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Metals and Materials International

https://doi.org/10.1007/s12540-019-00380-6

Grain Boundaries and Phases Identification of Metallographic Images


by a Normalized Sobel Operation and the Edge Thinning Process
for Further Numerical Simulation
G. Domínguez‑Rodríguez1 · J. A. González‑Sánchez1 · J. Rosado‑Carrasco1 · G. Canto1 

Received: 11 May 2019 / Accepted: 14 July 2019


© The Korean Institute of Metals and Materials 2019

Abstract
The recognitions of phases and precise grain boundaries based on metallographic images are useful for conducting micro-
mechanical simulations, such as finite element analysis and peridynamics. In this work, those processes are automatized by
using a Sobel operator for identifying edges, which is normalized by different proposed Gaussian filters (on intensity, rugosity,
or both). After that, a threshold is used to discretize the edges. Different neighboring pixel configurations, sensitive to edge
intensity, are proposed for thinning and cleaning the discretized edges, and hence, grain boundaries with a one-pixel thick-
ness are obtained. Then, the phase is selected by averaging color of each delimited grain. Finally, the precision on the phase
recognition was found to increase from 75.61 to 83.6% for the unmodified and the normalized Sobel operator, respectively.

Keywords  Sobel · Edge recognition · Edge thinning · Metallography · Peridynamics

1 Introduction mechanical properties, such as the resistance to fatigue dam-


age [8]. The undesirable microstructure evolution induced
Austenitic-ferritic duplex stainless steels (DSS) are engi- in DSS conveys economical and safety repercussions, there-
neering alloys with high resistance to localized corrosion fore, the prediction of the mechanical behavior of this alloy
and superior mechanical strength when compared with the based on their micromechanical structure is of great signifi-
austenitic or ferritic single stainless steels [1, 2]. These prop- cance. Several mathematical models and simulation methods
erties make DSS suitable materials for use in the chemical have been reported, such as the Peridynamics and the Finite
and petrochemical industries. The AISI 2205 DSS with a Element Analysis (FEA) [9–12].
nearly 50/50 phase ratio, presents combined characteris- One important structural integrity property for prediction
tics of both steel alloys with excellent weldability [3–6]. is the crack initiation and propagation in the early stages
However, those alloys are prone to undergo microstructural of damage, for which, several methods have been proposed
changes during operation at high temperatures, or as a result to model it in conjunction with FEA such as phase field
of thermal cycles when they are subjected to fusion weld- model, extended finite element or cohesive zones [13–15].
ing. The most affected area known as the heat affected zone In the later, the edges where crack are expected to nucle-
(HAZ), is particularly prone to undergo localized attacks ate or propagated does not directly share nodes, but they
such as pitting, crevice, and intergranular corrosion [7, are kept in place by cohesive tractions [15]. Therefore, the
8]. Due to the heating at temperatures above 550 °C, DSS representative volume element will behave as a continuum
undergo the generation of undesired intermetallic phases and model until certain conditions are achieved at interfaces,
carbides precipitation which has a detrimental effect on the commonly a maximum traction or a maximum deforma-
tion, consequently, designing a tool for finding precise grain
boundaries is worthy.
* G. Canto One popular method for edge recognition is the Sobel filter
gcanto@uacam.mx [16, 17], which consists of two image convolutions. Even when
1 more modern methods, such as neural networks trained in path
Centro de Investigación en Corrosión, Universidad
Autónoma de Campeche, Av. Héroe de Nacozari 480, recognition, are currently available [18–20], they often lead to
24079 Campeche, Campeche, Mexico

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higher computational requirements, in comparison to convolu- A is the image to be processed. Then, the Sobel operator
tion methods, such as the Sobel operator. magnitude ( G ) is obtained as,
Nevertheless, in this work, some improvements for the √
Sobel operator have been proposed in order to increase effi- G = G2x + G2y
ciency without drastically increasing the computational
capacity. Then, an intensity threshold was chosen for defining
which pixels will become part of the edges. Nevertheless,
for a high-intensity threshold, the edges can be rendered
2 Methodology highly discontinuous, whereas a low-intensity threshold
yields more edges than necessary. In order to reduce the
In the present work, the generation process of representa- number of discontinuities without drastically increasing the
tive volume elements (RVE) for Duplex 2205 stainless steel number of edges, some additional steps are proposed.
from metallographic images is automatized. Those RVEs will The first proposed step consists on taking advantage of
be designed for further use in Peridynamics, finite element the fact that the Sobel operator is derivative, and therefore,
analysis, or both calculations. For this purpose, the edges for it is a linear operator, which means that darker areas are
delimiting the grain boundaries are obtained and expected to inferred to have a lower Sobel operator magnitude in com-
be one pixel thick, and only two phases are considered, ferritic parison to lighter areas. This step consists of normalizing
and austenitic. the results of the Sobel operator by the Gaussian average of
The phase and edge recognition are implemented in a the original image. This process, which will be referred as
C++ main routine and different Shading Language scripts, intensity normalization, in this work, consists of applying
those scripts are compiled and then executed in the graphics an image convolution with a Gaussian kernel to the original
processing unit instead of the central processing unit. metallography to obtain an image of a localized average for
each pixel, which is, then, used for normalizing the Sobel
2.1 Edge Detection Procedure operator magnitude. This step is added to reduce further dis-
crepancies between darker and lighter areas, where the edges
The edge detection is conducted through several steps; being located on darker areas are rendered as less intense by the
the first one the use of a differential operator known as the Sobel operator, disregarding how prominent those edges are.
Sobel operator [16, 17], which is conduct in two steps: first, The Gaussian kernels have been widely used for blurring
two image convolutions are applied to an image, each of them images, and they are n × n matrix similar to those used with
with a different kernel, one for vertical edges and another for the Sobel operator, where n is an odd number, and each
horizontal ones, which are obtained as follows: (matrix component
) follows a Gaussian function center on
, 2 component and the sum of all them equals one.
n+1 n+1
⎡ −1 −3 −3 0 3 3 1 ⎤ 2
⎢ −4 −11 −13 0 13 11 4 ⎥ Another proposed step consists on normalizing the results
⎢ −9 −26 −30 0 30 26 9 ⎥ of the Sobel operator by its Gaussian average and will be
⎢ ⎥
Gx = ⎢ −13 −34 −40 0 40 34 13 ⎥ ∗ A named rugosity normalization. The process is similar to the
⎢ −9 −26 −30 0 30 26 9 ⎥ previous one, except that, in order to obtain the reference for
⎢ −4 −11 −13 0 13 11 4 ⎥⎥ further averaging, the Sobel operator magnitude is convo-

⎣ −1 −3 −3 0 3 3 1 ⎦ luted with the Gaussian kernel instead of the original image.
This step is added to compensate the changes of detail along
a single image, whereas some areas are sharper, others are
more blurred. It is recommended to use larger kernels when
⎡ −1 −4 −9 −13 −9 −4 −1 ⎤
⎢ −3 −11 −26 −34 −26 −11 −3 ⎥ metallographic images with higher resolution and large vari-
⎢ −3 −13 −30 −4 −30 −13 −3 ⎥ ations on definition are processed.
⎢ ⎥
Gy = ⎢ 0 0 0 0 0 0 0 ⎥∗A
⎢ 3 13 30 4 30 13 3 ⎥ 2.2 Procedure for Edge Thinning and Deletion
⎢ 3 3 ⎥⎥
⎢ 11 26 34 26 11 of Loose Ends
⎣ 1 4 9 13 9 4 1 ⎦
In order to delimitate areas by edges with a thickness of a
pixel, a process for thinning the previously obtained edges
where ∗ stands for a convolution operator, and Gx and Gy
and reducing the undesired noise is applied. For that pur-
are the matrix for the horizontal and vertical components,
pose, several algorithms have already being proposed and
respectively, both kernels are the 7 × 7 Sobel operators, and
widely used for thinning features on binary images [21, 22].

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However, being designed exclusively for processing binary others that are already part of the edges is conducted by
images, those methods do not account for the intensities on adding them to the edges in order to prevent the generation
edges (rugosity), which is information previously obtained of additional edges by later processes. On the other hand,
as the Sobel operator magnitude. Therefore, for taking the completion of loose ends close to the boundaries of the
advantage of the availability of this map of edge intensity image is conducted by adding the necessary pixels to con-
and preserving the areas where the edges are most stressed, nect the edges to the boundaries. This completion is needed
a new method is proposed. Herein, some edge pixels are because the Sobel operator magnitude is lower at the image
removed from edges if they are adjacent to both a pixel not limits, and this process will prevent the removal deletion of
belonging to the edges and another one whose Sobel opera- large sections of the edges considered as loose ends.
tor magnitude is higher than that of the pixel chosen to be Then, loose ends and noise are removed. For that pur-
removed. Such pixels removal must be conducted while the pose, several algorithms have already been proposed, which
generation of edge discontinuities is prevented. In order to are commonly intended for cleaning scanned documents
achieve this task, eight configurations of neighboring pix- and drawings [23–28]. Those algorithms are exceptional
els are proposed, and when one of those is achieved, the at removing the commonly-called salt and pepper noise.
evaluated pixel is deleted (removed). Those neighboring However, the capability of removing loose ends is useful
configurations are shown in Fig. 1, where a black box rep- for further phase recognition, since they do not contribute
resents the tested pixel, rhombus-filled boxes are pixels that in delimiting areas. Therefore, a kFill method based on the
are part of the edges and whose intensity is higher than that kFill filter [23, 24] is proposed. In the present method, addi-
of the evaluated pixel, boxes filled with diagonal lines are tional neighboring pixel configurations are choosen specifi-
pixels that, at least, one of them must be part of the edges, cally for deleting edges belonging to loose ends or isolated
white boxes represent pixels that are not part of the edges, noise. Figures 2a, d present have already been for remov-
and, finally, gray boxes are indistinct ones. The process is ing loose ends, while Figs. 2a, h are those configurations
conducted for all pixels and is repeated until no additional for deleting thick isolated noise. The schematic patterns
pixels are removed. used to illustrate those neighboring pixel configurations are
Before suppressing loose ends, both the empty pixels sur- similar to those shown in Fig. 1 for edge thinning, how-
rounded by edge pixels and those close to limits of the image ever the rhombus-filled boxes stand for pixels whose Sobel
should be filled. The filling of empty pixels surrounded operator magnitude is not necessarily higher than that of the

Fig. 1  Configurations of neighboring pixels for deleting edge pixels of the edges, White represents pixels that do not belong to the edges
during the thinning step. Black represents evaluated pixels, rhombus- and gray are indistinct pixels. a From the left, b from the left top cor-
filling pattern represents pixels belonging to the edges, diagonal lines ner, c from above, d from the right top corner, e from the right, f from
filling pattern stands for pixels of which, at least, one should be part the right bottom corner, g from below, h from the left bottom corner

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Fig. 2  Neighboring pixel configurations for removing edge pixels nal lines) or left unmarked (vertical lines). a Thinning process from
during the deletion of loose ends and isolated edge noise. The black above. b Thinning process from the left. c Thinning process from
box represents the evaluated pixel, rhombus-filled ones are pixels that below. d Thinning process from the right. e Deletion of thick edges
must be part of the edges, white boxes stands for pixels that are not from the left bottom corner. f Deletion of thick edges from the right
part of the edges, and diagonal and vertical lines patterned boxes are bottom corner. g Deletion of thick edges from the right top corner. h
pixels of which, at least, one must be either part of the edges (diago- Deletion of thick edges from the left top corner

evaluated pixel, and vertical and diagonal lines patterned metallography varying, along a single metallography, as a
boxes represent pixels of which, at least, one of them must consequence of optical aberrations, inhomogeneous chemi-
be either part of the edges (diagonal lines) or an empty one cal treatment and an inconsistent illumination of some opti-
(vertical ones). This process is iterative and is repeated until cal microscopes.
no additional pixels are removed from the edges.
The last step consists in emptying large continuum areas 2.4 Surface Preparation and Microstructural
marked as part of the edges. In order to achieve this, a sim- Characterization of Samples
ple neighboring pixel configuration is used, it consists of
unmarked edge pixels if their top, bottom, left and right The samples of AISI 2205 Duplex stainless steel in the as-
neighbor pixels are part of the edges. received condition were obtained from transversal, superior,
and along-to-the-rolling direction planes. Also, the samples
2.3 Selective Blur and Phase Threshold of the welded joints were obtained from transversal sections
to the welding direction. The surfaces were subjected to an
Once the edges have been thinned and the loose ends and electrochemical etching in an aqueous solution of 30% nitric
noise have been removed, a selective blur is applied, which acid, applying a 2-V electric field for ten seconds after stand-
consists on assign the average color of their four closest ard metallographic preparation.
neighbors (up, down, left, and right) as long as those were
not part of the edges. This process is repeated until each area
delimited by edges is rendered homogeneous. 3 Results
Once the color for each zone is homogenized, representa-
tive points are manually selected for color reference; those 3.1 Edge Detection
points encompass ferritic, austenitic, and possibly other
areas. Finally, the phase of each area is obtained by using Before predicting the grain boundaries and phases on full-
the reference colors interpolated for each phase by using size metallographic images, preliminary results, based on
the manually selected points. The reason for using inter- a metallographic sample, was used for illustrating all dif-
polated reference colors is due to colors of each phase in a ferent steps in the prediction process. The sample image is

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illustrated in grayscale in Fig. 3a, while Fig. 3b, c show discontinuous (see Fig. 3e) for a high threshold or generat-
the horizontal and vertical components of the Sobel opera- ing additional edges (see Fig. 3f) for a low threshold. As
tor, where gray represents a zero value, white stands for the previously stated, the Sobel operator magnitude is nor-
largest positive value and black represents the largest nega- malized (see Fig. 3g) and then the threshold is applied,
tive value. Whereas Fig. 3d illustrates the Sobel operator in order to reduce the number of discontinuities while
magnitude, where black stand for zero magnitude and white the generation of additional edges is also prevented (see
represents the highest value. Fig. 3h).
The level of the threshold applied on the Sobel opera-
tor magnitude greatly affects the edges, rendering them

(a) (b) (c)

(d) (e) (f)

(g) (h)

Fig. 3  a Original Image, b Sobel horizontal component, c Sobel ver- ties are circled), f Sobel operator magnitude with a high reference
tical component, d Sobel operator magnitude, e Sobel operator mag- value of intensity threshold, g normalized Sobel operator magnitude,
nitude with a low reference value of intensity threshold (discontinui- h normalized Sobel operator magnitude with an intensity threshold

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3.2 Edge Thinning and Deletion of Loose Ends reference spot for ferritic areas is highlighted. Herein, only
one manually selected reference point was necessary; how-
The aforementioned thinning process was applied to the pre- ever, having more than one can be required for some metal-
viously processed sample image (Fig. 3h), and the results are lographic images with optical aberrations or variations in
shown in Fig. 4a, where a substantial refinement of edges illumination. The inferred phases are illustrated in Fig. 5d,
is observed. After the thinning process, the pixels close to where ferritic areas are the highlight in a blue hue.
the image limits and those surrounded by pixels belonging
to the edges are filled, both cases can be seen in Fig. 4b
enclosed in circles. Then, the loose ends and edge noise 3.4 Prediction of Grain Boundaries and Phases
presented in Fig. 4b can be removed, see Fig. 4c and com- on Full‑Size Metallographic Images
pare with Fig. 3b. Finally, the removal of large edge areas is
conducted; its result is presented in Fig. 4d. Once each step of the proposed algorithm was implemented,
it was tested on several metallographic images of Duplex
3.3 Selective Blur and Phase Threshold 2205 stainless steel. Those results can be observed in
Fig. 6a, c, e, g, from which grain boundaries are delimited,
A selective blur was conducted on the previously processed and phases are inferred through the aforementioned meth-
image, illustrated in Fig.  5a, where the edge pixels are odology. Those results are shown in Fig. 6b, d, f, h, where
marked in black, and the result of this blur is presented in grain boundaries are delimited by black lines, whereas the
Fig. 5b, where the color for each delimited area has been phases are shaded by red (ferrite) or blue (austenite). A fact
homogenized. worth important to highlight the fact that Fig. 6g shows a
The interpolated reference color, used for choosing metallographic image of a welded joint with a low contrast,
phases, can be perceived in Fig. 5c, where the selected whose phases were satisfactorily identified, see Fig. 6h.

(a) (b) (c)

(d)

Fig. 4  a Thinning of edges based on the intensities of the Sobel operator magnitude, b filling of empty pixels surrounded by edge marked pixels,
c deletion of loose ends and isolated edge noise, d removal of large edge marked areas

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Fig. 5  a Original image with highlight edges (black), b selective blur, c interpolated reference color for ferritic phases, d ferritic (blue) and aus-
tenitic (white) phases in the sample image. (Color figure online)

a b c d

e f
g h

Fig. 6  Original metallographic images (a, c, e, g) and grain boundaries and phases found through the automatization process (b, d, f, h), where
the grain boundaries are highlight in black, red shaded zones are austenitic, and blue ones represent ferritic zones. (Color figure online)

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A comparison with other authors’ works using electron size of the Gaussian kernel is illustrated in Fig.  8a. An
backscatter diffraction (EBSD) was conducted [29, 30]. This improvement on the precision as high as 81.7% was achieved
method is highly accurate and produces a map of phases, with a 3 × 3 Gaussian kernel. The precision gradually drops
which was pixel-wise compared with the phases obtained by when larger Gaussian kernels were used. Nevertheless, the
the proposed methodology, then, the precision was obtained precision for a 19 × 19 Gaussian kernel (77.09%) was still
as the percentage of pixels whose phase matched between higher than that of the unnormalized Sobel operator.
both methods. This precision was found to be 90.23% with Figure 8b shows a precision analysis when the Sobel
a standard deviation of 2.2%. operator magnitude is normalized by its Gaussian average
The proposed methodology was also compared with magnitude (rugosity), which was conducted for different
results, where no map of phases was present, but the austen- kernel sizes. Again, higher precisions for the normalized
ite/ferrite content was stated and obtained by several meth- Sobel operator were found in comparison to the one of the
ods, such as EBSD, X-Ray, and Manual [3, 31–35]. The unnormalized version. The highest precision was 77.03% for
average discrepancy between the austenite content found 9 × 9 and 14 × 14 Gaussian kernels. However, this increase
in those works and the content predicted by the proposed is lesser than the one obtained for a Sobel operator with an
methodology was 6.3% with a standard deviation of 3.67%. intensity normalization and a 3 × 3 Gaussian kernel.
Further tests were conducted decreasing the weight of the
3.5 Assessment of the Influence of Normalization normalization process by raising the Gaussian average mag-
Methods on Phase Recognition nitude to a power smaller than one. Herein, powers of 0.7,
0.8, and 0.9 were employed. The precision for each chosen
In order to further assess the precision of each variation of power as a function of the size of the Gaussian kernel is also
the proposed methodology, a metallographic sample was shown in Fig. 8b. Here, an increase in precision was present
selected, whose edges and phases were manually defined, for small kernels, being 77.08% the highest precisions for
and then, a pixel-wise comparison was conducted between a power of 0.9 at an 11 × 11 Gaussian kernel, 77.12% for a
the phases obtained following the proposed methodology power of 0.8 at an 11 × 11, and 77.45% for a power of 0.7 at
and those manually defined. The precision was calculated as a 5 × 5 Gaussian kernel.
the percentage of pixels whose phases matched between the Finally, the rugosity normalization process was conducted
image manually obtained and that following the proposed on the previously intensity-normalized Sobel operator with a
methodology. The sample image and the target image with 3 × 3 Gaussian kernel. The precision as a function of the size
the manually assigned phases can be observed in Figs. 7a, of the Gaussian kernel is shown in Fig. 8c, where the results
b, respectively. are compared to that of a Sobel operator with the intensity
For each methodology, different edge detection thresholds normalization only. The rugosity normalizations carried out
were tested, and the one yielding the best precision, was with an integer power always yielded precisions lower than
selected. Those precisions are shown in Fig. 8a–c. the one with an intensity normalization and a 3 × 3 Gauss-
The precision of the Sobel operator without any normali- ian kernel. However, the rugosity normalization conducted
zation was found to be 75.61% (see dashed line in Figs. 8a, with the Sobel operator magnitude raised to powers of 0.7
b). Then, an intensity normalization previous to the Sobel and 0.8 presented higher precisions than the reference (the
operator was added, and the precision as a function of the one of a Sobel operator normalized only with intensity),
being 83.6% the highest precision for an intensity normal-
ized Sobel operator when a rugosity normalization is applied
with a 5 × 5 Gaussian kernel.
When larger images are processed, the same intensity
normalization process previously applied on the small sam-
ple (Fig. 7a) are still yielding accurate results. However, the
rugosity normalization with small Gaussian kernels, used
on the sample of Fig. 9a, presented a reduced precision for
images with larger resolutions. For example, Fig. 9a presents
an image sample with a pixel resolution of 858 × 697, took
from Topolska et al. [34], where dark and light areas are
pointed out, and a particularly blurred area is also marked.
When the process is conducted on Topolska’s sample, using
an intensity normalization with a 3 × 3 Gaussian kernel,
Fig. 7  a Sample image for conducting the precision analysis, b target and a rugosity normalization with a 5 × 5 Gaussian kernel,
image, where the phases were manually assigned whose magnitude is raised to the 0.7 power, the threshold

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Fig. 8  Precision between the target image and variations of the pro- c precision as a function of the normalization of rugosity when nor-
posed methodology. a Precision as a function of the normalization of malization of intensity is also applied
intensity, b precision as a function of the normalization of rugosity,

necessary for closing up all edges, delimiting the austenite/ affecting one of the steps of the proposed algorithms. The
ferrite areas, also produced a large amount of edges enclos- present code and executable are available under request.
ing undesired areas, see Fig. 9b. Whereas, when a 61 × 61
Gaussian kernel was used for the rugosity normalization,
and the intensity normalization was kept intact, the amount 4 Conclusions
of undesired areas was greatly reduced, without losing conti-
nuity on the blurred areas, see Figure c. This trend continued The process for finding the grain boundary and identifying
for an intensity normalization with a 121 × 121 Gaussian the austenite and ferrite phases from metallographic images
kernel, which produced even less undesired areas. There- of duplex 2205 stainless steel was automatized, first, through
fore, larger Gaussian kernels are advised for metallographic a Sobel operator method, and an improved version was pro-
images with high resolutions and different levels of detail, posed through normalizing the results by its local intensity
whereas the additional computational burden will only be average. Then, a sequence of post-process was conducted.

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(a) (b)

(c) (d)

Fig. 9  a Original metallographic image took from Topolska et  al. ian kernel, c a 61 × 61 Gaussian kernel, and d a 121 × 121 Gaussian
[34] (with permission of IMT publisher), and grain boundaries and kernel, where the grain boundaries are highlight in black, ferrite is
phases found by using a rugosity normalization with b a 5 × 5 Gauss- hued in green, and austenite is highlight in red. (Color figure online)

First, an intensity threshold, which was applied for delimit- a Sobel operator without any normalization, of whom, an
ing the edges that define the grain boundaries, then an edge intensity normalization with a 3 × 3 Gaussian Kernel was the
thinning is applied, in order to have grain boundaries with better single-normalization method with an 81.7% precision.
a thickness of one pixel between phases. After all grain’s Finally, several tests for Sobel operator, with both intensity
regions were delimited, edge segments forming loose ends, and rugosity normalizations, were carried out, and preci-
isolated noise, or both are deleted. Finally, in order to assign sion as high as 83.6% was found. The importance of using
a phase to each delimited grain, their colors were averaged larger Gaussian kernels for high-resolution metallographies
and compared with a reference color, which can vary along with different levels of detail along a single image was also
the metallographic image in order to compensate optical pointed out. This is due to the fact that the 3 × 3 Gaussian
aberrations presented on the image. filter useful in small metallographic images yielded a large
A comparison was carried out between the original Sobel amount of undesired delimited areas in large images with a
operator and several proposed normalized versions of the non-homogenous quality.
Sobel operator. Each comparison is conducted at a pixel- A pixel-wise comparison was also possible between the
wise level between the phases identified by each variation on phases other author’s obtained by using EBSD and the pro-
the algorithm and those manually determined. Sobel opera- posed methodology using the same images and a 90.23%
tors with a Gaussian normalization on either intensity or likelihood was found with a standard deviation of 2.2%.
rugosity yielded better results than the 75.61% precision of Another comparison was conducted between the reported

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percentage of austenite content found by other authors, using Howarth (Elsevier, New York, 1962), pp. 55–129. https​://doi.
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