ME5405

NATIONAL UNIVERSITY OF SINGAPORE

FACULTY OF ENGINEERING


EXAMINATION FOR

(Semester 1: AY2011-2012)

ME5405 MACHINE VISION


NOV/DEC 2011 - Time Allowed: 2.5 Hours





INSTRUCTIONS TO CANDIDATES:


1. This examination paper contains FOUR (4) questions and comprises EIGHT(8)
printed pages.


2. Answer ALL FOUR (4) questions.

3. All questions carry equal marks.


4 This is an OPEN BOOK examination.


Pg 2 ME5405

Question 1

Figure 1(a) shows a pair of cameras A and B for inspecting letter.

(a)



(b)
Figure 1. A machine vision system for inspecting letter.

(a) Assuming that the cameras are identical with the same focal length 0.05 m, and that
the coordinate systems of both cameras are perfectly aligned, differing only in the
location of their origins. Figure 1(b) shows the two image points corresponding to a
same space point w at the tip of a letter. Suppose that the two CCD cameras are at a
distance of 0.01 m apart. Compute the Cartesian coordinate of w. Note that the point
w is along the X-axis.

Suppose that Camera A, which has a thin convex glass lens of refractive index 1.5,
and radii of curvature of 10 mm and 20 mm, is now position 1 m above the letter.
Given that the letter has a length of 0.15 m, calculate the length of the letters image
on the CCD sensor.

(15 marks)

(b) The acquired image has been degraded by salt and pepper noise. Write an algorithm
to remove the salt and pepper noise of the image using Fourier Transform with a
suitable frequency domain filter.

(10 marks)









X
Y
Z
w
+
Camera A
Camera B
Letter
(0,0,0)
Image plane
of Camera A
Image plane
Camera B
(0,0)
(0,0)
(100,100) (200,100)
y y
x
x
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Question 2

A microscope has a combination of two-lens focal lengths
1
f =2 cm and
2
f =5 cm
respectively. The two thin lenses are separated by a distance d =10 cm. The object to be
examined is located at a distance
o
d =3 cm in front of the two-lens system. The image is in
front of the lenses at a distance z =-20 cm.

(a) Determine the system matrix of this optical system.
(10 marks)


(b) Given the input ray coordinates,
o
r =(1, 1), calculate the output ray coordinates
) , (
i i i
v x r = and then the lateral magnification. Describe the image.
(5 marks)


(c) Given that the CCD sensor array of the microscope has dimension 3.8 mm x 3.8 mm
with 200 x 200 pixels. If the f-stop is 16, what is the depth of field?
(5 marks)


(d) Given that the pixel intensities of the acquired image have gray levels between 0
(black) and 255 (white). Design a linear point processing transformation that
highlights the gray scales between 50 and 100 inclusively and then between 150 and
200 inclusively without changing the gray scales outside the highlighted regions.

(5 marks)

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Question 3

(a) An image has the gray level probability density function ( ) ( ) sin
2
r
p r r
t
t = for
0 1 r s s . We wish to transform the gray levels of the image so that they will have the
specified probability density function ( ) 2
z
p z z = for 0 1 z s s . Assume continuous
quantities; find the transformation (r as a function of z) that will accomplish this.

(10 marks)

(b) Figure 3(a) is a 6 6 gray level image. It is filtered separately by three 3 3 filters
shown in Figures 3(b), 3(c) and 3(d). The corresponding filtered images are shown in
Figures 3(e), 3(f) and 3(g), respectively. Note that ? indicates unknown values.
Figure 3(h) shows the overall process schematically.

(i) Determined Filtered Images 1 and 3, after the given image (Figure 3(a)) has
been filtered by Filters 1 and 3, respectively.

(6 marks)
Input image
0 0 0 0 0 0
0 8 6 6 2 0
0 14 10 8 4 0
0 6 8 8 4 0
0 4 6 2 2 0
0 0 0 0 0 0
(
(
(
(
(
(
(
(



Figure 3(a)

Filter 1 =
0 0 0
1
1 0 1
2
0 0 0
(
(
(
(

; Filter 2 =
? ? ?
? ? ?
? ? ?
(
(
(
(

; Filter 3 =
0 1 0
1
0 0 0
2
0 1 0
(
(
(
(


Figure 3(b) Figure 3(c) Figure 3(d)

Filtered Image 1 =
0 0 0 0 0 0
0 ? ? ? ? 0
0 ? ? ? ? 0
0 ? ? ? ? 0
0 ? ? ? ? 0
0 0 0 0 0 0
(
(
(
(
(
(
(
(

;

Figure 3(e)

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Filtered Image 2 =
0 0 0 0 0 0
0 10 12 8 5 0
0 12 18 14 7 0
0 13 15 11 7 0
0 6 7 8 3 0
0 0 0 0 0 0
(
(
(
(
(
(
(
(



Figure 3(f)


Filtered Image 3 =
0 0 0 0 0 0
0 ? ? ? ? 0
0 ? ? ? ? 0
0 ? ? ? ? 0
0 ? ? ? ? 0
0 0 0 0 0 0
(
(
(
(
(
(
(
(

;

Figure 3(g)




Figure 3(h)



(ii) The image filtered by Filter 2 is shown in Figure 3(f). By comparing it with
the results obtained for Filtered Images 1 and 3, find the relationship between
the three filtered images.
(5 marks)

(iii) From the relationship that you have established in Part (ii) above, deduce what
Filter 2 should be.
(4 marks)


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Question 4

(a) Figure 4(a) shows an image of a ball-bonded die. The image has gone through two
image processing procedures to segments the balls; Figure 4(b) is an intermediate step
and Figure 4(c) shows the desired results. Describe the operations required in
achieving each of the steps.



Figure 4 (a), (b) and (c)
(10 marks)
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(b) Figure 4(d) shows a 7 7 binary image, and Figure 4(e) is a 3 3 structure element.
Note that the pixel marked with an is the origin.

Figure 4(d)



Figure 4(e)

(i) Perform an Erosion operation on the given image and show the resulting
image.

(ii) Perform an Opening operation of the given image and show the resulting
image.

(iii) Figure 4(f) is a given image with noise spots and small protrusions. Design a
structure element and using appropriate morphological operations to clean up
the image. The resultant image should look like the image shown in Figure
4(g).

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Figure 4(f)



Figure 4(g)


(15 marks)




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