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output image
Spatial Filtering (cont’d)
• Need to define:
(1) a neighborhood (or mask)
(2) an operation
output image
Spatial Filtering – Neighborhood
• Defines which pixels will be processed.
• Usually, it has a square shape K x K.
– e.g., 3x3 or 5x5
Spatial filtering - Operation
• Defines how to manipulate the pixel values within
the specified neighborhood.
output image
Linear vs Non-Linear filters
• A filter is called linear/non-linear when the operator being used is
linear/non-linear.
output image
Linear Operators
f(i,j)
Filtered image is
generated by moving
the center of the mask
at every location.
K /2 K /2
g (i, j ) w(i, j ) f (i, j )
s K /2 t K /2
w( s, t ) f (i s, j t )
Handling Locations Close to Boundaries
0 0 0 ……………………….0
Correlation (cont’d)
K /2 K /2
g (i, j ) w(i, j ) f (i, j )
s K /2 t K /2
w( s, t ) f (i s, j t )
Correlation:
Convolution:
Filter Categories
• Averaging
• Gaussian
15x15 25x25
Smoothing Filters: Averaging (cont’d)
Example: extract largest, brightest objects
Gaussian
Smoothing Filters: Median Filtering
(non-linear)
• Very effective for removing “salt and pepper” noise (i.e.,
random occurrences of black and white pixels).
median
averaging filtering
Smoothing Filters: Median Filtering (cont’d)
• Replace each pixel by the median in a neighborhood
around the pixel.
• The size of the neighborhood controls the amount of
smoothing.
Common Sharpening Filters
• Unsharp masking
• High Boost filter
• Gradient (1st derivative)
• Laplacian (2nd derivative)
Sharpening Filters: Unsharp Masking
• Obtain a sharp image by subtracting a lowpass filtered
(i.e., smoothed) image from the original image:
- =
(with some contrast
enhancement)
Sharpening Filters: High Boost
• Image sharpening emphasizes edges but details are lost.
• Idea: amplify input image, then subtract a lowpass image.
Note: textbook’s
formulation is
slightly different but
in essence equivalent.
(A-1) + =
Sharpening Filters: High Boost (cont’d)
• If A=1, the result is unsharp masking.
• If A>1, part of the original image is added back to the high
pass filtered image.
High boost
One way to
implement high boost
filtering is using these
masks:
Sharpening Filters: High Boost (cont’d)
A=1.4 A=1.9
Sharpening Filters: Derivatives
• The derivative of an image results in a sharpened image.
(approximation)
f f
or | || |
x y
Gradient (cont’d)
Δx
y
Gradient Computation (cont’d)
f(x3,y3)-f(x3,y2)
sensitive to horizontal edges
y3-y2
f
x
f
y
Implement Gradient Using Masks
(x+1/2,y)
good approximation
at (x+1/2,y) (x,y+1/2)
*
*
good approximation
at (x,y+1/2)
Implement Gradient Using Masks (cont’d)
Prewitt
Sobel
Example: Gradient Magnitude Image
• The gradient magnitude can be visualized by mapping the
values to [0, 255]
f Gradient Magnitude
x
f
y
(isotropic, i.e.,
edges in all directions)
Second Derivative
f ( x) f ( x 1) f ( x)
f ( x) f ( x 1) f ( x) f ( x 1) f ( x 1) 2 f ( x)
Second Derivative (cont’d)
• Often, points that lie on an edge
can be detected by:
Example:
Laplacian
The Laplacian is defined as:
(dot product)
Approximate
2nd derivatives:
Laplacian (cont’d)
Laplacian Mask
5 5 5 Edges can
5 -10 -5 -5
be found
5 -10
by detecting
10
the zero-
-10
crossings
Example: Laplacian vs Gradient
Laplacian Sobel