated points. the homotopic cutting has a filtering effect similar to the opening. We give below a more formal definition of this new operator and its dual version. Fig. A second idea is to apply the thickening operator ∗H after the application of the thinnning operator H. δ20 (ε20 (X))). (a): a set X (same as in Fig. The homotopic cutting deletes small capes and the homotopic filling deletes small bays. let r ∈ N. these operators preserve isthmuses and straits. If we want to obtain a homotopic operator similar to the opening. 7d).have not been completely deleted by the erosion. 7c). (c): homotopic cutting HC5 (X). HFr (X) = H(Z. to apply a simple dilation (the result on this object would be the same as Fig. . 5d). (a) (b) (c) Figure 8. as well as islands and lakes. ε20 (X)). where Y = H(X. as well as islands and lakes. we want any shape element to be either completely deleted or completely preserved. (d): ∗H(Y. We see in Fig 7(c) that the result is not satisfactory: the resulting operator is not anti-extensive. 7b shows the drawback of this approach: the parts of the result that have been kept in order to fullfil the topological preservation requirement are not properly reconstructed. denoted by HFr (X). and the homotopic filling of X by Br . On the other hand. are defined as follows: HCr (X) = ∗H(Y. εr (Z) ∪ X). (c): ∗H(Y. ε20 (X)). denoted by HCr (X). (a) (b) (c) (d) Figure 7. We can see that the homotopic cutting deletes small capes and the homotopic filling deletes small bays. where Y = H(X. these operators preserve isthmuses and straits. To summarize. The homotopic cutting of X by Br . (a): a set X.

and where H is the homotopic ultimate skeleton defined in section 4. In order to obtain a smoothing operator which is continuous wrt. and to smooth the image “as much as possible” using the homotopic alternating sequential filter. This will be the case. are superimposed to the original shapes. where β denotes the rectangular border of the image domain. εr (Z) ∪ X). even if their size is small with respect to the parameter r. Now we will get our family of constraint sets by successively pruning out extremity points from the sets C and D. We define: C0 = C . Dn = H(Dn−1 . are defined as follows: HCCr (X) = ∗H(Y. their numerical parameter (of course. the results of this operator and its dual may be quite different on particular shapes. r ∈ N. Let us consider centered skeletons of X and X (i. . We give below a formal definition of this family. let C ⊆ X. where constraint sets are used to indicate which bays or capes must be preserved. we introduce a new parameter which allows to control the shrinking of the constraint sets. It is easy to see that neither homotopic cutting nor homotopic filling are continuous wrt. 5. 9c). and the result of this operator presents small variations in response to small variations of the parameter value. 10a-c shows the resulting sets (in black for Cn . until stability (idem for Dn ). where Z = ∗H(X. C is homotopic to X and contains MA(X). HF1 ◦ HC1 Notice that if the order n is greater or equal to the radius of the largest disc which can fit in the object or in the background. homotopic skeletons constrained by the medial axes). By iteratively removing (n times) extremity points from these skeletons. 9c). with the shape of Fig. similarly to the morphological alternating sequential filter. This smoothing operator has all the desired properties: it preserves topology. and D is homotopic to X and contains MA(X) ∪ β (see Fig. Using the sets of this family as constraints for the conditional homotopic alternating filter. we obtain the operator which n n associates. we control the homotopic alternating sequential filter by two constraint sets C and D. as well as the corresponding constraint sets.e. 10a-c the contours of the resulting smoothed shapes. Thus. The idea is to use centered skeletons of the object and of the background as constraint sets (see Fig. . and for n > 0.D (X). D is defined as follows: C C C D D HASFC. Cn = H(Cn−1 . denoted by HCCr (X). The homotopic cutting of X by Br with constraint set C. the order of the alternating filter is no more a useful parameter. Let SP(X) denote the set of all the points which are simple for X. it operates both on the object and on the background in a equilibrated way. Cn is obtained from Cn−1 by deleting sequentially simple points chosen in the set SP(Cn−1 ). D ⊆ X. 30. . denoted by HFD r (X). Instead.D = HASFC. its parameter. Thus. εr (X) ∪C) . MA(X)) and D = H(X.We introduce now constrained versions of the homotopic cutting and filling operators. where the families {Cn } and {Dn } are defined as above. In Fig.D then we have HASFC. This can be highlighted by the following example: take a ribbon of uniform width and apply the operator HCr for increasing values of r. let C ⊆ X. this is also true for opening and closing). the result suddently changes from a ribbon-like shape to a disk-like shape. we obtain a family of constraint sets which “vary smoothly” with respect to the parameter value n. 2. The homotopic alternating sequential filter of order n with constraint sets C. Let X be any finite subset of E. 60 respectively. and with a high value n for the parameter (such that Cn is reduced to one point and Dn is equal to β). for example. HFD r (X) = H(Z.Cn−1 \ SP(Cn−1 )) .D = HFD n n ◦ HCn ◦ HFn−1 ◦ HCn−1 ◦ . When r reaches the width of the ribbon. HOMOTOPIC ALTERNATING SEQUENTIAL FILTER In this section. D0 = D . Let X be any finite subset of E. hence the degree of smoothing. in white for Dn ) for n = 10. the set HASFC∞ . we introduce the homotopic alternating sequential filter (HASF) which is a composition of constrained homotopic cuttings and fillings by balls of increasing radius. δr (Y ) ∩ X). D ⊆ X.D n n+1 = HASF∞ . it has a single parameter that controls the smoothing degree. MA(X) ∪ β). Fig. Let X ⊆ E. to any subset X of E and to any integer n. δr (X) ∩ D) . and the homotopic filling of X by Br with constraint set D. Dn−1 \ SP(Dn−1 )) . we set C = H(X. In other words. We will see in the next section how to use these constraint sets. Notice that. where Y = H(X. C.

contour of HASFC∞ . which is defined by: d8 (x. on the other hand our visual system is very sensitive to the topological characteristics of an image. while some thin details. also called d8 . (a) (b) (c) 10 10 Figure 10. This image has been zoomed by a factor 4 in each dimension (c). (b): MA(X) (in black) and MA(X) (in white). (a): a set X. y) = max(|x1 − y1 |. which is a binarization of a pipe smoking man’s face (a). contour 30 30 60 60 of HASFC∞ . (c): C60 (in black) and D60 (in white).D (X) . As we have seen in the introduction. We will denote by X the set of white points of this zoomed image. A very good example of the need for such a method is a binary image which has been zoomed by pixel replication. We can observe that some edges are still irregular. let us first try a simple convolution by a Gaussian kernel followed by a threshold (Fig.D (X) . (b): C30 (in black) and D30 (in white). With the aim of smoothing the crenelated contours of the zoomed image. 6.D (X) . (c): C (in black) and D (in white). we present a method based on the homotopic alternating sequential filter for smoothing objects while preserving both topological and geometric features. we will use medial axes based on the chessboard distance. Now let us apply the homotopic alternating sequential filter with some adapted constraint sets. existing methods do not guarantee topology preservation. Here. Let us consider the image in Fig. contour of HASFC∞ . 11b. (a): C10 (in black) and D10 (in white).(a) (b) (c) Figure 9. have disappeared. where xi and yi . 11f). |x2 − y2 |). SMOOTHING OF ZOOMED IMAGES In this section. both in black and white parts.

12b. this operator may be used in different ways. 11d-e illustrates medial axes obtained using the Euclidean and the chessboard distance.D ∞ (X) . To get the object shown in Fig. a good preservation of shape. 12c shows a rendering of HASFC.D ∞ (X). No smoothing was applied to the mesh vertices. Furthermore. 12b is a rendering of the left ventricle of a human heart. The result is shown in Fig. a general topology-preserving operator with a smoothing effect which is controlled by a constraint set. J. y) = max(|x1 − y1 |.e we show different renderings of the 3D objects depicted in Fig. and where MA26 denotes the medial axis based on the distance d26 defined by: d26 (x. Cr´eteil. In Fig. 7. Fig.5mm. using medial axes based on a discrete distance as constraint set. each xy section has been replicated four times in order to obtain a more realistic visualization (we will denote this object by X). This extension will be discussed in forthcoming publications. y axes) are 1. but also adds some simple points. respectively. and by construction the preservation of topology is guaranteed. the homotopic alternating sequential filter does not only remove simple points from the object. We presented a method without any parameter for smoothing zoomed 2D and 3D images while preserving topology. for an image size of 80 × 80 × 48. All the operators described in this paper can be easily extended to the 3D discrete grid Z3 . few transformations based on these two criteria have been proposed. We set C = MA8 (X) and D = MA8 (X).19 To conclude this section.26 This allows us to extend the smoothing procedures introduced in this paper to the case of multilevel images.e.(i ∈ {1. The image in Fig. and the notion of simple point.c respectively. The reason for this choice is explained in the next paragraph. The original 3D image has been obtained from a MRI device. this method has no parameter. we introduced the homotopic alternating sequential filter. and we compute HASFC. and we simply stacked the results (Fig. In many applications.L. 12a). on a standard PC. where C = MA26 (X). In this application. . the design of transformations which preserve both topological and geometrical features of images is not an obvious task. We also presented a general topology preserving smoothing method which allows to control the degree of smoothing by a single parameter. Dubois-Rand´e. it makes sense to take as constraint sets the medial axes based on the chessboard distance: the balls for the chessboard distance are squares. and by displaying this surface using a ray-tracer. Aknowledgements The authors wish to thank professors J. such that little variations of the parameter only provoke little variations of the result. |x3 − y3 |). only the Phong method25 was used to interpolate normals. Depending on the chosen constraint set. The notions of simple point and homotopic skeleton have been generalized to the case of multilevel (i. In the sequel. These renderings were obtained by using a topologically sound variant of the “marching cubes” method24 to obtain a triangulated surface. MA8 (X) will be used to denote the medial axis based on the chessboard distance d8 . This result has been obtained in 75 s. Fig. We have segmented 10 sections (2D images) extracted from the DICOM† file. it is mandatory to preserve or control the topology of an image. Garot (Hˆopital Henri Mondor. grayscale) images by G. It has been obtained in 10 s. it is sufficient to preserve the centers of maximal squares included in the object and in the background. In fact. D = MA26 (X). The dimensions of the pixel in each section (x. Nevertheless. and the distance between two sections (z axis) is 6mm. To preserve the main geometric features of the image. we show an application on a zoomed 3D binary image. except for the notable case of homotopic skeletons. 12b. especially in 3D. The use of two different distances is a logical choice with respect to the application: the chessboard distance is best adapted to the description of the original shape. In this paper. 2}) denote the coordinates of the points x and y of E. while the Euclidean distance involved in the definition of the homotopic filter is necessary to produce smooth contours in the result. on a standard PC. |x2 − y2 |. CONCLUSION Topological characteristics are fundamental attributes of an object. In fact these operators only involve only morphological operators which can be extended to Z3 in a straightforward manner. France) for the heart images. 12d. † DICOM is a standard format for the storage and exchange of medical data. We get a smooth image with no artefacts.5mm × 1. treating both the object and the background in an equilibrated way. for an image size of 372 × 520. 11g. and the zoomed image is precisely a union of squares with a minimal side length of four pixels. which has also an efficient characterization in the 3D cubic grid. In contrast with the skeleton transformation. Bertrand et al.

R. topological numbers and geodesic neighborhoods in cubic grids”. pp. 5. pp. F. 4. Hu. Liu.B. 1992. pp. Kimia. 305-322. 411-420. No. 1994. No. Phong: “Illumination for computer generated pictures”. pp. 1998. L. Levine: “Curvature morphology”. Proceedings of ICCV’95. 13. Lee. G. 1995. 131-138. Taubin: “Curve and surface smoothing without shrinkage”. Image Analysis and Mathematical Morphology. 26.A.O. 1989. pp. 121-141. S-W. 1998. Shum. 25. Suen: “Thinning methodologies .R.E. 1998. 1986. Sternberg. 11. A. 15. R. Montanvert: “Continuous analogs of digital boundaries: a topological approach to iso-surfaces”.C. 9. Proceedings of VCIP’92. Lachaud. 20. pp. IEEE Trans. J. T. 1986. K. pp. Grayson: “The heat equation shrinks embedded plane curves to round points”. Kak: Digital Image Processing. No. 62. X. 1998. Academic Press. on Image Processing. 1981. 1445. ICPR 98. 2. 26. 1980. Serra. Pattern Recognition. H-Y. Rosenfeld: “Digital topology: introduction and survey”. 6. Vol. Serra. Plummer: “Thinning algorithms: a critique and a new methodology”. Lam. Q. pp. 18. Graphics and Image Processing. pp. Chap. 14. Ohtake. Yokozeki: “Active contour model based on mathematical morphology”. 1988. pp. Mencl. Vol. 3. 229-237. Vol. 10. 1989. Pattern Recognition Letters. Vol. pp. Y. 21. “Grayscale Morphology”. 102-109. Vol. S. Computer Graphics and Image Processing. Computer Vision.G. 8. 3. pp. 14551457. 14. 7. A. B. Vol. Bogaevski: “Polyhedral surface smoothing with simultaneous mesh regularization”. pp. C. Bertrand: “Simple points. 1992.R.D. Peng: “A novel constrained smoothing method for meshes”. Computer Vision and Image Understanding. M. Chin: “Morphological scale space for 2d shape smoothing”. Davies. 3. pp. Computer Vision. 862876. pp. No. A. A. 4. Belyaev. 1982. pp. to appear in Graphical Models. No. Proceedings of Computer Graphics Forum (Eurographics ’99). S. 48. G. Vincent: “Euclidean skeletons and conditional bisectors”. 4. 1003-1011. M. J. A. Yamashita. 227-248. Graphical models. L. 1997. 6. 1982. T. Ho. J. R. J. No. 2002. Graphics. A. L. D. 24. 70.K. IEEE Trans. No. pp. on PAMI. 3. No. H. 852-857. 22. 129-164. 2000. Academic Press. 18. 9. Talbot. L. Siddiqi: “Geometric heat equation and nonlinear diffusion of shapes and images”. 53-63. 23. C. Vincent: “Efficient Computation of Various Types of Skeletons”. B. 512-520.P. Danielsson: “Euclidean distance mapping”. Vol. pp. B. Vol. 7. Journal of Electronic Imaging. pp. H. . pp. 8. Vol. 15.Y. 17. J. 19. Pattern Recognition Letters. 311-317. Yung Kong. 297-311.T. Yan: “A multiple point boundary smoothing algorithm”. S. 10.T. Communications of the ACM. Vol. Vol. 18. P.REFERENCES 1. C. 14. Everat and M. 35. 16. Vol. E. 1975. A. Academic Press. Leymarie. Couprie: “Image segmentation through operators based upon topology”. Vol. Rosenfeld. 2000. 14. Proceedings of Geometric Modeling and Processing 2000. M¨uller: “Improved laplacian smoothing of noisy surface meshes”.N. II: Theoretical Advances. Jang. 869885. I. 1999. Bertrand. and Image Understanding. 285-314. Differential Geometry. Vol. IEEE PAMI. Dyer: “Shape smoothing using medial axis properties”. 19. Moisan: “Affine plane curve evolution: a fully consistent scheme”. 1987. H. J. Vol. 1991. 12. 657-668. 357-393. Vollmer. Yu. 6. H. SPIE. Bao. 1996. 1818. Proceedings of Vision Interface ’89. 395-405.a comprehensive survey”. Image Analysis and Mathematical Morphology. 333-355. 3. Proceedings of Medical Imaging V. pp. Vol. Computer Vision and Image Understanding. G. 64. SPIE. Vol. pp.B. Asano. J.

(a): a pipe smoking man’s face. (e): medial axis based on the chessboard distance. (d): medial axis based on the Euclidean distance. .(a) (b) (d) (e) (c) (f) (g) Figure 11. (f): threshold of a convolution of X by a Gaussian kernel. (c): image (b) zoomed 4 times (set X). (g): HASFC. (b): a binarization of (a).D ∞ (X). with C = MA8 (X) and D = MA8 (X) .

(a) (b) (c) (d) (e) Figure 12. (e): another rendering of the object in (c). with C = MA26 (X) and D = MA26 (X) .D ∞ (X). . (a): a rendering of a 3D object (slices of the left ventricle of a human heart) . (d): another rendering of the object in (b) . (c): a rendering of HASFC. (b): object X: the original object zoomed by 4 in the z direction .

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