CPE409 Image Processing

Part 5
Spatial Filtering

Assist. Prof. Dr. Caner ÖZCAN

If the facts don't fit the theory, change the facts.

~Einstein
Outline

3. Intensity Transformations and Spatial

Filtering
► Some Basic Intensity Transformation Functions
► Histogram Processing
► Fundamentals of Spatial Filtering
► Smoothing Spatial Filters
► Sharpening Spatial Filters
► Combining Spatial Enhancement Methods
► Using Fuzzy Techniques for Intensity
Transformations and Spatial Filtering
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Importance of Neighborhood

► Both zebras and dalmatians have black and white

pixels in similar numbers.
► The difference between the two is the characteristic
appearance of small group of pixels rather than
individual pixel values.
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Spatial Filtering
► A spatial filter consists of (a) a neighborhood, and
(b) a predefined operation

► Linear spatial filtering of an image of size MxN

with a filter of size mxn is given by the expression
a b
g ( x, y ) =   w(s, t ) f ( x + s, y + t )
s =− a t =− b

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Spatial Filtering

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Spatial Filtering (Moving Average In 2D)

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Slide credit: S. Seitz
Spatial Filtering (Moving Average In 2D)

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Slide credit: S. Seitz
Spatial Filtering (Moving Average In 2D)

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Slide credit: S. Seitz
Spatial Filtering (Moving Average In 2D)

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Slide credit: S. Seitz
Spatial Filtering (Moving Average In 2D)

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Slide credit: S. Seitz
Spatial Filtering (Moving Average In 2D)

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Slide credit: S. Seitz
Smoothing Spatial Filters

► Smoothing filters are used for blurring and for

noise reduction.

► Blurring is used in removal of small details and

bridging of small gaps in lines or curves.

► Smoothing spatial filters include linear filters and

nonlinear filters.

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Two Smoothing Averaging Filter Masks

Python Code:
kernel1 = [Link]((3, 3))
img = cv2.filter2D(src=image, ddepth=-1, kernel=kernel1)

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Two Smoothing Averaging Filter Masks

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Blur an image with a 2D convolution matrix

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Smoothing (Averaging) Filter Masks

► Ortalama filtresini gerçekleştirmek için

[Link]() ve [Link]() işlevleri
kullanılabilir.
► Her iki işlev de çekirdeği kullanarak bir
görüntüyü düzgünleştirir.

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Smoothing (Averaging) Filter Masks

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Spatial Smoothing Linear Filters

The general implementation for filtering an M  N image

with a weighted averaging filter of size m  n is given
a b

  w(s, t ) f ( x + s, y + t )
g ( x, y ) = s =− a t =− b
a b

  w(s, t )
s =− a t =− b

where m = 2a + 1, n = 2b + 1.

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Spatial Smoothing Linear Filters

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Example: Gross Representation of Objects

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Order-statistic (Nonlinear) Filters
— Nonlinear

— Based on ordering (ranking) the pixels contained in the

filter mask

— Replacing the value of the center pixel with the value

determined by the ranking result

E.g., median filter, max filter, min filter

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Order-statistic (Nonlinear) Filters

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Example: Use of Median Filtering for Noise Reduction

Python Code (median):

medianBlur(source_image, kernel_size)
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Sharpening Spatial Filters
► The aim is to emphasize the transitions in intensity.

► Laplacian Operator

► Unsharp Masking and Highboost Filtering

► Using First-Order
Derivatives for Nonlinear Image
Sharpening — The Gradient

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Sharpening Spatial Filters: Foundation

► The first-order derivative of a one-dimensional function

f(x) is the difference
f
= f ( x + 1) − f ( x )
x

► The second-order derivative of f(x) as the difference

2 f
= f ( x + 1) + f ( x − 1) − 2 f ( x)
x 2

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26
Sharpening Spatial Filters: Laplace Operator

► The second-order isotropic derivative operator is the

Laplacian for a function (image) f(x,y)
 2
f  2
f
 f = 2 + 2
2

x y
2 f
= f ( x + 1, y ) + f ( x − 1, y ) − 2 f ( x, y)
x 2

2 f
= f ( x, y + 1) + f ( x, y − 1) − 2 f ( x, y )
y 2

 2 f = f ( x + 1, y ) + f ( x − 1, y ) + f ( x, y + 1) + f ( x, y − 1)
- 4 f ( x, y )
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Sharpening Spatial Filters: Laplace Operator

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Sharpening Spatial Filters: Laplace Operator

► Image sharpening in the way of using the Laplacian:

g ( x, y ) = f ( x, y ) + c  2 f ( x, y ) 
where,
f ( x, y ) is input image,
g ( x, y ) is sharpenend images,
c = -1 if  2 f ( x, y ) corresponding to Fig. 3.37(a) or (b)
and c = 1 if either of the other two filters is used.

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Sharpening Spatial Filters: Laplace Operator
Python Code:

Laplacian( src_gray, dst, ddepth, kernel_size,

scale, delta, BORDER_DEFAULT );

• src_gray: The input image.

• dst: Destination (output) image
• ddepth: Depth of the destination image. Since our input
is CV_8U we define ddepth = CV_16S to avoid overflow
• kernel_size: The kernel size of the Sobel operator to be applied
internally. We use 3 in this example.
• scale, delta and BORDER_DEFAULT: We leave them as default
values.

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Sharpening Spatial Filters: Laplace Operator

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Image Sharpening based on First-Order Derivatives

For function f ( x, y ), the gradient of f at coordinates ( x, y )

is defined as
 f 
 g x   x 
f  grad( f )    =  
 g y   f 
 y 

The magnitude of vector f , denoted as M ( x, y )

Gradient Image M ( x, y ) = mag(f ) = g x 2 + g y 2

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Image Sharpening based on First-Order Derivatives

The magnitude of vector f , denoted as M ( x, y )

M ( x, y ) = mag(f ) = g x 2 + g y 2

M ( x, y ) | g x | + | g y |

z1 z2 z3
M ( x, y ) =| z8 − z5 | + | z6 − z5 |
z4 z5 z6
z7 z8 z9

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Image Sharpening based on First-Order Derivatives

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Image Sharpening based on First-Order Derivatives

Roberts Cross-gradient Operators

M ( x, y ) | z9 − z5 | + | z8 − z6 |

Sobel Operators
M ( x, y ) | ( z7 + 2 z8 + z9 ) − ( z1 + 2 z2 + z3 ) |
z1 z2 z3 + | ( z3 + 2 z6 + z9 ) − ( z1 + 2 z4 + z7 ) |
z4 z5 z6
z7 z8 z9
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Example

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Example:

Combining
Spatial
Enhancement
Methods

Goal:

Enhance the
image by
sharpening it
and by bringing
out more of the
skeletal detail

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Example:

Combining
Spatial
Enhancement
Methods

Goal:

Enhance the
image by
sharpening it
and by bringing
out more of the
skeletal detail

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References

► Sayısal Görüntü İşleme, Palme Publishing, Third Press Trans. (Orj:

R.C. Gonzalez and R.E. Woods: "Digital Image Processing",
Prentice Hall, 3rd edition, 2008).
► “Digital Image Processing Using Matlab”, Gonzalez & Richard E.
Woods, Steven L. Eddins, Gatesmark Publishing, 2009
► Lecture Notes, CS589-04 Digital Image Processing, Frank
(Qingzhong) Liu, [Link]
► Lecture Notes, BIL717-Image Processing, Erkut Erdem
► Lecture Notes, EBM537-Image Processing, [Link]
[Link]
► [Link]
function/
► [Link]
python-and-opencv-2bce390be0d1
► Bekir Aksoy, Python ile İmgeden Veriye Görüntü İşleme ve
Uygulamaları, Nobel Akademik Yayıncılık
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