Robert Collins

CSE486

Lecture 11:
LoG and DoG Filters
Robert Collins
CSE486
Today’s Topics

Laplacian of Gaussian (LoG) Filter

- useful for finding edges
- also useful for finding blobs!

approximation using Difference of Gaussian (DoG)

Robert Collins

Recall: First Derivative Filters

CSE486

• Sharp changes in gray level of the input

image correspond to “peaks or valleys” of
the first-derivative of the input signal.

F(x)
F ’(x)

x
(1D example)

O.Camps, PSU
Robert Collins
CSE486
Second-Derivative Filters

• Peaks or valleys of the first-derivative of the

input signal, correspond to “zero-crossings”
of the second-derivative of the input signal.

F(x) F ’(x) F’’(x)

O.Camps, PSU
Robert Collins
CSE486
Numerical Derivatives
See also T&V, Appendix A.2

Taylor Series expansion

add

Central difference approx

1 -2 1
to second derivative
Robert Collins
CSE486
Example: Second Derivatives
Ixx=d2I(x,y)/dx2

[ 1 -2 1 ]
I(x,y)
2nd Partial deriv wrt x

1
-2
1 Iyy=d2I(x,y)/dy2
2nd Partial deriv wrt y
Robert Collins
CSE486
Example: Second Derivatives
Ixx Iyy

benefit: you get clear localization of

the edge, as opposed to the “smear”
of high gradient magnitude values
across an edge
Robert Collins
CSE486
Compare: 1st vs 2nd Derivatives
Ixx Iyy

Ix Iy
Robert Collins
CSE486
Finding Zero-Crossings
An alternative approx to finding edges as peaks in
first deriv is to find zero-crossings in second deriv.
In 1D, convolve with [1 -2 1] and look for pixels
where response is (nearly) zero?
Problem: when first deriv is zero, so is second. I.e.
the filter [1 -2 1] also produces zero when convolved
with regions of constant intensity.

So, in 1D, convolve with [1 -2 1] and look for pixels

where response is nearly zero AND magnitude of
first derivative is “large enough”.
 Edge Detection Summary
Robert Collins
CSE486

1D 2D
y
step edge

F(x)
I(x) I(x,y) x
x
2nd deriv 1st deriv

dI(x) |∇I(x,y)| =(Ix 2(x,y) + Iy2(x,y))1/2 > Th

> Th
dx tan θ = Ix(x,y)/ Iy(x,y)

d2I(x) =0 ∇2I(x,y) =Ix x (x,y) + Iyy (x,y)=0

dx2
Laplacian
Robert Collins
CSE486
Finite Difference Laplacian

Laplacian filter ∇2I(x,y)

Robert Collins
CSE486
Example: Laplacian
I(x,y)
Ixx + Iyy
Robert Collins
CSE486
Example: Laplacian
Ixx Iyy

Ixx+Iyy
∇2I(x,y)
Robert Collins
CSE486
Notes about the Laplacian:
• ∇2I(x,y) is a SCALAR
– ↑ Can be found using a SINGLE mask
– ↓ Orientation information is lost
• ∇2I(x,y) is the sum of SECOND-order derivatives
– But taking derivatives increases noise
– Very noise sensitive!
• It is always combined with a smoothing operation:

I(x,y) O(x,y)
Smooth Laplacian

O.Camps, PSU
Robert Collins
CSE486
LoG Filter
• First smooth (Gaussian filter),
• Then, find zero-crossings (Laplacian filter):
– O(x,y) = ∇2(I(x,y) * G(x,y))

Laplacian of Laplacian of Gaussian (LoG)

Gaussian-filtered image -filtered image
Do you see the distinction?
O.Camps, PSU
Robert Collins
CSE486
1D Gaussian and Derivatives
x2
−
2σ 2
g ( x) = e

x2 x2
1 − 2 x − 2
g ' ( x) = − 2 2 xe 2σ
=− 2 e 2σ
2σ σ

2 x2
x 1 − 2σ 2
g ' ' ( x) = ( 43 − 2 )e
σ σ

O.Camps, PSU
Robert Collins
CSE486
Second Derivative of a Gaussian

2 x2
x 1 − 2
g ' ' ( x) = ( 43 − 2 )e 2σ
σ σ

2D
analog

LoG “Mexican Hat”

O.Camps, PSU
Robert Collins
CSE486
Effect of LoG Operator
Original LoG-filtered

Band-Pass Filter (suppresses both high and low frequencies)

Why? Easier to explain in a moment.
Robert Collins
CSE486
Zero-Crossings as an Edge Detector
Raw zero-crossings (no contrast thresholding)

LoG sigma = 2, zero-crossing

Robert Collins
CSE486
Zero-Crossings as an Edge Detector
Raw zero-crossings (no contrast thresholding)

LoG sigma = 4, zero-crossing

Robert Collins
CSE486
Zero-Crossings as an Edge Detector
Raw zero-crossings (no contrast thresholding)

LoG sigma = 8, zero-crossing

Robert Collins
CSE486
Note: Closed Contours
You may have noticed that zero-crossings form
closed contours. It is easy to see why…

Think of equal-elevation
contours on a topo map.

Each is a closed contour.

Zero-crossings are contours
at elevation = 0 .

remember that in our case, the height map is of a LoG filtered

image - a surface with both positive and negative “elevations”
Robert Collins
CSE486 Other uses of LoG:
Blob Detection

Lindeberg: ``Feature detection with automatic

scale selection''. International Journal of
Computer Vision, vol 30, number 2, pp. 77--
116, 1998.
Robert Collins
CSE486
Pause to Think for a Moment:

How can an edge finder also be used to

find blobs in an image?
Robert Collins
CSE486
Example: LoG Extrema

LoG maxima
sigma = 2

minima
Robert Collins
CSE486
LoG Extrema, Detail
maxima

LoG sigma = 2
Robert Collins
CSE486
LoG Blob Finding
LoG filter extrema locates “blobs”
maxima = dark blobs on light background
minima = light blobs on dark background

Scale of blob (size ; radius in pixels) is determined

by the sigma parameter of the LoG filter.

LoG sigma = 2 LoG sigma = 10

Robert Collins
CSE486
Observe and Generalize
convolve result
with LoG

maxima
Robert Collins
CSE486
Observe and Generalize

LoG looks a bit

like an eye.

and it responds
maximally in the
eye region!
Robert Collins
CSE486
Observe and Generalize
LoG Derivative of Gaussian

Looks like dark blob Looks like vertical and

on light background horizontal step edges

Recall: Convolution (and cross correlation) with a

filter can be viewed as comparing a little “picture” of
what you want to find against all local regions in the
mage.
Robert Collins
CSE486
Observe and Generalize
Key idea: Cross correlation with a filter can be viewed
as comparing a little “picture” of what you want to find
against all local regions in the image.

Maximum response: Maximum response:

dark blob on light background vertical edge; lighter on left
Minimum response: Minimum response:
light blob on dark background vertical edge; lighter on right
Robert Collins
CSE486 Efficient Implementation
Approximating LoG with DoG
LoG can be approximate by a Difference of two
Gaussians (DoG) at different scales

1D example

M.Hebert, CMU
Robert Collins
CSE486
Efficient Implementation

LoG can be approximate by a Difference of two

Gaussians (DoG) at different scales.

Separability of and cascadability of Gaussians applies

to the DoG, so we can achieve efficient implementation
of the LoG operator.

DoG approx also explains bandpass filtering of LoG

(think about it. Hint: Gaussian is a low-pass filter)
Robert Collins
CSE486
Back to Blob Detection

Lindeberg: blobs are detected

as local extrema in space and
scale, within the LoG (or DoG)
scale-space volume.
Robert Collins
CSE486
Other uses of LoG:
Blob Detection

Gesture recognition for

the ultimate couch potato
Robert Collins
CSE486
Other uses for LOG:
Image Coding
• Coarse layer of the Gaussian pyramid predicts the
appearance of the next finer layer.
• The prediction is not exact, but means that it is not
necessary to store all of the next fine scale layer.
• Laplacian pyramid stores the difference.
Robert Collins
CSE486
Other uses for LOG:
Image Coding
256x256 128x128 64x64 32x32

takes less bits to store

compressed versions of
these than to compress
the original full-res
256x256 128x128 64x64 greyscale image

The Laplacian Pyramid as a Compact Image Code Burt, P., and Adelson, E. H.,
IEEE Transactions on Communication, COM-31:532-540 (1983).