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Tell you how to do median filter for ultrasonic sensor

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**• In signal processing, it is often desirable to be able to perform some
**

kind of noise reduction on an image or signal. The median filter is a

nonlinear digital filtering technique, often used to remove noise. Such

noise reduction is a typical pre-processing step to improve the results

of later processing (for example, edge detection on an image).

Median filtering is very widely used in digital image processing

because, under certain conditions, it preserves edges while removing

noise (but see discussion below).

• The main idea of the median filter is to run through the signal entry

by entry, replacing each entry with the median of neighboring entries.

The pattern of neighbors is called the "window", which slides, entry

by entry, over the entire signal. For 1D signals, the most obvious

window is just the first few preceding and following entries, whereas

for 2D (or higher-dimensional) signals such as images, more complex

window patterns are possible (such as "box" or "cross" patterns).

Note that if the window has an odd number of entries, then the

median is simple to define: it is just the middle value after all the

entries in the window are sorted numerically. For an even number of

entries, there is more than one possible median, see median for more

details

• Typically, by far the majority of the computational effort and time is spent

on calculating the median of each window. Because the filter must process

every entry in the signal, for large signals such as images, the efficiency of

this median calculation is a critical factor in determining how fast the

algorithm can run. The "vanilla" implementation described above sorts

every entry in the window to find the median; however, since only the

middle value in a list of numbers is required, selection algorithms can be

much more efficient. Furthermore, some types of signals (very often the

case for images) use whole number representations: in these cases,

histogram medians can be far more efficient because it is simple to update

the histogram from window to window, and finding the median of a

histogram is not particularly onerous.

The image now is much smoother and the effect of the dead pixels has been reduced substantially. However, the effect of

the dead pixels is still present, we lost a lot of detail and the nice sharp edges that we had before (e.g., the silhouette of

the baby) are now blurred:

Depending of the application the mean filter might be enough. However, with images it is usually the case that we, people,

are pretty good at spotting defects and the image above does not look good. Noisy images often cannot be used for

automatic computer processing either. Enter the median filter. Following Sebastian's instructions, we now sort al the pixels

in the 5x5 grid above:

12, 195, 196, 197, 197, ... , 205, 205, 206, 207

and then we find the one in the middle of the sorted list, ie., 201 (the 13th pixel). When we do this same process with every

pixel of the image, (in which now 201 replaces the original 205) the result is:

which is a much better compromise between removing noise and preserving image information. In particular, the outliers

(i.e, the dead pixels on the sky) have been completely eliminated, the image is less blurred and the silhouette of the baby

is even sharper that before:

Both the mean and the median filters are used a lot in image processing, in particular in real-time applications, like

robotics, in which noise would mess up calculations but for which you do not have the time to spare to compute more

expensive filters. For example, there are median filter implementations running in the rovers in Mars in both navigation and

science tasks

Median filter algorithm:

1.Place a window over element;

2.Pick up elements;

3.Order elements;

4.Take the middle element.

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