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Binary image
processing
Image with two gray levels 0 and 1
It contains the basic terms and
concepts used in machine vision.
Its techniques are used in all aspects
of a vision system.
Small memory requirements
Fast execution time
Image Enhancement
Point Operations
Region and
segmentation
Region (
)
A subset of an image
Segmentation
Grouping of pixels into regions such
that
Thresholding
Thresholding
Thresholding :
A method to convert a gray scale image into a
binary image for object-background separation
: Thresholded gray image
Obtained using a threshold T for the original
gray image
.
: Binary image
Equivalent to
Three
types of thresholding
Thresholding
Histogram Equalization
H
Vision System
of Soccer Robot
Pixel a[i, j]
properties
In
Geometric
properties:
Size
Position
Orientation
Average in y
Example
center of object :
Let
By
removal
A noisy binary image and the resulting image after size filtering (T = 10)
How to get
the position and angle of robot
Calculations for
soccer field
Orientation
Line equation
Minimize
Our task is to find values of angle theta and rho for which this formula is minimum.
This provides best fit to line equation
center of object :
Let
1.
Calculate center
2.
Calculate a, b, and c.
By
Calculate center
2.
Calculate a, b, and c.
3.
Calculate theta
algorithms
Several definitions
Neighbors
4-neighbors (4-connected)
8-neighbors (8-connected)
Path
A sequence of neighbors
Foreground
is said to be connected to
if there
A pixel
is a path from
to
consisting entirely of pixels of
.
Connected components
A set of pixels in which each pixel is connected to all
other pixels.
labeling
One
Digital Geometry
I(i,j)
(0,0)
32
Neighborhood
Connectedness
Distance Metrics
Connected Components
Binary image with multiple 'objects'
Separate 'objects' must be labeled individually
6 Connected Components
P1
P2
P4
P3
P1
connected to
P2
P3
connected to
P4
P1
not connected to
P3 or P4
P2
not connected to
P3 or P4
P3
not connected to
P1 or P2
P4
not connected to
P1 or P2
Algorithm
Pick any pixel in the image and assign it a label
Assign same label to any neighbor pixel with the
same value of the image function
Continue labeling neighbors until no neighbors
can be assigned this label
Choose another label and another pixel not
already labeled and continue
If no more unlabeled image points, stop.
Who's my neighbor?
Example
Image
'Label' Image
Final Labeling
Neighbor
Four Neighbor
Eight Neighbor
4-neighbor
connectedness
8-neighbor
connectedness
Possible Solutions
Digital Distances
Euclidean Distance
= (i-n) 2 + (j-m) 2
= |i-n| + |j-m|
Chessboard Distance
Connected Components /
Image Labeling
Goal: To find clusters of pixels that are similar and
connected to each other
How it works:
Assign
Connected Components /
Image Labeling
4- connected
8-connected
Component Labeling
Definitions
Neighbors
4-neighbors (4-connected)
8-neighbors (8-connected)
Connected
components
Connected Components /
Image Labeling
1 1 1 1 1 1
A A A A A A
1 0 0 1 1 1
A B B A A A
1 1 1 0 1 1
A A A C A A
1 2 2 0 0 1
A D D C C A
1 2 2 0 0 1
A D D C C A
Connected Components /
Image Labeling
1 1 1 1 1 1
A A A A A A
1 0 0 1 1 1
A B B A A A
1 1 1 0 1 1
A A A B A A
1 2 2 0 0 1
A C C B B A
1 2 2 0 0 1
A C C B B A
Counting Objects
external corners
internal corners
Algorithm
1
Summary
24.
25.
26.