Consider the following image, on 3 bits (values between 0 and 7) and the origin

(0,0) underlined:
0
5
0
7
5

6
5
7
3
3

0
1
3
4
5

1
6
2
5
2

3
2
6
5
4

1. compute the binomial 3x3 filter and the result of the filtered image for the pixel
at location (2,2)
2. compute, for the same location (2,2), the result of image filtering by the 3x3
median filter
3. same question but for the following weighted median filter:
2
3
2

3
5
3

2
3
2

4. same question for the following L filter: {1,3,4,6,9,6,4,3,1}

5. for the same location compute the result of filtering the image with the
conditional mean filter having the following parameters: L=3, th=2.5
6. the image from before is rotated with 30 around its center. write the composed
transformation matrix. compute the value of the rotated image at location (1,2)
using bilinear interpolation.
7. compute the Sobel gradient magnitude and its direction for the central pixel of
the above image
8. using the kmeans algorithm compute an optimal threshold and calculate the
corresponding binary image, for the following input image:
6
6
6
7
1

2
6
7
3
3

2
1
3
4
5

1
2
2
5
6

3
2
2
5
7

ANSWERS:
1. the binomial 5x5 filter has the following mask:
1/16*
1
2
1
2
4
2
1
2
1
location (2,2) is the center of the image and the result of filtering is given by the 2D
convolution operation. the neighborhood considered is:
5
1
6
7
3
2
3
4
5
and the result: (1*5+2*1+1*6+2*7+4*3+2*2+1*3+2*4+1*5)/16 =
(5+2+6+14+12+4+3+8+5)/16=59/16=3.68if the result remains on 3 bits and in
the same range we round to the nearest integer in the 0-7 range so the final result
is 4.
2. the median filter constructs the sequence of values in the specified
neighborhood. the sequence is sorted and the result is represented by the median
value (value at the center of the sorted sequence):
the neighborhood:
5
1
7
3
3
4
unsorted sequence: 5,1,6,7,3,2,3,4,5

6
2
5

sorted sequence: 1,2,3,3,4,5,5,6,7

median value and final result: 4
3. the weighted median filter works the same as the median filter with the
difference that the weights tell us how many times the corresponding image value is
repeated in the sequence
the neighborhood:
5
7
3

1
3
4

6
2
5

unsorted sequence: 5 - 2 times ,1 - 3 times,6 - 2 times,7 - 3 times,3 - 5 times,2 - 3

times,3 - 2 times,4 - 3 times,5 - 2 times=
5,5,1,1,1,6,6,7,7,7,3,3,3,3,3,2,2,2,3,3,4,4,4,5,5
sorted sequence: 1,1,1,2,2,2,3,3,3,3,3,3,3,4,4,4,5,5,5,5,6,6,7,7,7
median value and final result: 3
4. the L filter constructs the sorted sequence and the final result is the weighted
mean using the given coefficients
the sorted sequence (as computed for the median filter): 1,2,3,3,4,5,5,6,7
the coefficients: {1,3,4,6,9,6,4,3,1}
the weighted mean: (1*1+3*2+4*3+6*3+9*4+6*5+4*5+3*6+1*7)/
(1+3+4+6+9+6+4+3+1)=
=(1+6+12+18+36+30+20+18+7)/37=148/37=4
5. conditional mean filter considers a LxL neighborhood and the final result is given
by the mean of the pixel values that are not further by th from the value at the
location we are computing the result for. so, only those pixels having the absolute
difference against the central pixel smaller than th are considered for the average.
in our case the neighborhood is 3x3:
5
7
3
knowing that th=2.5, the pixels
red

1
6
3
2
4
5
considered for the mean computation are those in

the final result is: (5+1+3+2+3+4+5)/7=23/7=3.2 rounded to 3.

the simple average would be: 36/9=4.
6. in order to perform a rotation around the center of the image we need to move
the center in the origin which is done by a translation, then we perform the rotation,
and finally we apply the inverse translation. the composed transformation will be:
T(dx,dy)*R(theta)* T(-dx,-dy), where T(-dx,-dy) is the translation that moves the
center in the origin , and T(dx,dy) is its inverse. since we are talking about the
center of the image dx=dy=2.
in matrix form we have:

cos ( ) sin( ) 0
yout
1 0 2
6
6
1 0 2
yin
=

xout
0 1 2

0 1 2 xin
sin ( ) cos ( ) 0
1
0 0 1
0 0 1
1
6
6
0
0
1

( )( )

)(

)( )

computing the matrix products we get:

( 6 )+ xinsin ( 6 )2cos( 6 )2sin ( 6 )+2

xout= yinsin ( )+ xincos ( )2cos ( )+ 2sin ( )+2

6
6
6
6
yout= yincos

yout= yin0.866+ xin0.50.732

{xout=
yin0.5+ xin0.866 +1.268
we know the location in the output image: yout = 2, xout=1, and we solve the
above system for xin and yin:

yin=2.5
{xin=1.1
this means that the value of the rotated image at location (1,2) is the same as the
value of the original image at location (1.1,2.5)
the problem is that these are not integer coordinates so we will use interpolation to
estimate a value at the non integer location
bilinear interpolation considers the 4 neighbors to estimate a value at the non
integer location:
f(x,y) =a*b*f([x]+1,[y]+1) + (1-a)*b*f([x],[y] +1) + a*(1-b)*f([x]+1,[y]) + (1-a)*(1b)*f([x],[y])
where: [] is the integer part, a and b are the fractional parts of x respectively y; f is
the image value.
in our case:
5
1
7
3
f(1.1,2.5) = 0.1*0.5*f(2,3)+0.9*0.5*f(1,3)+0.1*0.5*f(2,2)+0.9*0.5*f(1,2)=

=0.05*1+0.45*5+0.05*2+0.45*7 = 0.05+2.25+0.1+3.15=5.55 eventually rounded

up to 6 (if we consider the output also in the same range as the input)
7. the horizontal (gx) and the vertical (gy) components of the Sobel gradient are
obtained by convolving the image by the two following masks:
1
2
1

0
0
0

1
0
-1

-1
-2
-1
2
0
-2

1
0
-1

the neighborhood considered:

5
7
3

1
3
4

6
2
5

gx = 1*5+2*7+1*3-1*6-2*2-1*5=5+14+3-6-4-5=7
gy = 1*5+2*1+1*6-1*3-2*4-1*5 = 5+2+6-3-8-5 = -3
Sobel gradient magnitude: g=sqrt(gx*gx+gy*gy)=sqrt(49+9)=sqrt(58)=7.6 ~ 8
direction of the gradient: atan(gy/gx) = atan(-3/7)=......
8. we start by choosing an arbitrary threshold in the image range: 0-7. for example
the starting threshold = 3.5 (the middle of the image range)
original image
7
7
6
7
1

2
6
7
3
3

2
1
3
4
7

1
2
2
5
6

3
2
2
7
7

we compute the means of the pixels having values bigger (mb) respectively smaller
(ms) than the threshold
image pixels bigger that the threshold: 7,7,6,6,7,7,4,5,7,7,6,7=> mb=76/12 = 6.33
image pixels smaller that the threshold:2,2,1,3,1,2,2,3,2,2,3,1,3 = 27/13 =2.07

the new threshold is the mean of mb & ms: th = (6.33+2.07)/2=4.2

we repeat the operations from before until the new threshold is equal to the old one
(convergence condition), value that will also represent the final threshold to obtain
the binary image.
so:
th=4.2
mb = 7+7+6+6+7+7+5+7+7+6+7/11 = 6.54
ms = 2+2+1+3+1+2+2+3+2+2+3+4+1+3/14 = 31/14 =2.21
new th = (6.54+2.21)/2 = 4.3
next step using th = 4.3:
mb = 7+7+6+6+7+7+5+7+7+6+7/11 = 6.54
ms = 2+2+1+3+1+2+2+3+2+2+3+4+1+3/14 = 31/14 =2.21
so the new th = 4.3 equal to the old one so the alg. stops here and we use 4.3 to
obtain the binary image: if the pixel value >th that pixel -> 1, else pixel -> 0. the
binary image will look like this:
1
1
1
1
0

0
1
1
0
0

0
0
0
0
1

0
0
0
1
1

0
0
0
1
1