ADVCOMP 2011 : The Fifth International Conference on Advanced Engineering Computing and Applications in Sciences

Image Restoration by Revised Bayesian-Based

Iterative Method
Sigeru Omatu, Hideo Araki
Osaka Institute of Tecnology
Asahi-ku, Osaka, 535-8585, Osaka, Japan, Hirakata, Osaka, Japan
omatu@rsh.oit.ac.jp, araki@is.oit.ac.jp

Abstract—A restoration method of the degraded images based

on Bayesian-based iterative method is proposed. An iterative
method is developed by treating images, point spread functions, ∗ PSF =
and degraded images as probability measures and by applying Original Degraded
Bayes’ theorem. The method functions effectively in the presence image
of noise and is adaptable to computer operation. image
Keywords-point spread function, image restoration, Bayesian
rule
∗ =
I. I NTRODUCTION x H(jω) =
To make a clear image from degraded image, many enhance-
ment techniques have been developed until now. The main F(jω) x H(jω) =
technique is to use one of sharpness filters that are based on
derivatives of the image with respect to pixels [1]-[2]. These
methods used one or more masks to approximate a derivative
?x =
operation. Although they could enhance the image, they would
enlarge also noises. =
The present method for enhancement of images is to use
the Bayesian rule. This method was first proposed by [3]. Fig. 1. The restoration principle.
The Bayesian rule reflects optimal estimation in a sense to
minimize the cost function under noisy observation and an
iterative algorithm was proposed to find the optimal solution. degraded by using a priori knowledge of the degradation
The algorithm include two parts, the first one is to estimate phenomenon. As shown in Fig. 1, the degradation process may
a point spread function (PSF) from the estimated image and be modeled as an operator H in case of noiseless situation.
the second one is to estimate the original image by using the It operates on an input image f (x, y) to produce a degraded
estimated PSF. Thus, this algorithm might be optimal when image g(x, y). For the sake of simplicity, we denote f (x, y)
the observed image is similar to the original image, that is, in by f (x) , g(x, y) by g(x), h(x, y) by h(x), etc. In equation
case of a high S/N ratio. Therefore, the results will depend on form, we have
the initial guesses of PSF. ∞
X
In this paper, we propose a new algorithm to speed up g(x) = Hf (x) = h ∗ f (x) = h(x − y)f (y). (1)
the convergence and find better restoration compared with the y=−∞
results of [3]. The idea is to select the observed image as an
initial guess of the restored image and every iteration we use where h(x) is an impulse response and * denotes the operation
the observation image instead of an estimated image when we of convolution.
estimate the PSF. Based on the convolution theorem, the frequency domain
First, we will show the principle of the Bayesian-based representation of Eq.(1) becomes
iterative method proposed by Richardson[3]. Then we will
state the proposed method. After that the simulation results G(jω) = H(jω)F (jω) (2)
will be illustrated to show the effectiveness of the present
method. where G(jω), H(jω), and F (jω) are Fourier transforms
of g(x), h(x − y), and f (y), respectively. As shown in
II. P RINCIPLE OF I MAGE R ESTORATION Fig.1,Given G(jω) and some knowledge about H(jω), the
In image enhancement, the ultimate goal of restoration tech- objective of restoration techniques is to recover F (jω) which
niques is to improve a given image in some sense. Restoration means to recover the original image f (x) via the inverse
is a process that attempts to recover an image that has been Fourier transform.

Copyright (c) IARIA, 2011. ISBN: 978-1-61208-172-4 60

ADVCOMP 2011 : The Fifth International Conference on Advanced Engineering Computing and Applications in Sciences

III. R ICHARDSON ’ S I TERATIVE M ETHOD relation.

We will review the iterative method by Richardson [3] in P (g(x2 ), f (x1 )) = P (g(x2 )|f (x1 ))P (f (x1 ))
this section. Given the degraded image g, the point spread = P (h ∗ f (x2 ), f (x1 ))
function h and the original image f are estimated based on
Bayes’ theorem. It will be effective to estimate the original = P (h(x2 − x1 ), f (x1 ))
image f from the observed image g. It was assumed that g , = P (h(x2 − x1 ))P (f (x1 ))
h , and f are discrete and are not necessarily normalized. The
where we have used independence assumption between orig-
numerical values of g , h , and f are considered as measures
inal image and restoration mechanism.
of the frequency of the occurrence of them at those points.
Using the Bayes’ theorem we have
h is usually in normalized form. Energy of f originating at
a point is distributed as g at points according to the energy P (g(x2 )|f (x))P (f (x))
P (f (x)|g(x2 )) = ∞
indicated by h. Thus, g represents the resulting sums of the X
energy of f originating at all points. P (g(x2 )|f (x1 ))P (f (x1 ))
In the notation of this problem the usual form of the Bayes’ x1 =−∞

theorem is stated as the conditional probability of f , given g. f (x)h′ (x2 − x)

′
= ∞ . (8)
It was assumed that the degraded image g was of the form X
′ ′
g = h ∗ f , where * denotes the operation of convolution such f (x1 )h (x2 − x1 )
x1 =−∞
that
X∞
If we multiply the both sides of Eq.(8) by P (g(x2 )) = g ′ (x2 )
g(x) = h ∗ f (x) = h(x − y)f (y). (3)
and take the summation with respect to x2 , we get
y=−∞
P (f (x)) = f ′ (x)
Note that f and g are intensity functions of original image ∞
X h′ (x2 − x)g ′ (x2 )
and observed image, respectively and h is the weighting func- = f ′ (x) .(9)
∞
X
tion depending on image measurement devices. We assume ′ ′
that the input image and the weighting function which means
x2 =−∞
f (x1 )h (x2 − x1 )
x1 =−∞
the restoration mechanism are unknown. The values of f , g,
and h are not limited within [0,1]. We normalize and denote Considering F = G = H and multiplying them both sides of
them by f ′ , g ′ , and h′ . Thus, we have the above equation, we have
∞
X
f (x) f (x) h(x2 − x)g(x2 )
f ′ (x) = ∞ = (4) f (x) = f (x) . (10)
X F ∞
X
f (x) x2 =−∞
f (x1 )h(x2 − x1 )
x=−∞ x1 =−∞

′ g(x) g(x)
g (x) = ∞ = (5) Using the above equation, Richardson[3] proposed the follow-
X G ing recurrence procedure to find the original image f (x).
g(x)
∞
X
x=−∞
hn (x2 − x)g(x2 )
h(x) fn+1 (x) = fn (x) ∞ ,
(11)
′
h (x) = (6) X
∞
X h(x)
x2 =−∞
hn (x2 − x1 )fn (x1 )
h(x) == x1 =−∞
x=−∞
H
n = 0, 1, 2, . . . .
where F ,G, and H could be equal since the restoration
In order to derive the recursive equation of the PSF function
process is conservative. Note that f , g, and h are nonnegative
h(x), we will set x3 = x2 − x. Then from Eq.(8) we have
and the total sums are equal to one. Thus, we could regard
them as probability measures and f ′ (x1 ) as the probability f ′ (x2 − x3 )h′ (x3 )
P (f (x2 − x3 )|g(x2 )) = ∞ . (12)
measure of the original image f (x1 ) at x1 . This means that X
′ ′
the possibility of the existing intensity of the original image f (x1 )h (x2 − x1 )
f (x1 ) at x1 . Similarly, g ′ (x2 ) and h′ (x1 ) mean the possibility x1 =−∞

of the existing intensity of the observed image g ′ (x2 ) at x2 and Multiplying both sides of the above equation by P (g(x2 )) =
the possibility of the transition weight from the input image g ′ (x2 ), we have
f (x1 ) at x1 to the output image g(x2 ) at x2 . Therefore, we
have P (f (x2 − x3 )|g(x2 ))P (g(x2 )) (13)
f ′ (x2 − x3 )h′ (x3 )
P (g(x2 )|f (x1 )) = P (h(x2 − x1 )) = h′ (x2 − x1 ). = g ′ (x2 ) ∞ .
(7) X
′ ′
f (x1 )h (x2 − x1 )
The above relation can be derived by using the following x1 =−∞

Copyright (c) IARIA, 2011. ISBN: 978-1-61208-172-4 61

ADVCOMP 2011 : The Fifth International Conference on Advanced Engineering Computing and Applications in Sciences

Using the Bayes’ rule, we have Step 1. Set n = 0, m = 0, the initial guesses of h0 (x), and
f0 (x), and small positive number ϵ.
P (f (x2 − x3 )|g(x2 ))P (g(x2 )) Step 2. Solve the following equations:
= P (f (x2 − x3 ), g(x2 )) ∞
X hm (x2 − x)g(x2 )
= P (g(x2 )|f (x2 − x3 ))P (f (x2 − x3 )) fn+1 (x) = fn (x) ∞ (24)
X
= h′ (x3 )f ′ (x2 − x3 ). (14) x2 =−∞
hm (x2 − x1 )fn (x1 )
x1 =−∞
From Eqs.(14)and (14), we have
∞
X fn (x2 − x)g(x2 )
h′ (x3 )f ′ (x2 − x3 ) hm+1 (x) = hm (x) ∞
X
.
f ′ (x2 − x3 )h′ (x3 ) x2 =−∞
fn (x1 )hm (x2 − x1 )
= g ′ (x2 ) ∞ . (15)
X x1 =−∞
f ′ (x1 )h′ (x2 − x1 ) (25)
x1 =−∞ Step 3. If the following inequalities hold
Taking the summation of both sides of Eq.(15) with respect to ¯ ¯
¯ X
∞
hm (x2 − x)g(x2 ) ¯
x2 , using the relation of Eqs.(4), (5), and (6), and noting that ¯ ¯
¯ ∞ ¯<1−ϵ (26)
∞
X ¯ X ¯
f ′ (x2 − x3 ) = 1, (16)
x2 =−∞
hm (x2 − x1 )fn (x1 )
x2 =−∞ x1 =−∞
and ¯ ∞ ¯
we have the following relation. ¯ X fn (x2 − x)g(x2 ) ¯
¯ ¯
∞
X ¯ ∞ ¯ < 1 − ϵ, (27)
f (x2 − x)g(x2 ) ¯x =−∞ X ¯
h(x) = h(x) ∞
X
. (17) 2
fn (x1 )hm (x2 − x1 )
x2 =−∞
f (x1 )h(x2 − x1 ) x1 =−∞
x1 =−∞ then stop, otherwise n ← n + 1, m ← m + 1 go to Step 2.
Thus, using the same recursive relation as Eq.(11), we have The above iteration has no proof of convergence that means
∞ the results obtained by the above iteration may result in the
X fn (x2 − x)g(x2 )
hm+1 (x) = hm (x) . good results or may not.
∞
X
x2 =−∞
fn (x1 )hm (x2 − x1 ) IV. P ROPOSED A LGORITHM
x1 =−∞
In order to get the better results compared with Richardson’s
(18)
algorithm, we consider a new method based on the property
In order to check the convergences of the recursive relations
of degraded images such that the blurred images are similar
given by Eqs.(11) and (18), the following relations are used.
to the original images. In the Richardson’s algorithm, if the
∞
bad estimation of hm (x) at the beginning stage, correspond-
X h(x2 − x)g(x2 ) ing recovered images would become different images. After
∞ = 1, (19)
X obtaining the bad estimation of recovered images, worse esti-
x2 =−∞
h(x2 − x1 )fn (x1 ) mation of the point spread function. As a result, the iteration
x1 =−∞
will produce worse and worse estimation of the point spread
∞
X f (x2 − x)g(x2 ) function and recovered images. Assuming the degraded images
∞ = 1. (20)
X are not so far from the original images, we use the blurred
x2 =−∞
f (x1 )h(x2 − x1 ) image to estimate the point spread function hm (x) instead of
x1 =−∞ the recovered image that is the estimated image. Therefore,
(21) we have proposed the following algorithm:
Thus, we use the following criteria to stop the iterations. Step 1. Set n = 0, m = 0, small positive number ϵ, and
f0 (x) = g(x). Set the initial guesses of h0 (x).
∞
X hm (x2 − x)g(x2 ) Step 2. Solve the following equations:
1−ϵ< ∞ < 1 − ϵ, (22)
X ∞
X
x2 =−∞
hm (x2 − x1 )fn (x1 ) hm (x2 − x)g(x2 )
fn+1 (x) = fn (x) ∞ (28)
x1 =−∞ X
∞
X
x2 =−∞
hm (x2 − x1 )fn (x1 )
fn (x2 − x)g(x2 )
1−ϵ< ∞ < 1 − ϵ. (23) x1 =−∞
X
x2 =−∞
fn (x1 )hm (x2 − x1 ) ∞
X g(x2 − x)g(x2 )
x1 =−∞ hm+1 (x) = hm (x) . (29)
∞
X
Using the above relations, Richardson has proposed the fol- x2 =−∞
g(x1 )hm (x2 − x1 )
lowing iterative algorithm(Richardson’s Iterative Method). x1 =−∞

Copyright (c) IARIA, 2011. ISBN: 978-1-61208-172-4 62

ADVCOMP 2011 : The Fifth International Conference on Advanced Engineering Computing and Applications in Sciences

Step 3. If the following inequalities hold

¯ ¯
¯ X ∞
hm (x2 − x)g(x2 ) ¯
¯ ¯
¯ ∞ ¯<1−ϵ (30)
¯x =−∞ X ¯
2
hm (x2 − x1 )fn (x1 )
x1 =−∞
and ¯ ∞ ¯ (a) Original image (b) Degraded image
¯ X fn (x2 − x)g(x2 ) ¯
¯ ¯
¯ ∞ ¯ < 1 − ϵ, (31)
¯x =−∞ X ¯
2
fn (x1 )hm (x2 − x1 )
x1 =−∞

then stop, otherwise n ← n + 1 and go to Step 2.

V. VARIATION U SING THE R EVERSE F UNCTION

We consider more simple form of the proposed algorithm.
We set the dominator of Eq.(11) by
(c) Richrdson method (d) Proposed method
∞
X Fig. 2. The comparison for Example 1.
Lnm (x2 ) = hm (x2 − x1 )fn (x1 ). (32)
x1 =−∞
VI. S IMULATION R ESULTS
It is the convolution sum between the original image fn (x1 ) In order to show the effectiveness of the proposed method,
and the point spread function hm (x2 − x1 ). Therefore, if we will consider gray image (Example 1) and color im-
Lnm (x2 ) = g(x2 ), then the estimated image fn (x1 ) becomes age(Example 2). The computer specification used here is
the true original image. Furthermore, we have shown in TABLE I. In Example 1 the gray image of 64 × 64
∞
X was made using Photoshop. The color image of512 × 512 of
hm (x2 − x)g(x2 )
fn+1 (x) = fn (x) . (33) Example 2 was cropped from the standard sample data of high-
x2 =−∞
Lnm (x2 ) resolution color images [4]. The degraded images are made
by using Gaussian filters with the standard deviation σ = 2.0.
We define rnm (x2 ) by We used the stopping parameters of m and n when maximum
g(x2 ) iteration number k is given. In these simulations, we changed
rnm (x2 ) = (34) those parameters (m, n, k) in three cases, that is, (10,100,10),
Lnm (x2 )
(5,100,10), and (5,5,100). TABLE II shows simulation results
which means the ratio between the observed degraded image for three cases with PSNR (Peak Signal-to-Noise Ratio). In
and the degraded image obtained by using the estimated point Fig. 2 shows the simulation results of the gray image with
spread function. Then Eq.(33) becomes (10,100,10). From this Fig. 2 the proposed method restored
∞
more clear image compared with the results by Richardson’s
X method [3]. In Figs.3-6 we show the simulation results of
fn+1 (x) = fn (x) hm (x2 − x)rnm (x2 ). (35)
x2 =−∞
Example 2. The original image is shown in Fig. 3 and the
degraded image is shown in Fig. 4. The restored images by
We define the reverse function of k(x) by k(x) = h(−x). [3] and the proposed method are shown in Fig. 5and Fig. 6.
Then Eq.(??) becomes
TABLE I
∞
X C OMPUTING ENVIRONMENT
km (x − x2 )rnm (x2 )
fn+1 (x) = fn (x) (36)
. OS Windows XP
x2 =−∞ CPU AMD Athlon(tm)64 X2 Dual Core
Memory 2GB
If we represent the convolution sum by Fourier transform, we
have
TABLE II
fn+1 (x) = fn (x)F T −1 (F T (kn (x − x2 ))F T (rnm (x2 ))) PSNR BETWEEN ORIGINAL IMAGE AND RESTORED IMAGE

= fn (x)F T −1 (Kn (jω)Rnm (jω)) (37) Threshold value(m,n,k) Degraded image Richardson Authors
(10,100,10) 14.5 15.7 16.6
−1
where F T and F T denote the Fourier transform and inverse (5,100,10) 14.5 16.5 16.0
Fourier transform. Since Km (jω) = Hm (−jω), we could save (5,5,100 14.5 9.2 16.2
the computational time by half.

Copyright (c) IARIA, 2011. ISBN: 978-1-61208-172-4 63

ADVCOMP 2011 : The Fifth International Conference on Advanced Engineering Computing and Applications in Sciences

Original image
Fig. 3. Original image for Example 2. Richardson’ s method
Fig. 5. Richardson’s method for Example 2.

Degraded image
Proposed method
Fig. 4. Degraded image for Example 2.
Fig. 6. Proposed method for Example 2.

Copyright (c) IARIA, 2011. ISBN: 978-1-61208-172-4 64

ADVCOMP 2011 : The Fifth International Conference on Advanced Engineering Computing and Applications in Sciences

VII. C ONCLUSIONS
In this paper, a method of restoration of the degraded images
by using Bayesian-based iterative method. The simulation
results showed that the proposed method could restore the
degraded images more clearly compared with the Richardson’s
method while the threshold values of (n, m, k) must be deter-
mined by trial and error. Furthermore, the computation load
has been decreased by half by introducing the ratio between
the observed degraded image and the degraded image.
ACKNOWLEDGMENT
This work was supported by JSPS KAKENHI Grant-in-Aid
for Scientific Research (B) (23360175). The authors would
like to thank JSPS to support this research work.
R EFERENCES
[1] T. Young and K. Fu, Handbook of Pattern Recognition and Image
ProcessingIndependent Component, Academic Press, New york, (1986)
[2] R. Duda, P. Hart, and D. stork, Pattern Classification, John Wiley & Sions,
New York, (2001)
[3] W. Richardson, Baysian-Based Iterative Method of Image Restoration,
Journal of Optical Society of America, Vol. 62, pp.55-59, (1972)
[4] Standard Color Digital Images of High-Resolution(CMYK/SCID), JIS X
9201:2001, (2001)

Copyright (c) IARIA, 2011. ISBN: 978-1-61208-172-4 65