Lecutre 6 To Median Filters

raj@pilani.bits-pilani.ac.
in
L-6
Brief introduction to probability theory
Random: that cannot be predicted
random event, random function, random variable
Random experiment : it is not possible to

predict accurately the outcome
e.g., tossing of a coin, or dice
raj@pilani.bits-pilani.ac.in
nH  nT  n
where
nH  number of heads
nT  number of tails
n  total number of tossing
nH nT
  1
n n
Important property: 0  P ( A)  1
Cumulative Probability distribution function:
F (a )  P ( x  a )
F(a) is the CDF of the random variable x

having the value less than or equal to a
Properties of CDF:
1. F ( )  0
2. F (  )  1
3. 0  F ( x )  1
4. F ( x1 )  F ( x 2 ) if x1  x 2
5. P ( x1  x  x 2 )  F ( x 2 )  F ( x1 )
6. F ( x )  F ( x ) if x  x   ,   0
 
Probability Density function (PDF) :
is defined as derivative of CDF
dF ( x )
p( x ) 
dx
Properties: 1. p( x )  0 for all x

2.  p( x )dx  1

x
3. F ( x )   p( )d

x2
4. P ( x1  x  x 2 )   p( x )dx
x1
Histogram Processing
The histogram of a digital image with gray levels
in the range [0,L-1] is a discrete function
h( rk )  nk
where rk = kth gray level

nk = number of pixels in the image
having gray level value rk
Normalization:
h( rk ) nk
p( rk )  
n n
n = total number of pixels in the image
p( rk ) = probability of occurrence of gray level

rk
 p(r )  1
k
k
p(rk) =h(rk)/n
rk = 255
 p(r )  1
k
k
Uniformly distributed
histogram yields
HIGH CONTRAST IMAGE
Hence, histogram
processing requires the
stretching of gray level
uniformly over the entire
gray level range.
This is histogram equalization

Histogram
p(r)
r =1
Histogram equalization
p(s)
s
0 1
1. Requires the distribution of histogram peaks

uniformly over the entire gray level range
2. Equalize the height of the peaks
Let us define the gray level values (r) to be
• Continuous and
• Normalized between [0,1]

r0 Black
r 1 White
For any r, the transformation
s  T (r ) ; 0  r  1
Let us require that the transformation

function T(r) should satisfy
1. T(r) is single valued and monotonically

increasing in the interval 0 ≤ r ≤ 1
2. 0 ≤ T(r) ≤ 1 for 0 ≤ r ≤ 1
s
T(r)  Single valued
and
monotonically increasing
r
s T(r)  Not single valued
Inverse transformation of the T(r) will not

give the original image
Non-monotonic transformation function
T(r)
s
r
Transformation Transformation
from black  white from white  black
Original negative 1st half identity

2nd half negative
Hence the requirements:
1. T(r) should be single valued which ensures the
inverse transformation will exists
The monotonicity condition preserves the
increasing order from black to white in the
output image
2. Condition (b) guarantees the output gray levels
will be in the same range as that of input range

The gray levels (r or s) in an image
random variable in the interval [0,1]
pr ( r ) & ps ( s ) are the PDFs of random

variables r and s, respectively
From the PDF theory of the random variable:
ps ( s ) ds  pr ( r ) dr
To make the histogram uniform:
Put, ps ( s )  1
 ds  pr ( r ) dr
s r
 ds   p ( ) d
0 0
r
r
s   p ( ) d  T (r )
0
r
r
s  T (r )  
0
pr ( ) d
Hence, the transformation function (T(r)) is equal

to the CDF of random variable, r
a)T(r) is singled valued and monotonically

increasing function. Hence the first condition
is satisfied.
b) Values of T(r) or s lie in the range [0,1]

For discrete values,
nk
pr ( rk )  , k  0, 1, ..... L  1
n
k
sk  T ( rk )   p (r )
j0
r j
k nj
sk  T ( rk )  n
j 0
, for k  0, 1, ...., L  1
This will do the histogram equalization

AUTOMATICALLY
Problems:
L-7, 29/1/2014
Histogram equalization is not full proof method
to achieve auto contrast
Giving a transformation to the input image
where histogram of the output image is
predefined
Original histogram
A predefined histogram
pr(r)
pz(z)
z
r
How to transform???
r  gray levels of the input image Random
s  gray levels of the output image variables
Let us define pr(r) and pz(z) are the PDFs of
the random variables r and s
s has the property::

r
s  T (r )  
0
pr ( ) d
Discrete form::
k k nj
sk  T ( rk )   p (r )   n
j 0
r j
j 0
The random variable z has the property::
z
G( z )  
0
pz ( ) d  s
Discrete form::
k
G( zk )   p (z )  s
i 0
z i k
Therefore,
G( z )  T ( r )
Hence,
1 1
z  G ( s )  G [T ( r )]
STEPS for histogram matching
1. For a given input image, compute the histogram
pr(r)
r
2. According to the definition of s, calculate
it from pr(r) Vs r curve
r
s  T (r )   p ( ) d
0
r
This will yield 

3. For a given histogram ( Pz(z) Vs z ) ,
find out the variation of s Vs z
pz(z)
z
z
s  G( z )   p ( ) d
0
z

4. MAPPING of the variable r to z via s
For each value of rk , obtain the corresponding
value of sk from sk = T(rk) .
For each value of sk , obtain the corresponding
value of zk from sk = G(zk) by inverse
transformation.
The last step:: s
sk
s
z zk z
r
r
s
Image averaging
Noisy image can be enhanced by averaging it
over a set of images
A noisy image (g(x,y)) can be expressed as
g( x , y )  f ( x , y )   ( x , y )
where
f ( x, y)  Original image
 ( x, y)  Noise
If the noise (x,y) is uncorrelated, then

•The expected value of the noise (x,y) = 0
•The expected covariance of the
two random variables = 0
{ gi ( x , y )}  Represents a set of noisy image
The average image is formed by,
K
1
g( x , y ) 
K
 g ( x, y)
i 1
i
1  K K

  
K  i 1
fi  
i 1
i 

Take expectation either side
1  K K

E( g)   
K  i 1
E( fi )  
i 1
E ( i )

f i is a constant and same for all the images
 E{ f i }  f i
&
E{i }  0
 E{ g( x, y)}  f ( x, y)
K=8 K=16
K=64 K=128
How to remove people from the image????

How to remove vehicles from the image????

Scaling of the gray levels during mathematical

operation
+ =
unscaled scaled
unscaled
=
scaled
Mask filtering in spatial domain
Subimage
Subimage  filter, mask, kernel, template, or window

Subimage is a small matrix whose elements are
called COFFIECIENTS
Preferably, the size of the mask should be odd
If (m x n) size of the mask
Then, m=2a+1 and n=2b+1
a, b are integers
Linear filter:
a b
g( x , y )    w( s, t ) f ( x  s, y  t )
sa t b
The coefficients w(x,y) are defined by the
user; depending on the nature of the filter
required
eg.,
for an average filter of mask 3x3, each coefficient

should be 1/9
1 1 1
1 1 1
W= 1/9
1 1 1
To perform the averaging, vary
x =0,1,2,….M-1
y =0,1,2…N-1
1 2 1
1/16 2 4 2
W=
1 2 1
Weighted average
Hence the general expression for avg.
a b
  w( s, t ) f ( x  s, y  t )
g( x , y )  sa t b
a b
  w( s, t )
sa t b
Mask reaches the border:
(a) (b)
Padding
Mask size
--, 3
5,9
15, 35
•Averaging removes smaller details
•It leads to blurring

Non-linear filters:
e.g., Median filter, variance filter
•Median filter is very powerful in removing random noise
with considerably less blurring than linear avg. filter
of similar size
•Median filters are effective for impulse noise.

Find median of the set of 15 numbers
5, 7, 4, 5, 3, 6, 8, 7, 12, 1, 0, 4, 14, 1, 3
a) Arrange them as
0, 1, 1, 3, 3, 4, 4, 5, 5, 6, 7, 7, 8, 12, 14
Median = 5
Find median of the set of 14 numbers
87, 55, 67, 87, 98, 80, 45, 65, 75, 67, 87, 92, 87, 63
Arrange them
45, 55, 63, 65, 67, 67, 75, 80, 87, 87, 87, 87, 92, 98
Median = Avg(75,80) = 77.5

Noisy image Median filtered image

(3x3 mask)
Comparison
a) Max filter
The pixel value is replaced by the maximum calculated

from the neighborhood.
b) Min Filter
The pixel value is replaced by the minimum calculated

from the neighborhood.
c) Mid point filter
The pixel value is replaced by the 0.5*(min+max)

calculated from the neighborhood.

Lecutre 6 To Median Filters

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Lecutre 6 To Median Filters

Uploaded by

Copyright:

Available Formats

raj@pilani.bits-pilani.ac.

Brief introduction to probability theory

Random: that cannot be predicted

random event, random function, random variable

Random experiment : it is not possible to

Cumulative Probability distribution function:

F(a) is the CDF of the random variable x

The histogram of a digital image with gray levels

in the range [0,L-1] is a discrete function

where rk = kth gray level

n = total number of pixels in the image

p( rk ) = probability of occurrence of gray level

HIGH CONTRAST IMAGE

This is histogram equalization

1. Requires the distribution of histogram peaks

2. Equalize the height of the peaks

Let us define the gray level values (r) to be

• Normalized between [0,1]

For any r, the transformation

Let us require that the transformation

1. T(r) is single valued and monotonically

s T(r)  Not single valued

Inverse transformation of the T(r) will not

Non-monotonic transformation function

Original negative 1st half identity

inverse transformation will exists

The monotonicity condition preserves the

increasing order from black to white in the

2. Condition (b) guarantees the output gray levels

will be in the same range as that of input range

The gray levels (r or s) in an image

random variable in the interval [0,1]

pr ( r ) & ps ( s ) are the PDFs of random

From the PDF theory of the random variable:

To make the histogram uniform:

Hence, the transformation function (T(r)) is equal

a)T(r) is singled valued and monotonically

b) Values of T(r) or s lie in the range [0,1]

For discrete values,

This will do the histogram equalization

Giving a transformation to the input image

where histogram of the output image is

r  gray levels of the input image Random

s  gray levels of the output image variables

Let us define pr(r) and pz(z) are the PDFs of

the random variables r and s

s has the property::

The random variable z has the property::

STEPS for histogram matching

1. For a given input image, compute the histogram

2. According to the definition of s, calculate

it from pr(r) Vs r curve

This will yield 

3. For a given histogram ( Pz(z) Vs z ) ,

find out the variation of s Vs z

4. MAPPING of the variable r to z via s

For each value of rk , obtain the corresponding

value of sk from sk = T(rk) .

For each value of sk , obtain the corresponding

value of zk from sk = G(zk) by inverse

The last step:: s

Noisy image can be enhanced by averaging it

over a set of images