Efficient Motion Blur Parameters Estimation under
Noisy Conditions
S. Mishra, R. S. Sengar, R. K. Puri, D. N. Badodkar
Division of Remote Handling and Robotics, Bhabha Atomic Research Centre
Mumbai, India
(saurabhm@barc.gov.in, rssengar@barc.gov.in)
Abstract— Image restoration of noisy motion blurred images
is a challenging problem in image processing. The quality of
restoration of such images depends on the perfect estimation of
blur parameters. In this paper, an algorithm is proposed to
estimate linear motion blur parameters such as blur length and
motion direction under noisy conditions. In the proposed
algorithm, pre-processing of the noisy image requires appropriate
windowing and subsequently dual Fourier transform of the
image. Blur angle is estimated accurately using Radon Transform
on a specific bit plane image of the dual Fourier transformed
image. For accurate estimation of blur length in presence of noise,
the image is processed in bispectrum domain as the bispectrum
suppresses additive Gaussian noise. A robust novel exponential
model is proposed based on curve fitting that represents the
behavior of blur length in bispectrum domain. The maximum
error in the estimated blur angle and the blur length is less than
1.6° and 2 pixels respectively in presence of additive Gaussian
noise of variance up to 150. Experimental results are also
compared with the previous methods to demonstrate the superior
performance of the proposed algorithm.
Keywords— Motion blur, PSF, Dual Fourier transform, Radon
transform, Bit plane slicing, Bispectrum
I. INTRODUCTION
Motion blur is a result of relative motion between the scene
and the camera during exposure time. It is modelled as
convolution of the clear image with a blurring kernel, known
as Point Spread Function (PSF). The problem of recovering the
clear image requires deconvolution of the PSF with the blurred
image. So, accurate estimation of blur parameters or PSF is the
first and the most significant task for restoration of the motion
blurred images. Once the parameters are estimated, any of the
conventional restoration algorithms such as Lucy-Richardson,
Wiener Filter etc. can be applied for image restoration.
Various methods for finding motion blur parameters have
been proposed earlier. Cannon [1], Fu et al. [2] proposed
identification algorithms using power cepstrum [3] of a blurred
image, but performance of these algorithms degrades as the
signal to noise ratio gets lower. A comprehensive overview of
image deconvolution is given by Kundur [4]. Fabian et al. [5]
uses Cannon’s approach in addition with pre-processing steps
for noise reduction using modified spectral subtraction
technique. Rekleitis [6] proposed the use of steerable filter in
cepstrum domain. H. Ji et al. [7] uses the same cepstrum
domain based approach on image gradients for wider range of
motion types. Dobes et al. [8] used filtered power spectrum of
the image gradient in frequency domain to estimate blur
978-1-4799-3975-6/14/$31.00 ©2014 IEEE
parameters. Lokhande et al. [9] used Hough transform based
approach for estimation of blur angle. An obvious problem
associated with this approach is the selection of threshold
value used in binarization. To overcome this, Radon transform
based approach has been proposed for blur angle estimation
[11]. Deshpande et al. [12] proposed algorithm based on
modified cepstrum domain processing and Radon transform
for PSF estimation for noise free blurred images along with
ringing reduction. Dash et al. [16] used gabor filter and radial
basis function neural network to estimate blur parameters.
Chang et al. [10] and Moghanddam [11] exploited the property
of bispectrum to suppress the additive Gaussian noise for blur
length identification. They used the estimated blur angle to
make motion in horizontal direction before bispectum
estimation of degraded image. So the error in estimating blur
angle may lead to the erroneous blur length estimation in these
algorithms. Our algorithm estimates angle more accurately and
uses a novel mathematical model to estimate blur length in
bispectrum domain.
This paper is organized in six sections. Mathematical
model of image blur is presented in section II. Section III
describes the algorithm to estimate blur angle accurately.
Motion length estimation for noisy images is also proposed in
this section using an exponential model in bispectrum domain.
Experimental results and comparison with other algorithms are
provided in section IV and section V respectively to indicate
that the proposed algorithm is better than the other approaches.
Finally conclusion is given in section VI.
II. MATHEMATICAL MODEL OF IMAGE BLURRING
Assuming PSF to be spatially invariant, a blurred image
g(x,y) can be modelled mathematically in the form of
convolution operation between the clear image f(x,y) to be
restored and the PSF h(x,y) in presence of additive n(x,y) [4].
Mathematically:
݃ሺ‫ݔ‬ǡ ‫ݕ‬ሻ ൌ ݄ሺ‫ݔ‬ǡ ‫ݕ‬ሻ ‫݂ כ‬ሺ‫ݔ‬ǡ ‫ݕ‬ሻ ൅ ݊ሺ‫ݔ‬ǡ ‫ݕ‬ሻ (1)
where * denotes convolution operation. In frequency domain:
‫ܩ‬ሺ‫ݑ‬ǡ ‫ݒ‬ሻ ൌ ‫ܪ‬ሺ‫ݑ‬ǡ ‫ݒ‬ሻ‫ܨ‬ሺ‫ݑ‬ǡ ‫ݒ‬ሻ ൅ ܰሺ‫ݑ‬ǡ ‫ݒ‬ሻ (2)
where capital letters are Fourier transform of the
corresponding lower case letters.
 2014 IEEE International Conference on Computational Intelligence and Computing Research

A linear motion blur is characterized mathematically in the next lead to unwanted hoorizontal and vertical lines in
terms of PSF as [11]: image spectrum that may produuce false estimate of blur angle.
So the original image is window
wed.
݄ሺ‫ݔ‬ǡ ‫ݕ‬ሻ ൌ
ଵ ௅ ௫
݂݅ඥ‫ ݔ‬ଶ ൅ ‫ ݕ‬ଶ  ൑  ܽ݊݀ ൌ  െ‫ߠ݊ܽݐ‬ െ
ቊ ௅ ଶ ௬ ቋ (3)
Ͳ݈݁‫ ݁ݎ݄݁ݓ݁ݏ‬

where L is the length of blur and ߠ is the bllur angle measured

from the vertical axes. Estimating these paarameters from the
blurred image is known as PSF estimation prroblem.
III. MOTION BLUR PARAMETERS ESTIM
MATION IN NOISY
IMAGE (a) (b)

In this section, we are proposing an alggorithm to estimate Fig. 1 (a) Noise free motion blurred image with L=20 pixel and Ĭ=45°
motion direction and blur length for a motioon blurred image in (b) Log spectrum
presence of Gaussian noise. Results are shhown for standard
cameraman image.
A. Estimation of motion direction
The previously described algorithms [1],, [2], [12] estimate
blur angle based on spectral analysis of the blurred noise free
images in cepstrum domain. The blurred im mage is transformed
into frequency domain which contains parallel
p dark lines
(zeros) due to SINC nature of the frequenccy response of the
linear PSF. Log spectra of noise free blurredd image are shown (a) (b)
in Fig. 1. Orientation and spacing between these
t parallel lines
contain information regarding blur parameteers. The orientation
gives direction of motion and the spacing (dd) between them is
related with blur length as [11]:

‫ ܮ‬ൌ ܰȀ݀ (4)

(c) (d) (e)
where N is the image size. However, finding motion direction
in presence of noise is a difficult job, becausse the parallel dark
lines start vanishing as noise is introducedd into the motion
blurred image. As amount of noise is increeased, most of the
lines are not visible. So conventional methods
m of finding
orientation of the dark lines are not applicabble here. We see in
Fig. 2(c), that however the dark lines are nott present, but there
(f) (g) (h)
is white region present near the centre frequency and is
oriented in a direction similar to the vanished parallel dark
lines. Since the white region can be assumedd as a collection of
parallel white lines, the radon transform baased approach may
be applied to find its orientation. Radon trransform of a two
dimensional function ߚሺ‫ݔ‬ǡ ‫ݕ‬ሻ is calculateed by integrating
ߚሺ‫ݔ‬ǡ ‫ݕ‬ሻ along a direction perpendicular to the t line that forms (i) (j) (k) (l)
an angle ߠ with the x-axis at a distance ߩ froom the origin [13]. 2.8
X: 150.7
Y : 2.721

Mathematically it is given as:

Max of log Radon Trnsform

2.6

ା’ ା’
2.4

ܴሺߩǡ ߠሻ ൌ ‫ߚ ’ି׬ ’ି׬‬ሺ‫ݔ‬ǡ ‫ݕ‬ሻ߲ሺߩ െ ‫ ߠݏ݋ܿݔ‬െ ‫ߠ݊݅ݏݕ‬ሻ݀‫ݕ݀ݔ‬

‫ݕ‬ (5) 2.2

where μ denotes dirac delta function. 1.8

It is found that direct application of radoon transform on the

1.6

log spectrum of the noisy blurred imaage may produce

1.4
0 20 40 60 80 100 120 140 160 180
Anglee (degree)
erroneous results, it sometimes produces nearly 45 degree (m)
estimate under noisy conditions for a range of blur angles. So Fig. 2 (a) Motion blurred image withh L=30 pixel and Ĭ=60° with Gaussian
some pre-processing is required to increase the t accuracy of the noise of 150 variance (b) Windowedd Image (c) Log spectrum (d) Log of dual
results. The periodic transitions from one image
i boundary to Fourier transform of (b) (e--l) bit plannes of (d) (m) Plot of maximum of Log
of Radon transform, the estimated bluur angle Ĭ=150.7°- 90°=60.7°
 2014 IEEE International Conference on Computational Intelligence and Computing Research
Fig. 3 Flowchart of the proposed algorithm
The Fourier transform of the windowed image does not
contain these unwanted lines in its log spectrum. This log
spectrum image is again Fourier transformed. It is clear from
Fig. 2(d) that we get a thinner and clearer white bound rotated
90 degrees w.r.t. to original log spectrum. Now bit plane
slicing algorithm is applied to the obtained image to extract
blur angle with the least computational load. After
experimenting with 8 bit linear motion blurred images having
various image details, it is empirically found that the fourth bit
plane contains significant information regarding motion
direction of blurred images even in presence of the noise. The
location of maximum of the Radon transform of the forth bit
plane image gives an angle estimate offset by 90 degree. The
offset is corrected to produce the accurate blur angle estimate.
Thus our approach improves the estimation of motion direction
as the problem in finding orientation of thick white bound in
previous algorithms under noisy conditions is alleviated. The
flowchart of the proposed algorithm to estimate motion blur
parameters is shown in Fig. (3).
B. Estimation of blur length
A lot of algorithms [1], [2], [6], [9], [12] are present to
estimate blur length in cepstrum domain. The major drawback
of these algorithms is that they are not robust to noise, because
finding dark lines or zero crossings in image cepstrum
becomes difficult with addition of the noise. So we used
bispectrum based approach [10], [11] for zero crossing
detection. As the bispectrum of the image does not contain
independent, additive zero mean Gaussian noise theoretically,
it becomes easier to estimate blur length bispectrum domain.
After estimating the motion directionߠ, we rotate the
image axis in opposite direction by the similar amount and
assume that the motion is in the horizontal direction before
moving to bispectrum domain. The bispectrum is described as
Fourier transform of the third cumulant of a process [14].
Bispectrum of the linearly blurred image ݃ሺ‫ݔ‬ǡ ‫ݕ‬ሻ in (1) is given
by [10]:
‫ܤ‬௚ ሺ߱ଵ ǡ ‫ݒ‬ଵ Ǣ ߱ଶ ǡ ‫ݒ‬ଶ ሻ ൌ ‫ܪ‬ሺ߱ଵ ǡ ‫ݒ‬ଵ ሻ‫ܪ‬ሺ߱ଶ ǡ ‫ݒ‬ଶ ሻ‫ כ ܪ‬ሺ߱ଵ ൅ ߱ଶ ǡ ‫ݒ‬ଵ ൅
‫ݒ‬ଶ ሻ ‫ܤ‬௙ ሺ߱ଵ ǡ ‫ݒ‬ଵ Ǣ ߱ଶ ǡ ‫ݒ‬ଶ ሻ ൅ ‫ܤ‬௡ ሺ߱ଵ ǡ ‫ݒ‬ଵ Ǣ ߱ଶ ǡ ‫ݒ‬ଶ ሻ (6)
where ‫ܪ‬ሺ߱ǡ ‫ݒ‬ሻ is the Fourier transform of the PSF h(x,y).
‫ܤ‬௚ ሺ߱ଵ ǡ ‫ݒ‬ଵ Ǣ ߱ଶ ǡ ‫ݒ‬ଶ ሻ, ‫ܤ‬௙ ሺ߱ଵ ǡ ‫ݒ‬ଵ Ǣ ߱ଶ ǡ ‫ݒ‬ଶ ሻ and ‫ܤ‬௡ ሺ߱ଵ ǡ ‫ݒ‬ଵ Ǣ ߱ଶ ǡ ‫ݒ‬ଶ ሻ
are the bispectra of blurred image, clear image to be restored
and the additive noise respectively.
Assuming n(x,y) to be zero mean additive Gaussian noise,
‫ܤ‬௡ ሺ߱ଵ ǡ ‫ݒ‬ଵ Ǣ ߱ଶ ǡ ‫ݒ‬ଶ ሻ is set to zero in (6), as the bispectrum of
zero mean Gaussian stationary process is zero [10]. Instead of
calculating the whole 4-D bispectrum of blurred image, we
consider a 2-D cross section. Putting ߱ଶ ൌ Ͳ and‫ݒ‬ଶ ൌ Ͳ for
‘central slice’, we get
‫ܤ‬௚ ሺ߱ଵ ǡ ‫ݒ‬ଵ Ǣ ͲǡͲሻ ൌ ȁ‫ܪ‬ሺ߱ଵ ǡ ‫ݒ‬ଵ ሻȁଶ ‫ܪ‬ሺͲǡͲሻ‫ܤ‬௙ ሺ߱ଵ ǡ ‫ݒ‬ଵ Ǣ ͲǡͲሻ (7)
Assuming ‫ܪ‬ሺͲǡͲሻ ് Ͳ and no periodic zero crossing in
‫ܤ‬௙ ሺ߱ଵ ǡ ‫ݒ‬ଵ Ǣ ͲǡͲሻ, the zeros in ȁ‫ܪ‬ሺ߱ଵ ǡ ‫ݒ‬ଵ ሻȁଶ can be estimated
from‫ܤ‬௚ ሺ߱ଵ ǡ ‫ݒ‬ଵ Ǣ ͲǡͲሻ of the blurred image.
To estimate bispectrum of the blurred image, the image is
divided into N overlapping line segments with the mean value
of the individual segment subtracted from each element of the
segment. While dividing the segments, the consecutive lines
are scanned in opposite directions to avoid sudden transition of
information contents at image corners. Discretizing the
frequencies ߱ଵ and‫ݒ‬ଵ , central slice of the bispectrum of the ith
line segment using the direct method [10], is given by
ሺ௜ሻ
‫ܤ‬௚ ሺ݇ǡ ݈Ǣ ͲǡͲሻ ൌ
ȁ‫ܪ‬௜ ሺ݇ǡ ݈ሻ‫ܨ‬௜ ሺ݇ǡ ݈ሻ ൅ ܰ௜ ሺ݇ǡ ݈ሻȁଶ ሾ‫ܪ‬௜ ሺͲǡͲሻ‫ܨ‬௜ ሺͲǡͲሻ ൅ ܰ௜ ሺͲǡͲሻሿ
ൌ ȁ‫ܪ‬௜ ሺ݇ǡ ݈ሻ‫ܨ‬௜ ሺ݇ǡ ݈ሻȁଶ ‫ܪ‬௜ ሺͲǡͲሻ‫ܨ‬௜ ሺͲǡͲሻ ൅ ‫ ڮ‬൅ ȁܰ௜ ሺ݇ǡ ݈ሻȁଶ ܰ௜ ሺͲǡͲሻ
(8)
Estimate of the central slice of bispectrum of the whole
image is average of the central slice of bispectrum of
individual segments. Since average of all the terms in (8)
except the first one becomes zero, we get
‫ܤ‬௚ ሺ݇ǡ ݈Ǣ ͲǡͲሻ ൌ
ଵ ௜ୀே ሺ௜ሻ ଵ
σ ‫ ܤ‬ሺ݇ǡ ݈Ǣ ͲǡͲሻ ൌ σ௜ୀே ȁ‫ܪ‬௜ ሺ݇ǡ ݈ሻ‫ܨ‬௜ ሺ݇ǡ ݈ሻȁଶ ‫ܪ‬௜ ሺͲǡͲሻ‫ܨ‬௜ ሺͲǡͲሻ
ே ௜ୀଵ ௚ ே ௜ୀଵ
(9)
Hence, ‫ܤ‬௚ ሺ݇ǡ ݈Ǣ ͲǡͲሻ is robust against additive Gaussian
noise to find zero crossings. Furthermore, it is shown in [10]
that for the horizontal motion blur, it is sufficient to calculate
‫ܤ‬௚ ሺ݇ǡ ͲǢ ͲǡͲሻ as the zero crossings of ‫ܤ‬௚ ሺ݇ǡ ݈Ǣ ͲǡͲሻ occur at
same k location for every value of l.
The log bispectra of cameraman image added with different
level of Gaussian noise is shown in Fig. (4). Zero crossings in
‫ܪ‬ሺ݇ǡ ݈ሻ correspond to valleys in the log bispectra. Estimation
of motion length (L) requires the distance between the
consecutive valleys (d). If we find d accurately, L could be
estimated using (4).
It is clear from the Fig.(4) that as the noise increases,
finding distance accurately between the valleys becomes
difficult. However the width of the central lobe (Wl) remains
almost constant for the same motion length. So we have used
slightly different approach to increase the precision and
accuracy in noisy conditions.
 2014 IEEE International Conference on Computational Intelligence and Computing Research

12
10
Noise Free TABLE I
10
11 Gaussian noise Var=1 Comparison of goodness of fit parameters for various mathematical models
Gaussian noise Var=25
10 Gaussian noise Var=100
Nature of Mathematical Models R- Adjusted RMSE
10 Curve square R-square
Mixture of f(x) = a1*exp(-((x- 0.9829 0.9825 1.532
Bispectrum (Log scale)

9
10 X: 14 Gaussians b1)/c1)^2) + a2*exp(-
Y: 1.482e+008
8
((x-b2)/c2)^2)
10 Rational f(x) = (p1*x^4 + p2*x^3 0.9854 0.9848 1.429
7
Polynomial + p3*x^2 + p4*x + p5) /
10 (x^5 + q1*x^4 + q2*x^3
6
+ q3*x^2 + q4*x + q5)
10 Mixture f(x) = a*exp(b*x) + 0.9909 0.9907 1.105
5
of c*exp(d*x)
10 Exponential
4
10
-150 -100 -50 0 50 100 150
Spatial Frequency 45
LobeW idth vs. BlurLength
Mixture of Gaussians
Fig. 4 Log bispectra of 256x256 cameraman image blurred with L=20 pixel 40
Rational Polynomial
and Ĭ=60° for different level of Gaussian noise. Estimated width of central 35 Mixture of Exponentials

lobe =28

B lur Length (Pixel)

30

25

20
To minimize the error introduced due to slightly inaccurate
finding of the lobe width (Wl) under noisy conditions, we try to
15

map these Wl in bispectrum domain to the actual blur lengths 10

L. However Moghaddam et al. [11] fitted an equation to 5

estimate L in range (5…50), we try to fit different model to 20 40 60 80 100 120 140 160

achieve higher accuracy at lower bound in the range (3...40). Lobe W idth

For that we have used several different random values of L in
the range (3…40) and found the corresponding values of Wl.
Then we try to fit curves of various natures among the data
using the method of robust least square fitting using bisquare
weights. The idea behind the bisquare is to reweight points
based on their residuals using bisquare weighting function
defined as [17]:
ሺͳ െ ‫ݑ‬௜ଶ ሻଶ ǡ ȁ‫ݑ‬௜ ȁ ൏ ͳ
‫ܵܤ‬௜ ൌ ൜
‫ݔ‬ǡ  ȁ‫ݑ‬௜ ȁ ൒ ͳ
where ui is standardized adjusted residuals defined in [17].
Robust fitting is implemented by minimizing the summed
square of the residuals and reducing the weight of outliers
using bisquare weighting function. It is found from initial
experiments that Gaussian function, rational polynomial and
exponential function are the main competitors for fitting the
experimental data accurately. Hence we compared the
goodness of fit parameters like R-Square, Adjusted R-Square
and Root Mean Square Error (RMSE), of the best fitted curves
of these families in TABLE I to select the optimized curve.
Natures of the fitted curves are also shown in Fig. (5). The R-
Square is defined as:
ܴܵܵ ܵܵ‫ܧ‬
ܴܵ‫ ݁ݎܽݑݍ‬ൌ ൌ ͳെ ሺͳͳሻ
ܵܵܶ ܵܵܶ
Fig. 5 Fitting of Gaussian, rational polynomial and exponentials functions
where dfe and dft are the degree of freedom associated with
SSE and SST respectively. The value of R-Square and Adjusted
R- Square near to 1 and small value of RMSE correspond to
better fit of a mathematical model to the data.
The curve, which fitted the data most accurately with best
fitting parameters, in 99% confidence level is given as
(10)
‫ ܮ‬ൌ ͹ͶǤͻʹ ‫݌ݔ݁ כ‬ሺെͲǤͲ͹Ͷ͸ͳܹ௟ ሻ ൅ ͳͷǤ͸Ͷ ‫݌ݔ݁ כ‬ሺെͲǤͲͳͳʹܹ௟ ሻ
(13)
Thus the blur length can be estimated accurately using (13)
in the blur range (3…40) in presence of the additive Gaussian
noise for linear motion blurred images.
IV. EXPERIMENTAL RESULTS
We tested our algorithm for 100 instances of standard
256x256 images like Cameraman, Lena, Barbara etc. having
different amount of motion direction (ߠ) and blur length (L)
randomly selected in the range Ͳ ൑ ߠ ൑ ͳͺͲ and ͵ ൑ ‫ ܮ‬൑ ͶͲ
and corrupted with zero mean additive Gaussian noise with
variance up to 150.
TABLE II
Experimental results for images with Gaussian noise of variance up to 150

where SSR is the sum of square of regression, SST is sum of Error in ࣂ (degree) Error in L (pixel)
square total and SSE is sum of square error described in [10]. Best Estimate 0 0
The Adjusted R-Square can be described as:
Worst Estimate 1.6 2
ܵܵ‫ܧ‬Ȁ݂݀௘
‫ ݁ݎܽݑݍܴܵ݀݁ݐݏݑ݆݀ܣ‬ൌ ͳ െ ሺͳʹሻ Standard Deviation 0.62 0.79
ܵܵܶȀ݂݀௧
 2014 IEEE International Conference on Computational Intelligence and Computing Research

Motion blurred images from the real world are not used as The direction of motion blur is estimated using 90 degree
they may not be degraded by blur parameters defined in (3). offset correction with higher estimation accuracy. For blur
The error in the best and the worst estimate for ߠ and L with length estimation, we have used bispectrum of the image and
standard deviation of the estimates, are tabulated in TABLE II. proposed an exponential model using curve fitting techniques
The best and the worst estimate for ߠ occur randomly in any to minimize the error introduced due to noise. The goodness of
direction, however the error in L is minimum for the fit parameters of the proposed model are also compared with
rangeͳͲ ൑ ‫ ܮ‬൑ ʹͳ. Image restored using wiener filter [15] other competitive models. We have tested our algorithm on
after estimation of the blur parameters is shown in Fig. (6). images degraded by different values of linear motion blur
parameters corrupted with Gaussian noise up to variance of
V. COMPARISON WITH OTHER ALGORITHM 150, and compared the results with other existing algorithms to
We compare our algorithm against some other algorithms demonstrate better performance. The maximum error achieved
proposed by Lokhande et al. [9] and Moghaddam et al. [11]. in the estimated blur angle and the blur length is less than 1.6°
Experiments are conducted on standard 256x256 images of and 2 pixels respectively. However the algorithm does not
Cameraman, Lena etc. in presence of the additive Gaussian provide best PSF estimate for images which are degraded with
noise up to variance 150 for the applicable range of blur some complex PSF instead of linear blur parameters defined in
parameters specified in [9] and [11]. The maximum error (3).
resulted in estimation of blur angle and blur length along with
applicable range of the algorithms are compared in TABLE III.
Our algorithm estimates the blur angle more accurately. The REFERENCES
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