03 Enhancement

Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
ed. www.imageprocessingbook.com
Chapter 3 Image Enhancement in the

Spatial Domain
The principal objective of enhancement

to process an image so that the result is more suitable
than the original image for a specific application.
Enhancement methods
Spatial Domain (in this chapter)
based on direct manipulation of pixels in an image
Frequency Domain (in chapter 4)
based on modifying the Fourier transform of an image
The viewer is the ultimate judge of how well of
a particular method works.
© 2002 R. C. Gonzalez & R. E. Woods
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
Chapter 3 Image Enhancement in the

Spatial Domain
3.1 Background
3.2 Some basic gray level transformations
3.3 Histogram processing
3.4 Enhancement using arithmetic/logic operations
3.5 Basics of spatial filtering
3.6 Smoothing spatial filters
3.7 Sharpening spatial filters
3.8 Combining spatial enhancement methods
1
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
3.1 Background
Spatial domain methods operate directly on

image pixels
g (x, y ) = T [ f (x, y )] (3.1 - 1)
T operates only for one pixel

s = T (r ) (3.1 - 2)
Mapping
Contrast Stretching
Thresholding
Binary Image
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
3.1 Background
2
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
3.1 Background
– T operates with neighboring pixels

• Mask (filter, kernel, template, window)
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
3.1 Background
m00 m01 m02 

Mask =  m10 m11 m12 
m20 m21 m22 
T [ f ( x, y )] = f ( x − 1, y − 1)× m00 + f ( x − 1, y )× m01 + f ( x − 1, y + 1)× m02 +

f ( x, y − 1)× m10 + f ( x, y )× m11 + f ( x, y + 1)× m12 +
f ( x + 1, y − 1)× m20 + f ( x + 1, y ) × m21 + f ( x + 1, y + 1)× m22
3
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
3.1 Background
1 1 1 
 9 9 9
Mask =  1 1 1 
 9 9 9
1 
Original Image  19 1
9 9 Processed Image
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
4
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Image Negative
s = (L − 1) − r (3.2 - 1)
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
Original Image Processed Image
5
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Log Transformation
s = c log(1 + r ) (3.2 - 2)
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Log Transformation
6
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Power-Law Transformation
s = cr γ (3.2 - 3)
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

7
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

8
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Piecewise-Linear Transformation Functions
Contrast Stretching
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

9
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Gray-level slicing
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

10
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Bit-plane slicing
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

11
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
3.3 Histogram Processing
h(rk ) = nk
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
12
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Histogram Equalization
Transformation Function
s = T (r ) 0 ≤ r ≤1 (3.3 - 1)
Conditions:
(a) T(r) is single valued and
monotonically increasing
(b) 0 ≤ T(r) ≤ 1 for 0 ≤ r ≤ 1
Inverse function
r = T −1 (s ) 0 ≤ s ≤1 (3.3 - 2)
*不一定符合條件(a)或(b)
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

PDFs(機率密度函式) of r and s
r的機率密度函式： pr (r )
s的機率密度函式：ps (s ) = pr (r ) dr (3.3 - 3)
ds
s的機率密度函式為所有經3.3-1公式轉換後會對映到s值之所
有r值之機率密度函式的總和
13
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

If s is the Cumulative Density Function (CDF) of pr
*符合條件(a)與(b)
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

ps (s ) = pr (r )
dr
ds
ps(s) is a uniform PDF

Because ps(s) is 1 for any pr(r)
14
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Discrete Version
rk = 第k階的灰階值, nk 是灰階值為 rk 之像素個數
0 ≤ sk ≤ 1
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

to produce an output image that has a uniform
histogram
像素值均勻分佈可拉大影像明暗對比
procedures
求影像的Histogram
求影像的機率密度函數
產生CDF(累積密度函數)T()
使用T()處理每個像素
15
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
16
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Histogram Matching (Specification)
Development of the method

r是來源影像灰階值
z是目的影像灰階值
T( ): r -> s
G( ): z->s
17
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Discrete Version
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

18
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Implementation
1.取得影像的Histogram
2.使用公式(3.3-13)計算每個 sk
3.使用公式(3.3-14)取得pz(z)的轉換函式G
4.使用公式(3.3-17)計算每個 zk
5.使用步驟2-4的結果處理每個像素
取得 rk 的對映像素sk
取得 sk的對映像素zk
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
Comparison between histogram

equalization and histogram matching
19
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
20
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Local Enhancement
步驟:1.定義方型或矩型的大小
2.針對每個像素
2.1.找出以目前像素為中心點之區塊內像素的histogram
2.2.使用histogram equalization/matching 方法取得像素對應值
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Use of histogram statistice for image enhancement
使用像素統計資訊
N-Norm
mean value
2-Norm
Standard Deviation
子影像 Sx,y 的區域統資訊
21
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Block Size = 3x3
22
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

E=4.0, k0=0.4, k1=0.02, k2=0.4

Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
3.4 Enhancement using Arithmetic/Logic

Operations
performed on a pixel by pixel basis between two or
more images
Logic Operations
AND
OR
NOT
Arithmetic Operations
Substraction
Averaging
23
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Operations
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Operations
Image Substraction
24
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Operations
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Operations
取得影像 = 原始影像 + 雜訊
平均結果
25
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Operations - Image averaging
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Operations - Image averaging
26
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
Mask
filter, kernel, templete, window
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
Mask
filter, kernel, templete, window
converlution mask/kernel
27
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
3.6 Smoothing Spatial Filter
Smoothing filters are used for

blurring
noise reduction
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Smoothing Linear Filters
Smoothing linear filters
also called
averaging filter
lowpass filter
28
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Mask大小與影像平滑效果的關係
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

29
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Order-Statistics Filters
Non-linear filters
Median filter
example
unsorted (60,20,15,23,35,47,78,53,65)
sorted (15,20,23,35,47
(15,20,23,35,47,53,60,65,78)
,53,60,65,78)
the median is 47
Max filter
Min filter
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Order-Statistics Filters
30
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
3.7 Sharpening Spatial Filters
Sharpening Spatial filters are used to

highlight fine detail
enhance detail that has been blurred
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Foundation
First-order derivative
Second-order derivative
31
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Foundation
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Use of second Derivatives for enhancement
The Laplacian
Development of the method
32
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Filters
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

33
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Simplification
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

34
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Unsharp masking and high-boost filtering
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

35
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

Use of First Derivatives for enhancement
The Gradient (坡度)
36
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

for 3 x 3 masks
(b) and (c) are refered as

Roberts cross-gradient Operators
(d) and (e) are called

Sobel Operators
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

37
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

水平強度
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.

垂直強度
38
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
3.8 Combining Spatial Enhancement

Methods
Digital
Digital Image
Image Processing,
Processing, 2nd
2nd ed.
3.8 Combining Spatial Enhancement

Methods
39

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Digital

Chapter 3 Image Enhancement in the

 The principal objective of enhancement

Chapter 3 Image Enhancement in the

© 2002 R. C. Gonzalez & R. E. Woods

 Spatial domain methods operate directly on

g (x, y ) = T [ f (x, y )] (3.1 - 1)

 T operates only for one pixel

© 2002 R. C. Gonzalez & R. E. Woods

– T operates with neighboring pixels

© 2002 R. C. Gonzalez & R. E. Woods

m00 m01 m02 

T [ f ( x, y )] = f ( x − 1, y − 1)× m00 + f ( x − 1, y )× m01 + f ( x − 1, y + 1)× m02 +

© 2002 R. C. Gonzalez & R. E. Woods

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

Original Image Processed Image

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

Original Image Processed Image

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

Original Image Processed Image

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

Original Image Processed Image

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

© 2002 R. C. Gonzalez & R. E. Woods

3.2 Some basic gray level transformations

© 2002 R. C. Gonzalez & R. E. Woods

3.3 Histogram Processing

© 2002 R. C. Gonzalez & R. E. Woods

3.3 Histogram Processing

© 2002 R. C. Gonzalez & R. E. Woods

3.3 Histogram Processing

© 2002 R. C. Gonzalez & R. E. Woods

3.3 Histogram Processing

© 2002 R. C. Gonzalez & R. E. Woods

3.3 Histogram Processing

© 2002 R. C. Gonzalez & R. E. Woods

The principal objective of enhancement

Spatial domain methods operate directly on

T operates only for one pixel

Development of the method

Smoothing filters are used for

Sharpening Spatial filters are used to