Course Syllabus
Date and Time : MW 11.00-12.00 EN 4510, LAB1 TU17-20, LAB2 TH17-20
Assessments:
Attendance & Homework 5%
Lab and Homework 35%
Midterm 30%
Final 30%
Grading:
85-100% A, 75-85% B+, 70-75% B, 65-70% C+, 60-65% C,
55-60% D+, 50-55% D, 0-50% F
References:
1. Rafael C. Gonzalez and Richard E. Woods, “Digital Image Processing”,
Addison Wesley, 1992.
2. Anil K. Jain, “Fundamentals of Digital Image Processing”,
Prentice-Hall, Inc., 1989.
3. William K. Pratt, “Digital Image Processing”, 2nd Edition,
Wiley & Sons, Inc., 1991.
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Course Outline
1. Introduction
2. Digital Image Fundamentals
3. Image Transforms
4. Image Enhancement
5. Image Segmentation
6. Image Compression
7. Image Morphology
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Chapter 1
1. เพื่อบันทึกและจัดเก็บภาพ
2. เพื่อปรับปรุ งภาพให้ดีข้ ึนโดยใช้กระบวนการทางคณิ ตศาสตร์
3. เพื่อช่วยในการวิเคราะห์รูปภาพ
4. เพื่อสังเคราะห์ภาพ
5. เพื่อสร้างระบบการมองเห็นให้กบั คอมพิวเตอร์
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Digital Image
Digital image = a multidimensional
array of numbers (such as intensity image)
or vectors (such as color image)
2. The iris diaphragm controls amount of light that enters the eye.
4. Blind spot is the region of emergence of the optic nerve from the eye.
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Intensity
Position
A
B
Intensity
Position
Simultaneous contrast. All small squares have exactly the same intensity
but they appear progressively darker as background becomes lighter.
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l
z,Z
Lens center
(x,y)
x X
(x,y,z) = Camera coordinate system Z Eq. 1.1
l = focal length y Y
Z
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Question: How can we project the real world object at (X,Y,Z) onto
the image plane (such as photographic film)?
X
x Z
Y
c y
Z Eq. 1.2
z Z
Z
Since on the image plane z is always zero, z=0, we consider only (x,y)
while z is neglected.
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1 0 0 0
0 1 0 0
P
0 0 1 0
0 0 1 1
1 0 0 0 kX kX
0 1 0
0 kY kY
c h Pw h
kZ Eq. 1.3
0 0 1 0 kZ
k (Z )
0 0 1 1 k
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1 0 0 0
0 1 0 0
wh P 1ch where P 1 Eq. 1.4
0 0 1 0
0 0 1 1
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kx0
ky
For an image point (x0,y0), since on
ch 0
the image plane z=0, we have 0
k
We get the world coordinate :
kx0
ky x0
wh P 1ch 0 or w y0 ???
0
0
k
Since the perspective transformation maps 3-D coordinates to 2-D Coordinates,
we cannot get the inverse transform unless we have additional information.
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kx0 x0
X
ky z
1 0 y 0
wh P ch kz or w Y Eq. 1.5
z
k(z ) z
Z
z
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x0
X ( Z )
Eq. 1.7
y0
Y ( Z )
l
z,Z
Lens center
(x,y)
Points (X1,Y1,Z1) , (X2,Y2,Z2), and (X3,Y3,Z3) map to
Point (x,y) in the image plane.
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Image 1
y
x (x1,y1)
Image 2
Left lens
center
y
x Optical axis
B
l
(x2,y2)
right lens World point (X,Y,Z)
center
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1. Translation
2. Scaling
3. Rotating
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Z (X+X0,Y+Y0,Z+Z0) Z * Z Z0
)0
,Z
0
,Y
X * 1 0 0 X 0 X
0
(X
*
(X,Y,Z) Y 0 1 0 Y0 Y
Y
Z * 0 0 1 Z0 Z
1 0 0 0 1 1
X
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X * 1 0 0 X 0 X
) 0
Y0 ,Z
*
X* Y 0 1 0 Y0 Y
0,
Y
(X
(0,0,0) Z * 0 0 1 Z0 Z
1 0 0 0 1 1
X
The object still stays at the same position. Only the frame is moved.
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X * Sx X
E D Y * S yY
F G Z * Sz Z
e d
f g
c C X * Sx 0 0 0 X
a b * 0 Sy 0 0 Y
Y
A B
Z* 0 0 Sz 0 Z
1 0 0 0 1 1
Y
qx
D X=X *
Z* Z X * 1 0 0 0 X
*
Y 0 cos x sin x 0 Y
Y*
Z * 0 sin x cos x 0 Z
qx 1 0 0 0 1 1
D X=X *
D
Y= Y *
X
Y= Y *
D
X*
X
Note : In this case the object is moved. Only x and y
are changed while z stills the same.
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Y
qz
X X*
Note : In this case the object is not moved. The frame
is rotated instead.
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l
z Z
Lens center
(x,y)
Camera coordinate ch P C R G wh
World coordinate
Perspective tr.
Translate to the
Translate to the gimbal center w0
Rotate by
image plane
Pan (qz)
Center by z = r
and Tilt (qx)
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General case
Camera coordinate ch P R T wh
World coordinate
Perspective tr.
Rotate by
Pan (qz), Translate to
Tilt (qx), the image
Twist (qy) plane center w1