Image Enhancement Spatial Domain

Resmi N.G.
Reference:
Digital Signal Processing
Rafael C. Gonzalez
Richard E. Woods
Overview
Spatial Domain Methods
Point Processing
Linear (Image Negatives and Identity)
Logarithmic (Log and Inverse Log)
Power Law (n
th
power and n
th
root)
Piece-wise Linear
Contrast Stretching
Gray-Level Slicing
Bit-Plane Slicing
Histogram Processing
Histogram Equalization
Histogram Matching or Histogram Specification
Enhancement using Arithmetic/ Logic Operations
Image Subtraction
Image Averaging
3/20/2012 CS04 804B Image Processing - Module2 2
Mask Processing /Filtering
Linear Spatial Filtering
Non-Linear Spatial Filtering
Smoothing Spatial Filters
Smoothing Linear Filters
Box-Filter
Weighted Average Filter
Order-Statistics Filters (Non-Linear Spatial Filters)
Median Filter Median Filter
Max-filter
Min-filter
Sharpening Spatial Filters
Second-Order Derivatives
Laplacian
Unsharp Masking
High Boost Filtering and its Application
First-Order Derivatives (Gradient)
Image Enhancement
To process an image so that the result is more suitable
than the original image for a specific application.
Two categories: Two categories:
Spatial domain methods
Direct manipulation of pixels
Frequency domain methods
Modifying the Fourier Transform of an image.
3/20/2012 4 CS04 804B Image Processing - Module2
Point Processing
Power Law (n
th
power and n
th
root)
Piece-wise Linear
Contrast Stretching
Gray-Level Slicing
Bit-Plane Slicing
Image Subtraction
Image Averaging
Operates directly on pixels.
Denoted by the expression
g(x,y) = T[f(x,y)] g(x,y) = T[f(x,y)]
where f(x,y) is the input image, g(x,y) is the processed
image, T is an operator on f defined over some
neighbourhood of (x,y).
T can also operate on a set of input images.
Neighbourhood square or rectangular sub-image
area centred at (x,y).
T is applied at each (x,y) to obtain output g at that
location.
Simplest form of T
when neighbourhood is of size 1x1 (a single pixel).
g depends only on the value of f at (x,y)
s = T(r)
Enhancement at any point in an image depends only on the
gray level at that point (Point Processing or Gray-Level
Transformation).
Larger neighbourhoods Mask Processing or Spatial
Filtering.
Point Processing
Power Law (n
th
power and n
th
root)
Piece-wise Linear
Contrast Stretching
Gray-Level Slicing
Bit-Plane Slicing
Image Subtraction
Image Averaging
Gray Level Transformations
Three basic types:
Linear (Image Negatives and Identity) Linear (Image Negatives and Identity)
Power Law (n
th
power and n
th
root)
Image Negatives
The negative of an image with gray levels in the range
[0,L-1] is obtained by using the transformation given by
s = L-1-r
Reverses the intensity levels of an image.
For enhancing gray or white detail embedded in dark
regions of an image.
Log Transformation
General form: s = c log(1+r)
where c is a constant and r 0.
Maps a narrow range of low-level gray values in the input
image into a wider range of output levels. image into a wider range of output levels.
Maps a wide range of high-level gray values in the input image
into a lower range of output levels.
For expanding the values of dark pixels while compressing
higher-level values.
Compresses the dynamic range of images with large variations
in pixel values.
Power-Law Transformation
Basic form:s = cr
where c and are positive constants.

Power-law curves with fractional values of ( <1)
produces similar effect as log transformation. produces similar effect as log transformation.
Power-law curves with >1 have exactly the opposite
effect as compared to those with <1.
When c = = 1, it reduces to identity transformation.
Gamma correction-
General purpose contrast manipulation-
Point Processing
Power Law (n
th
power and n
th
root)
Piece-wise Linear
Contrast Stretching
Gray-Level Slicing
Bit-Plane Slicing
Image Subtraction
Image Averaging
Piecewise-Linear Transformations
Contrast Stretching
Gray-Level Slicing
Bit-Plane Slicing
Advantage Piecewise functions can be complex.
Disadvantage Specification requires more user input.
Contrast Stretching
Increases the dynamic range of gray levels in input
image.
Causes for low contrast images: Causes for low contrast images:
Poor illumination
Lack of dynamic range in imaging sensor
Wrong setting of lens aperture during image
acquisition.
Gray-Level Slicing
Highlights a specific range of gray levels in an image.
Approach 1 - Assigns a high value for all gray levels in
the range of interest and a low value for all other gray the range of interest and a low value for all other gray
levels.
Produces binary image.
Approach 2 Brightens the desired range of gray levels
but preserves the background and gray-level tonalities in
the image.
Bit-Plane Slicing
Highlights the contribution made to total image
appearance by specific bits.
Useful in analyzing the relative importance of each bit of Useful in analyzing the relative importance of each bit of
the image.
Helps to determine the number of bits used to quantize
each pixel.
Useful for image compression.
Point Processing
Power Law (n
th
power and n
th
root)
Piece-wise Linear
Contrast Stretching
Gray-Level Slicing
Bit-Plane Slicing
Image Subtraction
Image Averaging
Contrast adjustment is done using histogram of an image.
Intensities can be better distributed.
Advantage invertible; if histogram equalization function
is known, the original image can be recovered.
Disadvantage May increase the contrast of background
noise.
Automatically determines a transformation function to
produce image with a uniform histogram.
Histogram Matching/ Histogram Specification
Produces an output image with a specified histogram.
Histogram
Histogram of a digital image with gray levels in the range
[0, L-1] is a discrete function h(r
k
) = n
k
where r
k
is the k
th
gray level.
p(r
k
) is the probability of occurrence of gray level r
k
.
High contrast image
histogram covers a broad range of the grayscale.
- distribution of pixels nearly uniform. - distribution of pixels nearly uniform.
- exhibits large variety of gray tones.
: ; [0,1]
: ; [0,1]
:
r gray level of input image r
s gray level of output image s
T Transformation function
T(r) satisfies the conditions:

a) T(r) is single-valued and monotonically increasing in the
interval 0 r 1.
b) 0 T(r) 1 for 0 r 1.
:
( ); 0 1
T Transformation function
s T r r =
Condition (a) that T(r) be single-valued guarantees that an
inverse transformation exists.
( f(x) = x
2
is non-invertible for domain of real numbers.)
Invesre transformation from s to r:
r = T
-1
(s), 0 s 1
Monotonicity condition preserves the increasing order
from black to white in the output image.
Condition (b) guarantees that the output image gray levels
will be in the same range as the input levels.
1
( ) :
( ) :
( ) ( ) ( ) ( ),
( ) ( ) (1)
r
s
r
s r
p r probability density functionof r
p s probability density functionof s
If p r and T r are knownand T s satisfies a then
dr
p s p r
ds
=
0
( ) ( ) (1)
( ) ( ) (2)
s r
r
r
ds
Atransformation functionhas the form
s T r p w dw
RHS is
= =
. thecumulative distribution functionof r

( ), ( ) (1).
, ( )
( )
( )
s
r
r
GivenT r are known p s canbeobtained using
We know s T r
ds dT r
dr dr
d
p w dw
dr
=
=
(
=
(


0
0
( )
( ) (3)
( ' : . . .
r
r
r
dr
d
p w dw
dr
p r
Leibniz s rule derivativeof a definiteintegral wr t
its upper limit is theintegrand evaluat
(

=
=
.) ed at that limit
(3) (1)
( ) ( )
1
( )
( )
s r
r
Substituting in gives
dr
p s p r
ds
p r
p r
=
=
( )
1; 0 1
( ) :
.
( ).
r
s
r
p r
s
p s is therefore
always auniform probability density function
independent of p r
=

Discrete Version:
(3) (1)
( ) , 0,1,..., 1
( ) ( )
k
r k
k
Substituting in gives
n
p r k L
n
s T r p r
= =
= =

0
0
( ) ( )
, 0,1,..., 1
.
k k r j
j
k
j
j
s T r p r
n
k L
n
This transformationis called histogramequalization
=
=
= =
= =

Histogram Matching
To generate an image that has a specified histogram.
:
:
( ) :
r
r gray level of input image
z gray level of output image
p r pdf of input image
0
0
( ) :
( ) :
( ) ( ) (1)
( ) ( ) (2)
r
z
r
r
z
z
p r pdf of input image
p z specified pdf of output image
Let s T r p w dw
Define G z p t dt s
= =
= =
1 1
(1) (2),
( ) ( )
( ) [ ( )] (3)
From and
G z T r
and z must satisfy thecondition
z G s G T r

=
= =
T(r) can be obtained from (1) once p
r
(r) has been
estimated.
G(z) can be obtained from (2) because p
z
(z) is given.
( ) [ ( )] (3) z G s G T r = =
Assume G
-1
exists and satisfies (a) and (b). Image with
specified histogram can then be obtained as follows:
Obtain the transformation function T(r) using (1).
Use (2) to obtain the transformation function G(z).
Obtain the inverse transformation function G
-1
.
Obtain the output image by applying (3) to all the pixels in
the input image.
The resultant image will have gray levels z with specified
probabilitiy density function p
z
(z).
Discrete formulation:
0
0
( ) ( )
, 0,1,..., 1
k
k k r j
j
k
j
j
k
s T r p r
n
k L
n
=
=
= =
= =

0
1
1
( ) ( )
[ ( )], 0,1,..., 1
,
( ), 0,1,..., 1
k
k k z i k
i
k k
k k
v G z p z s
z G T r k L
Or
z G s k L
=
= = =
= =
= =

Global and Local Enhancement
Global pixels are modified based on the gray level
content of entire image.
Local pixels are modified based on the gray level
distribution in the neighbourhood of every pixel.
Use of Histogram Statistics
Global mean measure of average gray level for entire
image.
Local mean measure of average gray level in the
neighborhood (sub-image). neighborhood (sub-image).
Global variance measure of contrast for entire image.
Local variance measure of contrast in a
neighborhood.
Point Processing
Power Law (n
th
power and n
th
root)
Piece-wise Linear
Contrast Stretching
Gray-Level Slicing
Bit-Plane Slicing
Image Subtraction
Image Averaging
Enhancement using
Arithmetic/Logical Operations
Arithmetic operations are performed on a pixel-by-pixel
basis on two or more images.
Logical operations are performed on a pixel-by-pixel Logical operations are performed on a pixel-by-pixel
basis and pixel values are processed as strings of binary
numbers.
AND and OR on two or more images
Used for masking
To highlight an area or differentiate it from rest of the image.
NOT on single image.
AND Operation
OR Operation
Image Subtraction
The difference between two images f(x,y) and h(x,y) is
obtained by computing the difference between all pairs of
corresponding pixels from f and h.
g(x,y) = f(x,y) h(x,y)
Used to enhance differences between images.
Used in medical imaging.
Image Averaging
Let g(x,y) be a noisy image formed by the addition of
noise (x,y) to an image f(x,y). ie;
g(x,y) = f(x,y) + (x,y)
Assume noise has zero average value. Assume noise has zero average value.
The noise content in the image can be reduced by adding a
set of noisy images and taking the average
1
1
( , ) ( , )
K
i
i
g x y g x y
K
=
=

Expected value of , { ( , )} ( , ) g E g x y f x y =
Box-Filter
Max-filter
Min-filter
Laplacian
Unsharp Masking
Spatial Filtering
Uses image pixels in the neighborhood (sub-image).
Sub-image is called mask.
Values in a sub-image are called coefficients. Values in a sub-image are called coefficients.
Filtering consists of moving the mask from point to point
in an image. At each point (x,y) response of the filter is
computed using a predefined relationship.
This involves finding sum of products of filter coefficients
and corresponding pixels in the sub-image.
Linear filtering of an image f of size MxN with a filter of
size mxn, is given by
( , ) ( , ) ( , )
a b
s a t b
g x y w s t f x s y t
= =
= + +

1 1
, ,
2 2
0,1,..., 1 0,1,..., 1.
m n
where a b
for x M and y N

= =
= =
For a 3x3 mask,
1 1
1 1
3
3 1 3 1
1, 1
2 2
( , ) ( , ) ( , )
s t
m n
a b
g x y w s t f x s y t
= =
= =

= = = =
= + +

1 1
( 1, 1) ( 1, 1) ( 1, 0) ( 1, ) ...
(0, 0) ( , ) ...
(1, 0) ( 1, ) (1,1) ( 1, 1)
s t
w f x y w f x y
w f x y
w f x y w f x y
= =
= + +
+ +
+ + + + +

Simplified as
For 3x3 mask,
1 1 2 2
1
...
mn mn
mn
i i
i
R w z w z w z
w z
=
= + + +
=
For 3x3 mask,

1
1 1 2 2 9 9
...
mn
i i
i
R w z
w z w z w z
=
=
= + + +

Spatial filtering - Special processing for border pixels
Filter using full mask
Zero padding
Replication of rows or columns. Replication of rows or columns.
Filtering operation is based conditionally on the values of
pixels in the neighborhood.
eg; computing median eg; computing median
Box-Filter
Max-filter
Min-filter
Laplacian
Unsharp Masking
Smoothing Linear Spatial Filters
Used for blurring and noise reduction.
Called averaging filters or lowpass filters Output is the Called averaging filters or lowpass filters Output is the
average of pixels contained in the neighborhood of filter mask.
Replaces every pixel in an image by the average of gray levels
in the neighborhood defined by filter mask.
Side-effect blurring of edges and smoothing of false
contours.
Box Filter
Spatial averaging filter in which all coefficients are equal.
Standard average of pixels under the mask.
1
1
mn
i
i
R z
mn
=
=

Pixels are multiplied by different filter coefficients, giving
more weight to some pixels.
1 i
mn
=
Filtering using Weighted Average Filter is given by
( , ) ( , )
( , )
( , )
a b
s a t b
a b
w s t f x s y t
g x y
w s t
= =
+ +
=

( , )
1 1
, , .
2 2
0,1,..., 1 0,1,..., 1.
s a t b
w s t
m n
where a b mand nareodd
x M and y N
= =

= =
= =

Box-Filter
Max-filter
Min-filter
Laplacian
Unsharp Masking
Order-Statistics Filters
Response is based on ordering the pixels and then
repalcing the central pixel value with the value determined
by the ranking result.
Sorts pixel values and computes median .
Replaces value of the pixel with median of gray levels in the
neighborhood.
Excellent noise reduction; less blurring.
Effective in the presence of salt and pepper noise.
Max Filter
R = max{z
k
| k=1,2,mn}.
Used to find the brightest points in an image.
Min Filter Min Filter
R = min{z
k
| k=1,2,mn}.
Used to find the darkest points in an image.
Box-Filter
Max-filter
Min-filter
Laplacian
Unsharp Masking
Used to highlight the fine detail in an image.
To enhance the detail that has been blurred.
To enhance edges, noise etc.
Sharpening is done through spatial differentiation. Sharpening is done through spatial differentiation.
Based on first derivatives
Based on second derivatives
( 1) ( )
f
f x f x
x
= +
2
2
( 1) ( 1) 2 ( )
f
f x f x f x
x
= + +
First order derivatives

Must be zero in flat segments.
Must be non-zero at the onset of a gray-level step or ramp.
Must be non-zero along ramps.
Second order derivatives Second order derivatives
Must be zero in flat areas.
Must be non-zero at the onset and end of a gray-level step or
ramp.
Must be zero along ramps of constant slope.
Based on first derivatives
Produces thicker edges
Stronger response to gray-level step.
Based on second derivatives
Stronger response to finer detail Stronger response to finer detail
Produces double response at step changes.
So second-order derivatives are more suited than first-order
derivatives for enhancing fine details.
Use of Second Derivatives
Laplacian - Laplacian for f(x,y)
2 2
2
2 2
2
( 1, ) ( 1, ) 2 ( , )
f f
f
x y
f
f x y f x y f x y

= +

= + +
2
2
2
2
( 1, ) ( 1, ) 2 ( , )
( , 1) ( , 1) 2 ( , )
( 1, ) ( 1, )
( , 1) ( , 1) 4 ( , )
f x y f x y f x y
x
f
f x y f x y f x y
y
f f x y f x y
f x y f x y f x y
= + +
= + +
= + + +
+ +
Highlights gray-level discontinuities
2
( , ) ( , )
( , )
if thecentrecoefficient of the
f x y f x y
Laplacianmask is negative
g x y

2
( , )
( , ) ( , )
g x y
f x y f x y
Laplacianmask is positive
=

Unsharp Masking
Subtracts blurred version of the image from the original
image.
( , ) ( , ) ( , )
s
f x y f x y f x y =
Used in dark-room photography.
High Boost Filtering
( , )
( , ) ( , ) ( , )
( 1) ( , ) ( , ) ( , )
( 1) ( , ) ( , )
s
hb
f x y
s
f x y Af x y f x y
A f x y f x y f x y
A f x y f x y
=
= +
= +
1442443
( 1) ( , ) ( , )
s
A f x y f x y = +
2
2
( , ) ( , )
( , ) ( , )
hb
Af x y f x y
Laplacianmask is negative
f
Af x y f x y
Laplacianmask is positive
When A = 1, high-boost filtering becomes standard

Laplacian sharpening.
Application:
To make images lighter.
Use of First Derivatives
Uses magnitude of the gradient.
,
f
x
Gradient f
f
y
(
(
( =

(
(

First order derivatives of a digital image are based on
various approximations of the 2D gradient.
1
2
2
2
y
f f
Magnitudeof f
x y
(

(
| |
| |
= + (
| |

\
( \

The mathematical implementation of first order
derivatives can be done by masks known as
Roberts cross-gradient operator
Prewitt operator
Sobel operator
Let the 3 3 area represent the gray levels in a neighborhood of an image, Let the 3 3 area represent the gray levels in a neighborhood of an image,
as shown below
Roberts cross-gradient operator
Equations
( )
( )
9 5
8 6
x
y
G z z
G z z
=
=
Masks
Prewitt operator
Equations
( ) ( )
( ) ( )
7 8 9 1 2 3
3 6 9 1 4 7
x
y
G z z z z z z
G z z z z z z
= + + + +
= + + + +
Masks
Sobel operator
Equations
( ) ( )
( ) ( )
7 8 9 1 2 3
3 6 9 1 4 7
2 2
2 2
x
y
G z z z z z z
G z z z z z z
= + + + +
= + + + +
Masks
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Image Enhancement Spatial Domain

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Resmi N.G.

where c and are positive constants.

T(r) satisfies the conditions:

. thecumulative distribution functionof r

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For 3x3 mask,

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First order derivatives

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When A = 1, high-boost filtering becomes standard

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