CSE 833 Digital Image Processing
Lecture 1
Introduction &
Fundamentals
Department of Computer Science &
Engineering
Rajshahi University of Engineering & Technology
Introduction
► What is Digital Image Processing?
Digital Image
— a two-dimensional function
x and y are spatial coordinates
The amplitude of f is called intensity or
f ( x, y )
gray level at the point (x, y)
Digital Image Processing
Image processing is a subclass of signal processing concerned specifically with pictures.
Improve image quality for human perception and/or computer interpretation.
Pixel
— the elements of a digital image
Image Processing Better
Image
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Origins of Digital Image
Processing
Sent by submarine
cable between London
and New York, the
transportation time
was reduced to less
than three hours from
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more than a week
Origins of Digital Image
Processing
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Image Acquisition Process
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A Simple Image Formation Model
f ( x, y ) = i( x, yg) r ( x, y )
f ( x, y ) : intensity at the point ( x, y )
i ( x, y ) : illumination at the point ( x, y )
(the amount of source illumination incid
ent on the scene)
r ( x, y ) : reflectance/transmissivity
at the point x( ,y )
(the amount of illumination reflected/tr ansmitted by the object)
*
where 0 <i (x ,y ) <∞ and 0 <r (x ,y ) < 1
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Some Typical Ranges of illumination
► Illumination
Lumen — A unit of light flow or luminous flux
Lumen per square meter (lm/m2) — The metric unit of measure for
illuminance of a surface
On a clear day, the sun may produce in excess of 90,000 lm/m2 of
illumination on the surface of the Earth
On a cloudy day, the sun may produce less than 10,000 lm/m2 of illumination
on the surface of the Earth
On a clear evening, the moon yields about 0.1 lm/m2 of illumination
The typical illumination level in a commercial office is about 1000 lm/m2
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Some Typical Ranges of Reflectance
► Reflectance
0.01 for black velvet
0.65 for stainless steel
0.80 for flat-white wall paint
0.90 for silver-plated metal
0.93 for snow
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Image Sampling and Quantization
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Representing Digital Images
► The representation of an M×N
numerical array as
f (0, 0) f (0,1) ... f (0, N − 1)
f (1, 0) f (1,1) ... f (1, N − 1)
f ( x, y ) =
... ... ... ...
f ( M − 1, 0) f ( M − 1,1) ... f ( M − 1, N − 1)
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Representing Digital Images
► The representation of an M×N
numerical array as
a0,0 a0,1 ... a0, N −1
a a1,1 ... a1, N −1
A= 1,0
... ... ... ...
aM −1,0 aM −1,1 ... aM −1, N −1
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Representing Digital Images
► Discrete intensity interval [0, L-1], L=2k
► The number b of bits required to store a M
× N digitized image
b=M×N×k
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Representing Digital Images
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Spatial and Intensity Resolution
► Spatial resolution
— A measure of the smallest discernible detail in an
image
— stated with line pairs per unit distance, dots
(pixels) per unit distance, dots per inch (dpi)
► Intensity resolution
— The smallest discernible change in intensity level
— stated with 8 bits, 12 bits, 16 bits, etc.
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Spatial and Intensity Resolution
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Spatial and Intensity Resolution
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Spatial and Intensity Resolution
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Basic Relationships Between Pixels
► Neighborhood
► Adjacency
► Connectivity
► Paths
► Regions and boundaries
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Basic Relationships Between Pixels
► Neighbors of a pixel p at coordinates (x,y)
4-neighbors of p, denoted by N4(p):
(x-1, y), (x+1, y), (x,y-1), and (x, y+1).
4 diagonal neighbors of p, denoted by ND(p):
(x-1, y-1), (x+1, y+1), (x+1,y-1), and (x-1, y+1).
8 neighbors of p, denoted N8(p)
N8(p) = N4(p) U ND(p)
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Basic Relationships Between Pixels
► Adjacency
Let V be the set of intensity values
4-adjacency: Two pixels p and q with values from
V are 4-adjacent if q is in the set N4(p).
8-adjacency: Two pixels p and q with values from
V are 8-adjacent if q is in the set N8(p).
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Basic Relationships Between Pixels
► Adjacency
Let V be the set of intensity values
m-adjacency: Two pixels p and q with values from V are m-
adjacent if
(i) q is in the set N4(p), or
(ii) q is in the set ND(p) and the set N4(p) ∩ N4(q) has no pixels whose values are
from V.
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Basic Relationships Between Pixels
► Path
A (digital) path (or curve) from pixel p with coordinates (x0, y0) to pixel q with
coordinates (xn, yn) is a sequence of distinct pixels with coordinates
(x0, y0), (x1, y1), …, (xn, yn)
Where (xi, yi) and (xi-1 , yi-1 ) are adjacent for 1 ≤ i ≤ n.
Here n is the length of the path.
If (x0, y0) = (xn, yn), the path is closed path.
We can define 4-, 8-, and m-paths based on the type of adjacency used.
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Examples: Adjacency and Path
V = {1, 2}
0 1 1 0 1 1 0 1
1
0 2 0 0 2 0 0 2
0
0 0 1 0 0 1 0 0
1
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Examples: Adjacency and Path
V = {1, 2}
0 1 1 0 1 1 0 1
1
0 2 0 0 2 0 0 2
0
8-adjacent
0 0 1 0 0 1 0 0
1
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Examples: Adjacency and Path
V = {1, 2}
0 1 1 0 1 1 0 1
1
0 2 0 0 2 0 0 2
0 m-adjacent
8-adjacent
0 0 1 0 0 1 0 0
1
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Examples: Adjacency and Path
V = {1, 2}
0 1 1
1,1 1,2 1,3 0 1 1 0 1
1
0 2 0
2,1 2,2 2,3 0 2 0 0 2
0 m-adjacent
8-adjacent
0 0 1
3,1 3,2 3,3 0 0 1 0 0
The 8-path from (1,3) to (3,3):
1
(i) (1,3), (1,2), (2,2), (3,3)
The m-path from (1,3) to (3,3):
(1,3), (1,2), (2,2), (3,3)
(ii) (1,3), (2,2), (3,3)
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Basic Relationships Between Pixels
► Connected in S
Let S represent a subset of pixels in an image. Two pixels p
with coordinates (x0, y0) and q with coordinates (xn, yn) are
said to be connected in S if there exists a path
(x0, y0), (x1, y1), …, (xn, yn)
Where
∀i, 0 ≤ i ≤ n, ( xi , yi ) ∈ S
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Basic Relationships Between Pixels
Let S represent a subset of pixels in an image
► For every pixel p in S, the set of pixels in S that are connected to p is
called a connected component of S.
► If S has only one connected component, then S is called Connected
Set.
► We call R a region of the image if R is a connected set
► Two regions, Ri and Rj are said to be adjacent if their union forms a
connected set.
► Regions that are not to be adjacent are said to be disjoint.
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Basic Relationships Between Pixels
► Boundary (or border)
The boundary of the region R is the set of pixels in the region that
have one or more neighbors that are not in R.
If R happens to be an entire image, then its boundary is defined as
the set of pixels in the first and last rows and columns of the image.
► Foreground and background
An image contains K disjoint regions, Rk, k = 1, 2, …, K. Let Ru
denote the union of all the K regions, and let (Ru)c denote its
complement.
All the points in Ru is called foreground;
All the points in (Ru)c is called background.
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Question 1
► In the following arrangement of pixels, are
the two regions (of 1s) adjacent? (if 8-
adjacency is used)
Region 1
1 1 1
1 0 1
0 1 0 Region 2
0 0 1
1 1 1
1 1 1
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Question 2
► In the following arrangement of pixels, are
the two parts (of 1s) adjacent? (if 4-adjacency
is used)
Part 1
1 1 1
1 0 1
0 1 0 Part 2
0 0 1
1 1 1
1 1 1
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► In the following arrangement of pixels, the
two regions (of 1s) are disjoint (if 4-adjacency
is used)
Region 1
1 1 1
1 0 1
0 1 0 Region 2
0 0 1
1 1 1
1 1 1
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► In the following arrangement of pixels, the
two regions (of 1s) are disjoint (if 4-adjacency
is used)
foregroun
1 1 1 d
1 0 1
0 1 0 background
0 0 1
1 1 1
1 1 1
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