CS589-04 Digital Image Processing

Lecture 2. Intensity
Transformation and Spatial
Filtering
Spring 2008
New Mexico Tech

Spatial Domain vs. Transform Domain

Spatial

domain

image plane itself, directly process the intensity

values of the image plane
Transform

domain

process the transform coefficients, not directly

process the intensity values of the image plane

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Spatial Domain Process

g ( x, y ) T [ f ( x, y )])
f ( x, y ) : input image
g ( x, y ) : output image
T : an operator on f defined over
a neighborhood of point ( x, y)
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Spatial Domain Process

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Spatial Domain Process

Intensity transformation function

s T (r )

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Some Basic Intensity Transformation

Functions

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Image Negatives
Image negatives
s L 1 r

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Example: Image Negatives

Small
lesion

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Log Transformations
Log Transformations
s c log(1 r )

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Example: Log Transformations

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Power-Law (Gamma) Transformations

s cr

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Example: Gamma Transformations

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Example: Gamma Transformations

Cathode ray tube
(CRT) devices have
an intensity-tovoltage response
that is a power
function, with
exponents varying
from approximately
1.8 to 2.5

sr

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Example: Gamma Transformations

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Example: Gamma Transformations

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Piecewise-Linear Transformations
Contrast

Stretching

Expands the range of intensity levels in an image so that it

spans the full intensity range of the recording medium or
display device.

Intensity-level

Slicing

Highlighting a specific range of intensities in an image often

is of interest.

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Highlight the major

blood vessels and
study the shape of
the flow of the
contrast medium
(to detect
blockages, etc.)

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Measuring the
actual flow of the
contrast medium as
a function of time
in a series of
images

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Bit-plane Slicing

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Bit-plane Slicing

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Bit-plane Slicing

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Histogram Processing

Histogram Equalization

Histogram Matching

Local Histogram Processing

Using Histogram Statistics for Image Enhancement

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Histogram Processing
Histogram h( rk ) nk
rk is the k th intensity value
nk is the number of pixels in the image with intensity rk

nk
Normalized histogram p(rk )
MN
nk : the number of pixels in the image of
size M N with intensity rk
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Histogram Equalization
The intensity levels in an image may be viewed as
random variables in the interval [0, L-1].
Let pr ( r ) and ps ( s) denote the probability density
function (PDF) of random variables r and s.

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Histogram Equalization
s T (r )

0 r L 1

a. T(r) is a strictly monotonically increasing function

in the interval 0 r L -1;
b. 0 T (r ) L -1 for 0 r L -1.

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Histogram Equalization
s T (r )

0 r L 1

a. T(r) is a strictly monotonically increasing function

in the interval 0 r L -1;
b. 0 T (r ) L -1 for 0 r L -1.

T (r ) is continuous and differentiable.

ps ( s)ds pr (r )dr
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Histogram Equalization
r

s T (r ) ( L 1) pr ( w)dw
0

ds dT (r )
d

( L 1)
dr
dr
dr

pr ( w)dw

( L 1) pr ( r )
pr (r )dr pr (r )
1
pr (r )
ps ( s )

( L 1) pr (r ) L 1
ds
ds

dr
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Example
Suppose that the (continuous) intensity values
in an image have the PDF

pr (r )

2r
,
2
( L 1)
0,

for 0 r L-1
otherwise

Find the transformation function for equalizing

the image histogram.
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Example
r

s T (r ) ( L 1) pr ( w)dw
0

( L 1)

2w
dw
2
( L 1)

L 1

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Histogram Equalization

Continuous case:
r

s T (r ) ( L 1) pr ( w)dw
0

Discrete values:
k

sk T (rk ) ( L 1) pr (rj )
j 0

nj

L 1 k
( L 1)

nj

MN j 0
j 0 MN
k

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k=0,1,..., L-1
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Example: Histogram Equalization

Suppose that a 3-bit image (L=8) of size 64 64 pixels (MN
= 4096) has the intensity distribution shown in following
table.
Get the histogram equalization transformation function and
give the ps(sk) for each sk.

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Example: Histogram Equalization

s0 T (r0 ) 7 pr (rj ) 7 0.19 1.33

s1 T (r1 ) 7 pr (rj ) 7 (0.19 0.25) 3.08

j 0
1

j 0

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s2 4.55 5

s3 5.67 6

s4 6.23 6

s5 6.65 7

s6 6.86 7

s7 7.00 7
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Example: Histogram Equalization

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Question
Is histogram equalization always
good?

No

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Histogram Matching
Histogram matching (histogram
specification)
Let pr ( r ) and
pz ( z ) denote
the continous
generate
a processed
image
that has aprobability
specified
histogram
density functions of the variables r and z. p ( z ) is the
z

specified probability density function.

Let s be the random variable with the probability
r

s T ( r ) ( L 1) pr ( w) dw
0

Define a random variable z with the probability

z

G ( z ) ( L 1) p z (t ) dt s
0

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Histogram Matching
r

s T (r ) ( L 1) pr ( w)dw
0

G ( z ) ( L 1) pz (t ) dt s
0

z G (s) G
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T (r )
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Histogram Matching: Procedure

Obtain pr(r) from the input image and then obtain the
values of s
r

s ( L 1) pr ( w)dw
0

Use the specified PDF and zobtain the transformation

function G(z)
G ( z ) ( L 1) p (t )dt s

Mapping fromz stoGz

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( s)
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Histogram Matching: Example

Assuming continuous intensity values, suppose that an
image has the intensity PDF

pr (r )

2r
,
2
( L 1)
0,

for 0 r L -1
otherwise

Find the transformation function that will produce an

image whose intensity PDF is

pz ( z )

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3z 2
,
3
( L 1)
0,

for 0 z ( L -1)
otherwise
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Histogram Matching: Example

Find the histogram equalization transformation for the input
image
r

s T (r ) ( L 1) pr ( w)dw ( L 1)

r
2w
dw
2
( L 1)
L 1

Find the histogram equalization transformation

for the3 specified
2
z
z
3t
z
histogram
G ( z ) ( L 1) p (t )dt ( L 1)
dt
s

( L 1)3

r
The transformation
z ( L 1) s function
( L 1)

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1/3

( L 1) 2

1/3

( L 1) r

2 1/3

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Histogram Matching: Discrete Cases

Obtain pr(rj) from the input image and then obtain the
values of sk, round the value to the integer range [0, L-1].

( L 1) k
sk T (rk ) ( L 1) pr (rj )
nj

MN j 0
j 0
k

Use the specified PDF and obtain the transformation

function G(zq), round the value to the integer range [0, Lq
1].

G ( zq ) ( L 1) pz ( zi ) sk
i 0

Mapping from sk to zq zq

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G 1 ( sk )
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Example: Histogram Matching

Suppose that a 3-bit image (L=8) of size 64 64 pixels (MN
= 4096) has the intensity distribution shown in the following
table (on the left). Get the histogram transformation function
and make the output image with the specified histogram,
listed in the table on the right.

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Example: Histogram Matching

Obtain the scaled histogram-equalized values,

s0 1, s1 3, s2 5, s3 6, s4 7,
s5 7, s6 7, s7 7.
Compute all the values of the transformation function G,
0

G ( z0 ) 7 pz ( z j ) 0.00
j 0

G ( z1 ) 0.00

G ( z3 ) 1.05

G ( z7 ) 7.00

G ( z5 ) 4.55 5

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0
G( z2 ) 0.00 0

G( z4 ) 2.45 2

G( z6 ) 5.95 6

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Example: Histogram Matching

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Example: Histogram Matching

Obtain the scaled histogram-equalized values,

s0 1, s1 3, s2 5, s3 6, s4 7,
s5 7, s6 7, s7 7.
Compute all the values of the transformation function G,
0

G ( z0 ) 7 pz ( z j ) 0.00
j 0

G ( z1 ) 0.00
G ( z3 ) 1.05

1 s0

G ( z5 ) 4.55 5
G ( z7 ) 7.00
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s2

0
G( z2 ) 0.00 0

G( z4 ) 2.45 2 s1

G( z6 ) 5.95 6 s3

s4 s5 s6 s7
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Example: Histogram Matching

s0 1, s1 3, s2 5, s3 6, s4 7,
s5 7, s6 7, s7 7.
rk
0
1
2
3
4
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5
6
7

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Example: Histogram Matching

rk zq
03
1 4
25
36
47
57
67
77
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Example: Histogram Matching

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Example: Histogram Matching

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Example: Histogram Matching

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Local Histogram Processing

Define a neighborhood and move its center from
pixel to pixel
At each location, the histogram of the points in the
neighborhood is computed. Either histogram
equalization or histogram specification
transformation function is obtained
Map the intensity of the pixel centered in the
neighborhood
Move to the next location and repeat the procedure
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Local Histogram Processing: Example

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Using Histogram Statistics for Image

Enhancement
Average Intensity L 1

m ri p (ri )
i 0

MN

M 1 N 1

f ( x, y )
x 0 y 0

L 1

un (r ) (ri m) n p(ri )
i 0

Variance

L 1

u2 (r ) (ri
2

i 0

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1
2

m) p (ri )
MN

M 1 N 1

x 0 y 0

f ( x, y ) m

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Using Histogram Statistics for Image

Enhancement
Local average intensity
L 1

msxy ri psxy (ri )

i 0

sxy denotes a neighborhood

Local variance

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2
s xy

L 1

(ri msxy ) psxy (ri )

2

i 0

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Using Histogram Statistics for Image

Enhancement: Example
E gf ( x, y ), if msxy k0 mG and k1 G sxy k 2 G

g ( x, y )

f ( x, y ),

otherwise

G : global standard deviation

k0 0.4; k1 0.02; k2 0.4; E 4
mG : global mean;

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Spatial Filtering
A spatial filter consists of (a) a neighborhood, and
(b) a predefined operation
Linear spatial filtering of an image of size MxN with
a filter of size mxn is given by the expression

g ( x, y )

w(s, t ) f ( x s, y t )

s a t b

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Spatial Filtering

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Spatial Correlation
The correlation of a filter w( x, y ) of size m n
with an image f ( x, y ), denoted as w( x, y) f ( x, y)
w( x, y )

f ( x, y )

w(s, t ) f ( x s, y t )

s a t b

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Spatial Convolution
The convolution of a filter w( x, y) of size m n
with an image f ( x, y ), denoted as w( x, y) f ( x, y)
w( x, y )

f ( x, y )

w( s, t ) f ( x s, y t )

s a t b

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Smoothing Spatial Filters

Smoothing filters are used for blurring and for noise
reduction
Blurring is used in removal of small details and
bridging of small gaps in lines or curves
Smoothing spatial filters include linear filters and
nonlinear filters.

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Spatial Smoothing Linear Filters

The general implementation for filtering an M N image
with a weighted averaging filter of size m n is given
a

g ( x, y )

w(s, t ) f ( x s, y t )

s a t b

w(s, t )

s a t b

where m 2a 1,
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n 2b 1.
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Two Smoothing Averaging Filter Masks

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Example: Gross Representation of Objects

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Order-statistic (Nonlinear) Filters

Nonlinear
Based on ordering (ranking) the pixels contained
in the filter mask
Replacing the value of the center pixel with the
value determined by the ranking result
E.g., median filter, max filter, min filter

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Example: Use of Median Filtering for Noise

Reduction

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Sharpening Spatial Filters

Foundation

Laplacian Operator

Unsharp Masking and Highboost Filtering

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Using First-Order Derivatives for Nonlinear Image

Sharpening The Gradient

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Sharpening Spatial Filters: Foundation

The first-order derivative of a one-dimensional

function f(x) is the difference

f
f ( x 1) f ( x)
x

The second-order derivative of f(x) as the difference

2 f
f ( x 1) f ( x 1) 2 f ( x)
2
x
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Sharpening Spatial Filters: Laplace Operator

The second-order isotropic derivative operator is the
Laplacian for a function (image) f(x,y)
2
2

f
2
f 2 2
x
y

2 f
f ( x 1, y ) f ( x 1, y ) 2 f ( x, y )
2
x
2 f
f ( x, y 1) f ( x, y 1) 2 f ( x, y )
2
y

2 f f ( x 1, y ) f ( x 1, y ) f ( x, y 1) f ( x, y 1)
- 4 f ( x, y )
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Sharpening Spatial Filters: Laplace Operator

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Sharpening Spatial Filters: Laplace Operator

Image sharpening in the way of using the Laplacian:

g ( x, y ) f ( x, y ) c 2 f ( x, y )
where,
f ( x, y ) is input image,
g ( x, y ) is sharpenend images,
c -1 if 2 f ( x, y ) corresponding to Fig. 3.37(a) or (b)
and c 1 if either of the other two filters is used.

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Unsharp Masking and Highboost Filtering

Unsharp masking
Sharpen images consists of subtracting an unsharp
(smoothed) version of an image from the original image
e.g., printing and publishing industry

Steps
1. Blur the original image
2. Subtract the blurred image from the original
3. Add the mask to the original

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Unsharp Masking and Highboost Filtering

Let f ( x, y ) denote the blurred image, unsharp masking is
g mask ( x, y ) f ( x, y ) f ( x, y)
Then add a weighted portion of the mask back to the original
g ( x, y ) f ( x, y ) k * g mask ( x, y )
k 0
when k 1, the process is referred to as highboost filtering.

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Unsharp Masking: Demo

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Unsharp Masking and Highboost Filtering:

Example

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Image Sharpening based on First-Order

Derivatives
For function f ( x, y ), the gradient of f at coordinates ( x, y )
is defined as
g x
f grad( f )
g y

f
x

f
y

The magnitude of vector f , denoted as M ( x, y )

Gradient Image
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M ( x, y ) mag(f ) g x 2 g y 2
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Image Sharpening based on First-Order

Derivatives

The magnitude of vector f , denoted as M ( x, y )

M ( x, y ) mag(f ) g x 2 g y 2

M ( x, y ) | g x | | g y |
z1 z2 z3
z4 z5 z6

M ( x, y ) | z8 z5 | | z6 z5 |

z7 z8 z9
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Image Sharpening based on First-Order

Derivatives
Roberts Cross-gradient Operators
M ( x, y ) | z9 z5 | | z8 z6 |

z1 z2 z3

Sobel Operators
M ( x, y ) | ( z7 2 z8 z9 ) ( z1 2 z2 z3 ) |
| ( z3 2 z6 z9 ) ( z1 2 z4 z7 ) |

z4 z5 z6
z7 z8 z9
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Image Sharpening based on First-Order

Derivatives

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Example

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Example:
Combining
Spatial
Enhancement
Methods
Goal:
Enhance the
image by
sharpening it
and by
bringing out
more of the
skeletal detail
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Example:
Combining
Spatial
Enhancement
Methods
Goal:
Enhance the
image by
sharpening it
and by
bringing out
more of the
skeletal detail
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