Image Segmentation

Made by:
Rahul Mishra
2012ecs01

Outline & Content

1.
2.
3.
4.
5.

Introduction
Thresholding
Edge-based segmentation
Region-based segmentation
conclusion

1. Introduction

What is segmentation?

Three major ways to do.

Thresholding
Edge-based segmentation
Region-based segmentation
3

Thresholding
Finding histogram of gray level intensity.

Basic Global Thresholding

Otsus Method
Multiple Threshold
Variable Thresholding
4

Edge-based segmentation
Using mask to detect edge in image by convolution.

Basic Edge Detection

The Marr-Hildreth edge detector(LoG)
Short response Hilbert transform(SRHLT)
Watersheds
5

Region-based segmentation
Finding region, but not finding edge.

Region Growing
Data Clustering (Hierarchical clustering)
Partitional clustering
Cheng-Jin Kuo`s method
6

2.
Thresholding
Basic Global Thresholding
1) Select an initial To
2) Segment image use:

g ( x, y ) 01

m1

3) Compute the average intensity

and

mfor
2 the pixels in and .

4) Compute a new threshold:

if f(x,y) T
if f(x,y) T

1
(m 1 m 2 )
2

5) Until the difference between values of T is smaller than a predefined p

arameter.

Otsus Method
{0,1,2,,L-1} , L means gray level intensity
MN n 0 n 1 n 2 ... n L 1

M*N is the total number of pixel.

n i denote the number of pixels with intensity
i
we select a thresholdT (k ) k , 0 k L 1
, and use it
to
C [ k 1, L 1]
C
[0, k ]
P
(k ) p
(k ) p in
1 the
P (k ) range
classify
:Pintensity
and :
P 1 m 1 P 2 m 2, m G
P 1 + P 2 =1
= i m p
,

, it is global variance.
1

2
G

i 0

L1

i 0

L 1

i k 1

 (k ) P 1 P 2 ( m1 m 2 )
2
B

( m G P 1 ( k ) m(k )) 2
P 1 (k )(1 P 1 (k ))

it is 2between-class variance
(k )
= B 2
, 0 ( k *) 1
G
it is a measure of separability between class.
B2 (k ) max B2 (k )
o k L 1
k*
g ( x, y ) 10 ifif f(x,y)
f(x,y) k*

For x = 0,1,2,,M-1 and y = 0,1,2,N-1.

Using image Smoothing/Edge to improve Global Thr
eshold
Smoothing Edge
detection
What situation is Large object we Small object we
more suitable for the are interested.
are interested
method

Multiple Threshold
As Otsus method, it takes more area and k*
B2 P 1 (m 1 m G )2 P 2 (m 2 m G )2 P 3 (m 3 m G ) 2
P 1m1P 2 m 2 P 3 m 3 m G
P 1 + P 2 +P 3 =1
B2 (k1* , k2* ) max B2 (k 1 , k 2 )
o k 1 k 2 L 1

2
*
*

(
k
,
k
(k , k ) B 12 2 )
G
*
1

*
2

Disadvantage: it becomes too complicate when nu

mber of area more than three.

10

Variable Thresholding
1) Image partitioning

)It is work when the objects of interest and the back

ground occupy regions of reasonably comparable si

ze. If not , it will fail.

11

2) Variable thresholding based on local image pr

operties
) Let xy and m xy denote the standard deviation an
d mean value of the set of pixels contained in a ne
ighborhood, S xy.
)

g ( x, y )

) Q (

1 if Q(local parameters) is true

0 if Q(local parameters) is true

xy , m xy )

true if f ( x , y ) a
false otherwise

xy

ANDf ( x , y ) bm xy

12

3) Using moving average

) It discussed is based on computing a moving aver

age along scan

lines of an image.
k 1
1

) m(k 1) z i m(k ) ( z k 1 z k n )
n i k 2 n
n
) z k 1 denote the intensity of the point at step k+1.

n denote the number of point used in the average.

) m(1) z 1 / n
is the initial value.
)T xy bm xy ,where b is constant and is the moving
average at point (x,y)

13

3. Edge-based segmentation
Basic Edge Detection

Why we can find edge by difference?

image

intensity
first-order deviation
second-order deviation
First-order
deviation

produce
thicker
edges

Second-order
deviation

stronger
response to
fine detail

double-edge
response

Determine
edge is from
light to dark
or dark to
light

14

1) Gradient
)The image gradient is to find edge strength and direction

at location (x,y) of image.

f
x
g x
f grad( f )
f
g y
y

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

mag(f ) g x g y

)The direction of the gradient vector is given by the angle:

g y

1
( x, y ) tan
g x
15

Roberts cross-gradient operators:

Prewitt operator:

Sobel operator:
G ( x, y )

1
0

if R ( x , y ) T
otherwise

16

The Marr-Hildreth edge detector(LoG)

This is second-order deviation, we call Laplacian.

g ( x, y ) 2 [G ( x, y ) f ( x, y )]
g ( x, y ) [ 2G ( x, y )] f ( x, y )
Filter the input image with an n*n Gaussian lowpas

s filter. 99.7% of the volume under a 2-D Gaussian s

urface lies between about the mean. Son 6 .

17

Short response Hilbert Transform(SRHL

T)
1) Hilbert transform
1
) g H ( ) h( x) * g ( x), where h( x)
x
) GH ( f ) H ( f )G ( f ) , H ( f ) j sgn( f )
)

18

2) SRHLT
) g H hb x g x , where hb x b csch( bx)
) GH ( f ) H b ( f )G ( f ) where GH ( f ) FT [ g H ( )],
G ( f ) FT [ g ( )],

H b ( f ) j tanh( f / b).

Lower b

Higher b

Impulse
response

Longer

Shorter

Noise
robustness

Good

Bad

Type of edge

Ramp

Step

19

Simulation result

20

Watersheds

Algorithm:
T [n] {( s, t ) | g ( s, t ) n}

, g(s,t) is intensity.
n= min+1 to n = max +1. And let T[n]=0, others 1.
R
C[n] UC n ( M i ) C, n ( M i ) is minimum point beneath
i 1
n.
21

Markers
External markers:
Points along the watershed

line along highest points.

Internal markers:

(1) That is surrounded higher points .

(2) Points in region form a connected component
(3) All points in connected component have the same
intensity.
22

4.

Region-based segmentation
Region Growing

Algorithm:
a. Choose a random pixels
b. Use 8-connected and threshold to determine
c. Repeat a and b until almost points are classified.

23

Simulation of region growing (90% pixels )

Threshold/second: 20/4.7 seconds.

24

Data Clustering
Using centroid to represent the huge numbers of c

lusters

Hierarchical clustering, we can change the number

of cluster anytime during process if we want.

Partitional clustering , we have to decide the num

ber of clustering we need first before we begin the

process.
25

Hierarchical clustering
1) Algorithm of hierarchical agglomeration(built)

Ci
A. See every single data as a cluster
B. Find out

Ci

Cj

for the distance is the shortest.

C. Repeat the steps until satisfies our demand.

.

d (a, b)

as the distance between data a and b

26

2) Algorithm of hierarchical division (break up )

) DiameterDof
(Ci )cluster
max(d (a,b)) , for a Ci , b Ci

27

See the whole database as one cluster.

Find out the cluster having the biggest diameter
max (d ( x, c)) , for x C .
Split out x as a new clusterC1 , and see the rest d
ata pointsCias .
Ci
5) If d ( y, Ci ) > d ( y, C1 ) ,for y Ci then split y out of
an
d classify it to
C1
6) Back to step2 and continue the algorithm untilC1
and Ci is not change anymore.
1)
2)
3)
4)

28

Partitional clustering
Decide the numbers of the cluster(k-means)

Problem:
Initial problem

29

Number of regions are more than clusters you set.

Determine the number of clusters.

intra

Vadility=
inter

1
intra-cluster distance=
N

2
P
x

z
P

i
i 1 xCi

inter-cluster distance min(P zi z j P2 )

, i 1, 2,3,......, K 1
; j i 1,......K

30

Simulation of k-means

Clustering/time: 9 clustering/ 0.1

31

Advantage and disadvantage of data clustering

Hierarchical
algorithm
advantage

1.Concept is
simple
2. Result is
reliable.

disadvantage

It is consuming,
so is not
suitable for a
large database.

Partitional
algorithms
1.Computing
speed is fast.
2.Numbers of
cluster is fixed,
so the concept
is also simple.
1. Determine
the number
of clusters.
2. Initial
problem
3. .

32

Cheng-Jin Kuo`s method

Algorithm

33

1) Adaptive threshold decision with local variance

) Variance of Lena: 1943

716
899

447 1293 2470

1579 1960 2238

1497 1822 1974 1273

2314 1129 1545 1646

) Small variance cause small threshold.

34

2) Adaptive threshold decision with local varianc

e and frequency

) Variance of baboon: 1503

716
899

447 1293 2470

1579 1960 2238

1497 1822 1974 1273

2314 1129 1545 1646
6.9451 8.8807 7.2965 7.0914
8.0413 10.0076 8.4951 7.6421
9.6709 10.3219 7.9815 6.1310
9.0464 10.4821 7.1513 6.4118

35

High frequency, high variance. Set highest threshol

d.

(4,1)
High frequency, low variance. Set second high thres
hold.
(4,2)
Low frequency, high variance. Set third high thresh
old.
(1,4)
Low frequency, low variance. Set the lowest thresho
ld.
36

(1,1)

Comparison of all algorithm by data

compression
Region
growing

Speed

bad

K-means Watershe Chengd

Jin
Kuo`s
method
Good(worse
bad
Good
than C.J.Ks
method)
fragmentary oversegmen
Intact
tation

intact
Shape
connecti
vity
Shape Good(better Good(equal
match than C.J.Ks C.J.Ks
method)
method)

bad

Good
37

Conclusion
Speed
Connectivity
System reliability

38

Reference
1. R. C. Gonzalez, R. E. Woods, Digital Image Processi

ng third edition, Prentice Hall, 2010.

2. C. J. Kuo, J. J. Ding, Anew Compression-Oriented Fa
st image Segmentation Technique, NTU,2009.

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