Texts in Computer Science

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Wilhelm Burger
Mark J. Burge

Digital Image
Processing
An Algorithmic Introduction Using Java
Second Edition

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Texts in Computer Science

Series Editors
David Gries
Fred B. Schneider

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Wilhelm Burger • Mark J. Burge

Digital Image Processing

An Algorithmic Introduction
Using Java

Second Edition

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Wilhelm Burger Mark J. Burge

School of Informatics/ Noblis, Inc.
Communications/Media Washington, DC, USA
Upper Austria University
of Applied Sciences
Hagenberg, Austria

Series Editors
David Gries Fred B. Schneider
Department of Computer Science Department of Computer Science
Cornell University Cornell University
Ithaca, NY, USA Ithaca, NY, USA

ISSN 1868-0941 ISSN 1868-095X (electronic)

Texts in Computer Science
ISBN 978-1-4471-6683-2 ISBN 978-1-4471-6684-9 (eBook)
DOI 10.1007/978-1-4471-6684-9

Library of Congress Control Number: 2016933770

© Springer-Verlag London 2008, 2016

The author(s) has/have asserted their right(s) to be identified as the author(s) of this work in
accordance with the Copyright, Design and Patents Act 1988.
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and transmission or information storage and retrieval, electronic adaptation, computer
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Preface

This book provides a modern, self-contained introduction to digital

image processing. We designed the book to be used both by learners
desiring a firm foundation on which to build as well as practitioners
in search of detailed analysis and transparent implementations of the
most important techniques. This is the second English edition of the
original German-language book, which has been widely used by:
• Scientists and engineers who use image processing as a tool and
wish to develop a deeper understanding and create custom solu-
tions to imaging problems in their field.
• IT professionals wanting a self-study course featuring easily
adaptable code and completely worked out examples, enabling
them to be productive right away.
• Faculty and students desiring an example-rich introductory text-
book suitable for an advanced undergraduate or graduate level
course that features exercises, projects, and examples that have
been honed during our years of experience teaching this material.
While we concentrate on practical applications and concrete imple-
mentations, we do so without glossing over the important formal
details and mathematics necessary for a deeper understanding of the
algorithms. In preparing this text, we started from the premise that
simply creating a recipe book of imaging solutions would not provide
the deeper understanding needed to apply these techniques to novel
problems, so instead our solutions are developed stepwise from three
different perspectives: in mathematical form, as abstract pseudocode
algorithms, and as complete Java programs. We use a common no-
tation to intertwine all three perspectives—providing multiple, but
linked, views of the problem and its solution.

Prerequisites
Instead of presenting digital image processing as a mathematical dis-
cipline, or strictly as signal processing, we present it from a practi-
tioner’s and programmer’s perspective and with a view toward re-
placing many of the formalisms commonly used in other texts with
constructs more readily understandable by our audience. To take full
advantage of the programming components of this book, a knowledge
of basic data structures and object-oriented programming, ideally in
Java, is required. We selected Java for a number of reasons: it is
the first programming language learned by students in a wide vari-
ety of engineering curricula, and professionals with knowledge of a
related language, especially C# or C++, will find the programming
examples easy to follow and extend.
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Preface The software in this book is designed to work with ImageJ,
a widely used, programmer-extensible, imaging system developed,
maintained, and distributed by the National Institutes of Health
(NIH).1 ImageJ is implemented completely in Java, and therefore
runs on all major platforms, and is widely used because its “plugin”-
based architecture enables it to be easily extended. While all exam-
ples run in ImageJ, they have been specifically designed to be easily
ported to other environments and programming languages.

Use in research and development

This book has been especially designed for use as a textbook and as
such features exercises and carefully constructed examples that sup-
plement our detailed presentation of the fundamental concepts and
techniques. As both practitioners and developers, we know that the
details required to successfully understand, apply, and extend classi-
cal techniques are often difficult to find, and for this reason we have
been very careful to provide the missing details, many gleaned over
years of practical application. While this should make the text par-
ticularly valuable to those in research and development, it is not de-
signed as a comprehensive, fully-cited scientific research text. On the
contrary, we have carefully vetted our citations so that they can be
obtained from easily accessible sources. While we have only briefly
discussed the fundamentals of, or entirely omitted, topics such as
hierarchical methods, wavelets, or eigenimages because of space lim-
itations, other topics have been left out deliberately, including ad-
vanced issues such as object recognition, image understanding, and
three-dimensional (3D) computer vision. So, while most techniques
described in this book could be called “blind and dumb”, it is our
experience that straightforward, technically clean implementations
of these simpler methods are essential to the success of any further
domain-specific, or even “intelligent”, approaches.
If you are only in search of a programming handbook for Im-
ageJ or Java, there are certainly better sources. While the book
includes many code examples, programming in and of itself is not
our main focus. Instead Java serves as just one important element
for describing each technique in a precise and immediately testable
way.

Classroom use

Whether it is called signal processing, image processing, or media

computation, the manipulation of digital images has been an integral
part of most computer science and engineering curricula for many
years. Today, with the omnipresence of all-digital work flows, it has
become an integral part of the required skill set for professionals in
many diverse disciplines.
Today the topic has migrated into the early stages of many cur-
ricula, where it is often a key foundation course. This migration
uncovered a problem in that many of the texts relied on as standards
1
http://rsb.info.nih.gov/ij/.
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in the older graduate-level courses were not appropriate for begin- Preface
ners. The texts were usually too formal for novices, and at the same
time did not provide detailed coverage of many of the most popular
methods used in actual practice. The result was that educators had
a difficult time selecting a single textbook or even finding a compact
collection of literature to recommend to their students. Faced with
this dilemma ourselves, we wrote this book in the sincere hope of
filling this gap.
The contents of the following chapters can be presented in either
a one- or two-semester sequence. Where feasible, we have added
supporting material in order to make each chapter as independent
as possible, providing the instructor with maximum flexibility when
designing the course. Chapters 18–20 offer a complete introduction to
the fundamental spectral techniques used in image processing and are
essentially independent of the other material in the text. Depending
on the goals of the instructor and the curriculum, they can be covered
in as much detail as required or completely omitted. The following
road map shows a possible partitioning of topics for a two-semester
syllabus.

Road Map for a 1/2-Semester Syllabus Sem. 1 2

1. Digital Images . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
2. ImageJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
3. Histograms and Image Statistics . . . . . . . . . . . . . . . . . . . . . .  
4. Point Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
5. Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
6. Edges and Contours . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
7. Corner Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
8. The Hough Transform: Finding Simple Curves . . . . . . . .  
9. Morphological Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
10. Regions in Binary Images . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
11. Automatic Thresholding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
12. Color Images . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
13. Color Quantization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
14. Colorimetric Color Spaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
15. Filters for Color Images . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
16. Edge Detection in Color Images . . . . . . . . . . . . . . . . . . . . . . .  
17. Edge-Preserving Smoothing Filters . . . . . . . . . . . . . . . . . . . .  
18. Introduction to Spectral Techniques . . . . . . . . . . . . . . . . . . .  
19. The Discrete Fourier Transform in 2D . . . . . . . . . . . . . . . . .  
20. The Discrete Cosine Transform (DCT) . . . . . . . . . . . . . . . .  
21. Geometric Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
22. Pixel Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
23. Image Matching and Registration . . . . . . . . . . . . . . . . . . . . .  
24. Non-Rigid Image Matching . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
25. Scale-Invariant Local Features (SIFT) . . . . . . . . . . . . . . . . .  
26. Fourier Shape Descriptors . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  

Addendum to the second edition

This second edition is based on our completely revised German third

edition and contains both additional material and several new chap-
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Preface ters including: automatic thresholding (Ch. 11), filters and edge de-
tection for color images (Chs. 15 and 16), edge-preserving smoothing
filters (Ch. 17), non-rigid image matching (Ch. 24), and Fourier shape
descriptors (Ch. 26). Much of this new material is presented for the
first time at the level of detail necessary to completely understand
and create a working implementation.
The two final chapters on SIFT and Fourier shape descriptors
are particularly detailed to demonstrate the actual level of granu-
larity and the special cases which must be considered when actually
implementing complex techniques. Some other chapters have been
rearranged or split into multiple parts for more clarity and easier use
in teaching. The mathematical notation and programming examples
were completely revised and almost all illustrations were adapted or
created anew for this full-color edition.
For this edition, the ImageJ Short Reference and ancillary source
code have been relocated from the Appendix and the most re-
cently versions are freely available in electronic form from the book’s
website. The complete source code, consisting of the common
imagingbook library, sample ImageJ plugins for each book chapter,
and extended documentation are available from the book’s Source-
Forge site.2

Online resources
Visit the website for this book
www.imagingbook.com

to download supplementary materials, including the complete Java

source code for all examples and the underlying software library, full-
size test images, useful references, and other supplements. Com-
ments, questions, and corrections are welcome and may be ad-
dressed to
[email protected]

Exercises and solutions

Each chapter of this book contains a set of sample exercises, mainly
for supporting instructors to prepare their own assignments. Most of
these tasks are easy to solve after studying the corresponding chapter,
while some others may require more elaborated reasoning or experi-
mental work. We assume that scholars know best how to select and
adapt individual assignments in order to fit the level and interest of
their students. This is the main reason why we have abstained from
publishing explicit solutions in the past. However, we are happy to
answer any personal request if an exercise is unclear or seems to elude
a simple solution.

Thank you!
This book would not have been possible without the understanding
and support of our families. Our thanks go to Wayne Rasband at
NIH for developing ImageJ and for his truly outstanding support of
2
http://sourceforge.net/projects/imagingbook/.
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the community and to all our readers of the previous editions who Preface
provided valuable input, suggestions for improvement, and encour-
agement. The use of open source software for such a project always
carries an element of risk, since the long-term acceptance and conti-
nuity is difficult to assess. Retrospectively, choosing ImageJ as the
software basis for this work was a good decision, and we would con-
sider ourselves happy if our book has indirectly contributed to the
success of the ImageJ project itself. Finally, we owe a debt of grati-
tude to the professionals at Springer, particularly to Wayne Wheeler
and Simon Reeves who were responsible for the English edition.

Hagenberg / Washington D.C.

Fall 2015

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