Color

Conversion from RGB to HSI

It is not too difficult to convert RGB values into HSI values to facilitate color processing in computer vision applications. First of all, we normalize the range of the R, G, and B components to the interval from 0 to 1. For Windows programs for example this can be programs, example, done by dividing each value by 255. Then we compute the intensity I as I = 1/3*(R + G + B). Obviously, intensity also ranges from 0 to 1.
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RGB
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HSI

Conversion from RGB to HSI

Then we compute the values r, g, b that are independent of intensity: intensity: r = R/(R + G + B) g = G/(R + G + B) b = B/(R + G + B) When we consider the RGB cube, then all possible triples (r, g, b) lie on a triangle with corners (1, 0, 0), (0, 1, 0), and (0, 0, 1). We could call this the rgb-subspace of our RGB rgbcube.
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Conversion from RGB to HSI

green p-w H p = (r, g, b) pr - w red (pr) (p w = (1/3, 1/3, 1/3) (white)

blue

The hue is the angle H from vector pr w to vector p w. The saturation is the distance from w to p relative to the distance from w to the fully saturated color of the same hue as p (on the edge of the triangle).
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Conversion from RGB to HSI

Then we have:

Conversion from RGB to HSI

We can also compute:

cos H =

(p w ) (p r w ) || p w || || p r w ||

(p w ) (p r w ) =

2(r 1 / 3) ( g 1 / 3) (b 1 / 3) 3

Since w = (1/3, 1/3, 1/3):

|| p w ||= (r 1 / 3) 2 + ( g 1 / 3) 2 + (b 1 / 3) 2
And since pr = (1, 0, 0):

With the above formulas, including those for deriving r, g, and b f d from R G and B we can d t R, G, d B, determine an i equation for computing H directly from R, G, and B:

cos H =

2R G B 2 ( R G ) 2 + ( R B)(G B )
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|| p r w ||= 2 / 3
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Conversion from RGB to HSI

The saturation is the distance on the triangle in the rgbrgb-subspace from white relative to the distance from white to the fully saturated color with the same hue. Fully saturated colors are on the edges of the triangle. The derivation of the formula for saturation S is very lengthy, so we will just take a look at the result:

Limitations of RGB and HSI

Using three individual wavelengths to represent color can never cover the entire visible range of colors:

S = 1

3 min( R, G , B ) R+G + B
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Limitations of any Color Representation

Our perception of an objects color does not only depend on the frequency spectrum emitted from the objects location. It also depends on the spectra of other objects or regions in the visual field. This mechanism called color constancy allows us to assign a color to a given object that is invariant to shading or illumination of the scene by varying light sources. The underlying perceptual mechanisms are not fully understood yet.
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Limitations of any Color Representation

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Limitations of any Color Representation Lets move on to

Image Filtering
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Histogram Modification
A common and important filter operation is histogram modification. modification. Between any two stages of image processing, it often happens that the range of intensity values in our image is only a small proportion of the possible range. range This means that the contrast in the image is weaker than it would have to be. It is then useful to modify the intensity histogram of the image.
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Histogram Modification
One possible method for this is image scaling: We scaling: simply expand the range [a, b] containing most of the intensities in the image to fill the entire range [z1, zk]. This means that the value z of each pixel in the original image is mapped onto the value z in the scaled image in the following way:

z' =

z k z1 ( z a ) + z1 ba

Notice that this method may leave gaps between bins in the resulting histogram.
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Image Filtering
Many basic image processing techniques are based on convolution. In a convolution, a convolution filter W pp y pixel of an image I to create a g is applied to every p filtered image I*:
I * ( x, y ) = I ( x, y ) * W ( x, y ) =
u = v =

Image Filtering
Example: Averaging filter: y
0 0 0 0 0 0 0 0 1/9 1/9 1/9 0 0 0 0 0 0 1/9 1/9 1/9 1/9 1/9 1/9 0 0

I (u, v)W (u x, v y)

I * ( x, y ) = I ( x, y ) * W ( x, y ) =
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u = v =
Computer Vision Lecture 4: Image Filtering

I (u, v)W (u x, v y)
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Image Filtering
Image:
1 2 5 3 4 6 11 10 1 4 3 3 6 0 2 2 10 9 2 9 9 0 7 8 10 New value: 6/9 + 9/9 + 7/9 + 0/9 + 2/9 + 8/9 + 2/9 + 9/9 + 10/9 = 5.889

Image Filtering
Grayscale Image: Averaging Filter:
1/9 1/9 1/9 1/9 1/9 1/9 1/9 1/9 1/9

Filter:
1/9 1/9 1/9 1/9 1/9 1/9 1/9 1/9 1/9 1 2 5 3 4 6 11 10 1 4 3 3 6 0 2 2 10 9 2 9 9 0 7 8 10

I * ( x, y ) = I ( x, y ) * W ( x, y ) =
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u = v =
Computer Vision Lecture 4: Image Filtering

I (u, v)W (u x, v y)
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Image Filtering
Original Image:
1 1/9 6 1/9 3 1/9 2 2 1/9 11 1/9 3 1/9 10 5 1/9 10 1/9 6 1/9 9 3 4 1 4 0 2 2 9 9 0 7 8 10

Image Filtering
Original Image:
0 0 0 0 1 2 5 3 4 6 3 2 9 1/9 1/9 1/9 11 3 10 0 1/9 1/9 1/9 10 6 9 7 1/9 1/9 1/9 1 4 0 2 2 9 8 10

Filtered Image:
0 0 0 0 0 0 0 0 0 5 0 0

Filtered Image:
0 0 0 0 0 0 0 0 0 5 0 7 0 0 0 0 0 0

value = 11/9 + 61/9 + 31/9 + 21/9 + 111/9 + 31/9 + 51/9 + 101/9 + 61/9 = 47/9 = 5.222
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value = 61/9 + 31/9 + 21/9 + 111/9 + 31/9 + 101/9 + 101/9 + 61/9 + 91/9 = 60/9 = 6.667
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Image Filtering
Original Image:
1 2 5 3 4 6 11 10 1 4 3 3 6 0 2 2 10 9 2 9 9 0 7 8 10

Image Filtering
More common: Gaussian Filters
0 0 0 0 0
x2 + y2 2 2

Filtered Image:
0 0 0 0 0 0 5 5 4 0 0 7 6 5 0 0 5 5 6 0

W ( x, y ) = G ( x, y ) =

1 2
2

implement decreasing influence by b more di t t pixels distant i l

1 4 4 16 26 16 4 7 26 41 26 7 4 16 26 16 4 1 4 7 4 1
22

Discrete version: Now you can see the averaging (smoothing) effect of the 33 filter that we applied.
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7 4 1

Computer Vision Lecture 4: Image Filtering

Image Filtering
Effect of Gaussian smoothing:

Properties of Gaussian Filters

The application of Gaussian convolution filters can be made more efficient. efficient. This is important, for example, if we want to apply different Gaussian filters to a large number of big input images. The basic idea is to separate the convolution with the 2D Gaussian filter into two successive convolutions with 1D Gaussian filters. One of these filters is vertical, the other one vertical, horizontal. horizontal.
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original
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99

15 1515
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Properties of Gaussian Filters

The general form of the Gaussian filter, without a normalizing factor, is given by:

Properties of Gaussian Filters

Then we have:

g[i, j ] = e

i2 + j2 2 2

g[i, j ] * f [i, j ] = g[k , l ] f [i k , j l ]

k =1 l =1

The convolution of an image f[i, j] with a Gaussian filter of size mn is given by: m

= e
k =1 l =1
n

k 2 +l 2 2 2

f [i k , j l ]
l2

g[i, j ] * f [i, j ] = g[k , l ] f [i k , j l ]

k =1 l =1

= e

k2 2 2

2 2
2

f [i k , j l ]

This formula needs to be applied to all coordinates [i, j] in f in order to create the convoluted image.
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= e
k =1

k =1 l =1 k2 m 2 2

n l2 e 2 f [i k , j l ] l =1
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Computer Vision Lecture 4: Image Filtering

Properties of Gaussian Filters

The formula in the curly braces describes the convolution of f[i, j] with a horizontal onef[i onedimensional Gaussian filter. filter. The remainder of the formula takes the result of this first convolution and performs a convolution with a vertical one-dimensional Gaussian filter on it. oneit So instead of applying an mn Gaussian convolution filter, we can successively apply a 1n filter and an 1 m1 filter. This increases the efficiency of computation.
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Different Types of Filters

Smoothing can reduce noise in the image. This can be useful, for example, if you want to find regions of similar color or texture in an image. However, there are different types of noise. noise. For so-called salt-and-pepper noise, for example, sosalt-anda median filter can be more effective.

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Median Filter
Use, for example, a 33 filter and move it across 3 the image like we did before. For each position, compute the median of the brightness values of the nine pixels in question. To compute the median, sort the nine values in ascending order order. The value in the center of the list (here, the fifth value) is the median. Use the median as the new value for the center pixel.
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Median Filter
Advantage of the median filter: Capable of eliminating outliers such as the extreme brightness values in salt-and-pepper noise. salt-and Disadvantage: The median filter may change the contours of objects in the image.

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Median Filter

original image
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77 median
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