Chapter03 Spatial Filtering

Advanced Image Processing
Spatial Filtering
CSE 535 Advanced Image Processing
Asif Khan, PhD

asifkhan@giki.edu.pk
http://www.giki.edu.pk/Faculty/Dr-Asif-Khan
Dr. Asif Khan, GIK Institute, Spring 2017

Spatial Filtering
Contents
Spatial domain
Intensity transformation
Basic functions
Histogram processing
Spatial filtering

Spatial Filtering
Spatial
The image plane or direct manipulation of pixels
g(x,y) = T[f(x,y)]
Spatial filtering (Chap 3)

Operate on a neighborhood of a pixel
Filter, mask, kernel, template, window

Spatial Filtering
Spatial filtering

Spatial Filtering
Origin x
a b c j k l
d
g
e
h
f
i
* m
p
n
q
o
r
Simple 3*3
Original Filter (w)
e 3*3 Filter
Neighbourhood Image
Pixels
eprocessed = n*e +
j*a + k*b + l*c +
y Image f (x, y) m*d + o*f +
p*g + q*h + r*i
The above is repeated for every pixel in the original image to generate the filtered image

Spatial Filtering
Spatial filtering
Gaussian

Spatial Filtering
Spatial filtering
Correlation
Convolution

Spatial Filtering
Spatial filtering
Image convolution

Spatial Filtering
Spatial filtering
Vector representation
R = wTz

Spatial Filtering
Correlation filtering
we have been talking about so far
Convolution filtering
similar operation, with just one subtle difference
a b c r s t eprocessed = v*e +
z*a + y*b + x*c +
d
f
e
g
e
h
* u
x
v
y
w
z
w*d + u*e +
t*f + s*g + r*h
For symmetric filters it makes no difference

Spatial Filtering
Smoothing spatial filtering

Linear filters
Averaging/lowpass
Box filter Weighted average

filter

Spatial Filtering

Linear filters
Averaging/lowpass

Spatial Filtering
1 1 1
f [.,.] g[.,.] h[ , ] 1 1 1
1 1 1
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0
0 0
0 0
0 90
90 0
0 90
90 90
90 90
90 0
0 0
0
0
0 0
0 0
0 90
90 90
90 90
90 90
90 90
90 0
0 0
0
0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0
0
0 0
0 90
90 0
0 0
0 0
0 0
0 0
0 0
0 0
0
0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0
a b
g ( x, y ) h ( s, t ) f ( x s, y t )
s a t b
Dr. Asif Khan, GIK Institute, Spring 2017 Credit: S. Seitz
Spatial Filtering
1 1 1
f [.,.] g[.,.] h[ , ] 1 1 1
1 1 1
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 10
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 0 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 0 0 0 0 0 0 0
0 0 90 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0

Spatial Filtering
1 1 1
f [.,.] g[.,.] h[ , ] 1 1 1
1 1 1
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 10 20
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 0 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 0 0 0 0 0 0 0
0 0 90 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0

Spatial Filtering
1 1 1
f [.,.] g[.,.] h[ , ] 1 1 1
1 1 1
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 10 20 30
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 0 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 0 0 0 0 0 0 0
0 0 90 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0

Spatial Filtering
1 1 1
f [.,.] g[.,.] h[ , ] 1 1 1
1 1 1
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 10 20 30 30
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 0 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 0 0 0 0 0 0 0
0 0 90 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0

17 Credit: S. Seitz
Spatial Filtering
1 1 1
f [.,.] g[.,.] h[ , ] 1 1 1
1 1 1
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 10 20 30 30
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 0 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 0 0 0 0 0 0 0
?
0 0 90 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0

18 Credit: S. Seitz
Spatial Filtering
1 1 1
f [.,.] g[.,.] h[ , ] 1 1 1
1 1 1
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 10 20 30 30
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 90 90 90 90 0 0
0 0 0 90 0 90 90 90 0 0
?
0 0 0 90 90 90 90 90 0 0
0 0 0 0 0 0 0 0 0 0
50
0 0 90 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0

19 Credit: S. Seitz
Spatial Filtering
1 1 1
f [.,.] g[.,.] h[ , ] 1 1 1
1 1 1
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 10 20 30 30 30 20 10
0 0 0 90 90 90 90 90 0 0
0 20 40 60 60 60 40 20
0 0 0 90 90 90 90 90 0 0
0 30 60 90 90 90 60 30
0 0 0 90 90 90 90 90 0 0
0 0 0 90 0 90 90 90 0 0 0 30 50 80 80 90 60 30
0 0 0 90 90 90 90 90 0 0
0 30 50 80 80 90 60 30
0 0 0 0 0 0 0 0 0 0
0 20 30 50 50 60 40 20
0 0 90 0 0 0 0 0 0 0
10 20 30 30 30 30 20 10
0 0 0 0 0 0 0 0 0 0
10 10 10 0 0 0 0 0

20 Credit: S. Seitz
Spatial Filtering

Order-statistics (nonlinear) filters
Median good for impulse/salt-and-pepper noise
Min - Set the pixel value to the minimum in the neighbourhood
Max - Set the pixel value to the maximum in the neighbourhood

Spatial Filtering

Order-statistics (nonlinear) filters
Median good for impulse/salt-and-pepper noise
Min - Set the pixel value to the minimum in the neighbourhood
Max - Set the pixel value to the maximum in the neighbourhood

Spatial Filtering
Sharpening spatial filtering
highlights fine details (e.g. edges)

removes blurring
based on spatial differentiation
measures the rate of change of a function

first-order derivatives
second-order derivates

Spatial Filtering

A B

Spatial Filtering

f
f ( x 1) f ( x)
x

Spatial Filtering
f(x)
5 5 4 3 2 1 0 0 0 6 0 0 0 0 1 3 1 0 0 0 0 7 7 7 7
0 -1 -1 -1 -1 -1 0 0 6 -6 0 0 0 1 2 -2 -1 0 0 0 7 0 0 0
f
f ( x 1) f ( x)
x
f(x)

Spatial Filtering
f(x)
4 +3 52+ +35 2(5)

4+
2(4)
1 2(3)0 + 0 2(6)
2(2) 0+
7+7 7+ 2(7)
7 2(7)
2(7)
= -1
= =0 0= 0 = -12 ==-70= 0
5 5 4 3 2 1 0 0 0 6 0 0 0 0 1 3 1 0 0 0 0 7 7 7 7
-1 0 0 0 0 1 0 6 -12 6 0 0 1 1 -4 1 1 0 0 7 -7 0 0
f(x)
2 f
f ( x 1) f ( x 1) 2 f ( x )
x
2

Spatial Filtering
Isolated point
Step
f(x)
Thin Line
Nonzero along
the entire ramp
f(x)
Thick Edge Almost same response

Nonzero
Nonzero only at the only at the
onset & endonset & ramp
of the end of the ramp Double Response
f(x)
Fine Edges
Stronger response
Spatial Filtering
First Order Derivative Second Order Derivative
Generally produce thicker edges in an Have a stronger response to fine detail,

image such as thin lines and isolated points
Generally have a stronger response to a Produce a double response at step
gray-level step. changes in gray level
For similar changes in gray-level
values in an image, their response is
stronger to a line than to a step, and to a
point than to a line.
Highlight intensity discontinuities

Spatial Filtering

Spatial Filtering

Laplacian
Isotropic rotation invariant
One of the simplest sharpening filters
2 f [ f ( x 1, y ) f ( x 1, y )
f f
2 2
2 f 2 f ( x, y 1) f ( x, y 1)]
x y
2
4 f ( x, y )
f2
f ( x 1, y ) f ( x 1, y ) 2 f ( x, y )
x
2
0 1 0
2 f 1 -4 1
f ( x, y 1) f ( x, y 1) 2 f ( x, y )
y
2
0 1 0
Spatial Filtering

Laplacian

Spatial Filtering

Laplacian
g ( x, y ) f ( x, y ) 2 f

Spatial Filtering

Laplacian

Spatial Filtering

Laplacian
g ( x, y ) f ( x, y ) f 2
f ( x, y ) [ f ( x 1, y ) f ( x 1, y )
f ( x, y 1) f ( x, y 1)
4 f ( x, y )]
5 f ( x, y ) f ( x 1, y ) f ( x 1, y )
f ( x, y 1) f ( x, y 1)
Spatial Filtering

Laplacian
a new filter which does the whole job in one step
0 -1 0
-1 5 -1
0 -1 0

Spatial Filtering

Unsharp masking
sequence of linear spatial filters to get sharpening
blur
subtract from original image (to get mask)
add resulting mask to original image
Highboost filtering
If A > 1

Spatial Filtering

Unsharp masking
sequence of linear spatial filters to get sharpening
blur
subtract from original image (to get mask)
add resulting mask to original image
Highboost filtering
If A > 1

Spatial Filtering
Highboost filtering
(a) A dark (b) Laplacian

image computed
with the high
boost filter
using A = 0.
(c) Laplacian of (a)

(d) Laplacian
computed with the
computed with
high boost filter
the high boost
using A = 1.
filter. A = 1.7.

Spatial Filtering
Highboost filtering

Spatial Filtering

first-order derivates (the gradient)
the gradient of f at coordinates (x, y) is
f
Gx x
f f
Gy
y
the direction of the greatest rate of change of f at location (x, y)

Spatial Filtering

f
Gx x
f f f
f ( x 1) f ( x) Forward Distance
Gy
x y
f
f ( x ) f ( x 1) Backward Distance
x
f
f ( x 1) f ( x 1) Central Distance
x

Spatial Filtering

f
mag( f ) 2
Gx G y
1
2 2
f
Gx x
f
Gy
1

f 2 f 2 2
y

x y
Gx G y

Spatial Filtering

mag( f ) 2
Gx G y
1
2 2

Gx G y
Gx ( z8 z5 ) and G y ( z6 z5 ) Forward Distance
Gx ( z9 z5 ) and G y ( z8 z6 ) Roberts cross-

gradient operators
z1 z2 z3
mag( f ) z9 z5 z8 z6
-1 0 0 -1 z4 z5 z6
0 1 1 0
z7 z8 z9
Spatial Filtering

An approximation using absolute values, still at point z5 , but
using a 33 mask, is
mag( f ) z3 z6 z9 z1 z4 z7
z7 z8 z9 z1 z2 z3
-1 0 1 z1 z2 z3 -1 -1 -1
-1 0 1 z4 z5 z6 0 0 0
-1 0 1 z7 z8 z9 1 1 1

Spatial Filtering

-1 0 1 -1 -1 -1 Remember the central distance

f
f ( xy 1) f ( xy 11))
-1 0 1 0 0 0 yx
-1 0 1 1 1 1 mag( f ) Gx G y
Gx f ( x 1, y 1) f ( x 1, y ) f ( x 1, y 1)
f ( x 1, y 1) f ( x 1, y ) f ( x 1, y 1)
G y f ( x 1, y 1) f ( x, y 1) f ( x 1, y 1)
f ( x 1, y 1) f ( x, y 1) f ( x 1, y 1)
Spatial Filtering

Sobel operator
-1 0 1 -1 -2 -1
-2 0 2 0 0 0
-1 0 1 1 2 1

Spatial Filtering

first-order derivates (the gradient) Vertical Edge
Sobel operator (absolute value)
1 0 -1
2 0 -2
1 0 -1

Spatial Filtering

Sobel operator
1 2 1
0 0 0
-1 -2 -1

Spatial Filtering

Sobel operator

Spatial Filtering
Combining spatial filters

Spatial Filtering
Combining spatial filters

Spatial Filtering
Acknowledgement
Images taken from Digital Image Processing by Gonzalez

and Woods, 3rd Ed.

Chapter03 Spatial Filtering

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Advanced Image Processing

CSE 535 Advanced Image Processing

Asif Khan, PhD

Dr. Asif Khan, GIK Institute, Spring 2017

Dr. Asif Khan, GIK Institute, Spring 2017

Spatial filtering (Chap 3)

Dr. Asif Khan, GIK Institute, Spring 2017

Dr. Asif Khan, GIK Institute, Spring 2017

Dr. Asif Khan, GIK Institute, Spring 2017

Dr. Asif Khan, GIK Institute, Spring 2017

Dr. Asif Khan, GIK Institute, Spring 2017

Dr. Asif Khan, GIK Institute, Spring 2017

Dr. Asif Khan, GIK Institute, Spring 2017

For symmetric filters it makes no difference

Dr. Asif Khan, GIK Institute, Spring 2017

Smoothing spatial filtering

Box filter Weighted average

Dr. Asif Khan, GIK Institute, Spring 2017

Smoothing spatial filtering

Dr. Asif Khan, GIK Institute, Spring 2017

Dr. Asif Khan, GIK Institute, Spring 2017 Credit: S. Seitz

Dr. Asif Khan, GIK Institute, Spring 2017 Credit: S. Seitz

Dr. Asif Khan, GIK Institute, Spring 2017 Credit: S. Seitz

Dr. Asif Khan, GIK Institute, Spring 2017

Dr. Asif Khan, GIK Institute, Spring 2017

Dr. Asif Khan, GIK Institute, Spring 2017

Dr. Asif Khan, GIK Institute, Spring 2017

Smoothing spatial filtering

Dr. Asif Khan, GIK Institute, Spring 2017

Smoothing spatial filtering

Dr. Asif Khan, GIK Institute, Spring 2017

Sharpening spatial filtering

highlights fine details (e.g. edges)

measures the rate of change of a function

Dr. Asif Khan, GIK Institute, Spring 2017

Sharpening spatial filtering

Dr. Asif Khan, GIK Institute, Spring 2017

Sharpening spatial filtering

Dr. Asif Khan, GIK Institute, Spring 2017

Dr. Asif Khan, GIK Institute, Spring 2017

4 +3 52+ +35 2(5)

Dr. Asif Khan, GIK Institute, Spring 2017

Thick Edge Almost same response

First Order Derivative Second Order Derivative

Generally produce thicker edges in an Have a stronger response to fine detail,

Highlight intensity discontinuities

Dr. Asif Khan, GIK Institute, Spring 2017

Dr. Asif Khan, GIK Institute, Spring 2017

Sharpening spatial filtering

Sharpening spatial filtering

Dr. Asif Khan, GIK Institute, Spring 2017

Sharpening spatial filtering

Dr. Asif Khan, GIK Institute, Spring 2017

Sharpening spatial filtering

Dr. Asif Khan, GIK Institute, Spring 2017

Sharpening spatial filtering

Sharpening spatial filtering

Dr. Asif Khan, GIK Institute, Spring 2017

Sharpening spatial filtering

Dr. Asif Khan, GIK Institute, Spring 2017

Sharpening spatial filtering

Dr. Asif Khan, GIK Institute, Spring 2017

(a) A dark (b) Laplacian

(c) Laplacian of (a)