Image Processing and Computer Vision Image Formation and

Image Processing and Computer Vision Image Formation and Image Restoration 1

Score )คะแนน( l Programming Assignment + Homework l l Midterm Final 20% 25% Project l l 15% Examination )สอบ( l l Midterm Final OCR เขาเรยน 15% + จตพสย 10% 2

Topics l l l l Binary Image Processing Edge Detection Automatic Threshold Hough Transform Generalized Hough Transform Texture segmentation Gradient Descent Method State space Gradient Descent 3

Topics l l l Gibbs sampler with simulated Annealing Stereo Matching, Stereo vision Optical Flow, Computing Optical Flow 4

ความแตกตางของ Computer Graphic และ Image Processing l Computer Graphic input output 6

Binary Image Processing l l l l Image Filtering and Edge Detection Image Restoration Region, Image Segmentation, texture Segmentation Blob coloring Contour Energy Minimization Stereo Matching, Object Recognition 7

Example l Noise Removal or Image Restoration Gaussian Noise Restored image 8

Example l Noise Removal or Image Restoration Salt and Pepper Noise Restored image 9

Example l Edge Detection Original Image Robert’s Edge Detector Sobel Edge Detector 10

Example l Template Matching (Midterm Project) การอานตวอกษร จากภาพทไดจากการสแกน Thai OCR และนำมาเปรยบเทยบกบตนแบบทมอยแลว English OCR Kedkarn Chaiyakhun Computer Engineering 11

Example l Stereo Vision (Final Project) การหาความลกของวตถในภาพ Left eye Right eye 12

Example l Stereo Vision Depth 13

Example l Stereo Vision Left eye Right eye 14

Example l Stereo Vision Depth 15

Low-Level Computer Vision l l Edge Detection Image Processing (Pre-processing) Image Restoration Noise Removal 16

Mid-Level Computer Vision l Segmentation )การแบงแยก ( l l Grouping แยกวตถออกจาก Background Separate Image In the zone (การแบงโซนของพนท l Finding Depth, Shape, Light, Material l ( 17

High-Level Computer Vision l Pattern Recognition, Object Recognition Obstacle Avoidance )การหลบหลกสงกดขวาง ( Grasping )การจบสงของ , การควาสงของ Robot( l Etc. l l 18

Example RGB Original Image G-Component R-Component B-Component 20

Convert color to grayscale ( I = (R+G+B) / 3 หรอ I= 0. 299 * R + 0. 587 * G + 0. 114 * B + + ) /3= ? 21

Image Formation (Gray Scale) l l l Intensity Image )ความเขมของส ( มคาตงแต 0… 255 (ในระดบ Gray Scale( – 0 Black – 100 Gray - 255 White 200 220 190 100 225 180 90 245 180 150 180 255 244 230 0 20 130 140 230 122 34 90 112 67 … . . … … 22

Pixel Coordinate (column x, row y) 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Pixel ท column =7, row = 4 มคาเปนสเหลอง หรอ x=7, y=4 Zoom 1600% 24

4 -neighbors of Pixel (x-1) (x+1) (y-1) (y+1) (x, y) is a red circle (x, y-1) is top one (x-1, y) is left one (x+1, y) is right one (x, y+1) is bottom one 25

Diagonal neighbor of Pixel (x-1) (x+1) (y-1) (y+1) (x, y) is a red circle (x-1, y-1) is top-left one (x+1, y-1) is top-right one (x-1, y+1) is bottom-left one (x+1, y+1) is bottom-right one 26

8 -neighbors of Pixel (x-1) (x+1) (y-1) (y+1) (x, y) is a red circle (x-1, y-1), (x+1, y-1), (x-1, y), (x+1, y), (x-1, y+1), (x+1, y+1) 27

Gaussian Additive Noise 29

การกำจด l Gaussian Noise l l Noise Use Gaussian Filter หรอ Average Filter Salt/Pepper Noise l Use Median Filter 31

The Convolution Process z 1 z 2 z 3 z 4 z 5 z 6 z 7 z 8 z 9 I 1 I 2 I 7 X I 13 I 14 I 19 I 20 I 25 I 26 I 31 I 32 I 3 I 4 I 5 I 6 I 9 I 10 I 11 I 12 I 15 I 16 I 21 I 22 I 27 I 28 I 33 I 34 I 17 I 23 I 29 I 35 I 18 I 24 I 30 I 36 X = I 1 z 1+I 2 z 2+I 3 z 3+I 7 z 4+I 8 z 5+I 9 z 6+I 13 z 7+I 14 z 8+I 15 z 9 คา Z ซงเปนคาของ Filter หรอ หนากาก จะเปลยนคาไปตามชนดตาง ๆ ของ F 33

The Convolution Process z 1 z 2 z 3 z 4 z 5 z 6 z 7 z 8 z 9 I 1 I 2 I 7 I 8 I 13 I 14 I 19 I 20 I 25 I 26 I 31 I 32 I 3 I 4 I 5 I 6 X I 10 I 11 I 12 I 15 I 16 I 21 I 22 I 27 I 28 I 33 I 34 I 17 I 23 I 29 I 35 I 18 I 24 I 30 I 36 X = I 2 z 1+I 3 z 2+I 4 z 3+I 8 z 4+I 9 z 5+I 10 z 6+I 14 z 7+I 15 z 8+I 16 z 9 34

The Convolution Process z 1 z 2 z 3 z 4 z 5 z 6 z 7 z 8 z 9 I 1 I 2 I 7 I 8 I 13 I 14 I 19 I 20 I 25 I 26 I 31 I 32 I 3 I 4 I 5 I 6 I 9 X I 11 I 12 I 15 I 16 I 21 I 22 I 27 I 28 I 33 I 34 I 17 I 23 I 29 I 35 I 18 I 24 I 30 I 36 X = I 3 z 1+I 4 z 2+I 5 z 3+I 9 z 4+I 10 z 5+I 11 z 6+I 15 z 7+I 16 z 8+I 17 z 9 35

Median Filter l Median Filter ใชจดการกบ Salt/Pepper Noise 39

Median Filter 41

Median Filter 3 * 3 Median Filter 42

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