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otherwise
th n m g
n m I
) , (
) , (
ATLAB function: > help edge
LL465: Introduction to Digital Image
Processing Copyright Xin Li 16
ommon O5erators
Exam5les . Roberts o5erator
g
g
2
) , ( ) , ( ) , (
2
2
2
n m g n m g n m g
radient o5erator
LL465: Introduction to Digital Image
Processing Copyright Xin Li 1
ommon O5erators (cont`d)
2. Prewitt o5erator 3. Sobel o5erator
2 2
2
2
vertical
horizontal
LL465: Introduction to Digital Image
Processing Copyright Xin Li 18
Exam5les
horizontal edge vertical edge
Prewitt o5erator (th48)
original image
LL465: Introduction to Digital Image
Processing Copyright Xin Li 19
EIIect oI Thresholding Parameters
threshold small
large
LL465: Introduction to Digital Image
Processing Copyright Xin Li 20
om5ass O5erators
< ) , ( max ) , ( n m g n m g
k
k
1
x
1
1
N
N
N
N
]
(a5lacian o5erator)
2
2
N
N
x
1
local extreme in 1
Discrete a5lacian o5erator
a a.5
, , ,
, ,
, , ,
,
a5lacian
o5erator
image
edge
ma5
x(m,n)
g(m,n)
I(m,n)
aussian
PF (9)
Pre-Iiltering attenuate the noise sensitivity oI the a5lacian
LL465: Introduction to Digital Image
Processing Copyright Xin Li 2
Exam5les
Better than Laplacian alone but still sensitive due to zero crossing
LL465: Introduction to Digital Image
Processing Copyright Xin Li 28
Robust a5lacian-based Edge Detector
a5lacian
o5erator
image
zero
crossing?
estimate
local variance
9
2
~th
9
2
not an
edge 5oint
No
yes
No
not an
edge 5oint
edge
5oint
LL465: Introduction to Digital Image
Processing Copyright Xin Li 29
Exam5les
ore robust but return multiple edge pixels (poor localization)
LL465: Introduction to Digital Image
Processing Copyright Xin Li 30
Canny Ldge Detector
Low error rate of detection
Well match human perception results
Good localization of edges
The distance between actual edges in an image
and the edges found by a computational algorithm
should be minimized
$ingle response
The algorithm should not return multiple edges
pixels when only a single one exists
LL465: Introduction to Digital Image
Processing Copyright Xin Li 31
Flow-chart oI anny Edge Detector*
( ,nn86)
Original image
$moothing by aussian convolution
Differential operators along x and y axis
Non-maximum suppression
Iinds 5eaks in the image gradient
Hysteresis thresholding locates edge strings
Edge ma5
LL465: Introduction to Digital Image
Processing Copyright Xin Li 32
anny Edge Detector Exam5le
original image vertical edges horizontal edges
norm oI the gradient aIter thresholding
aIter thinning
LL465: Introduction to Digital Image
Processing Copyright Xin Li 33
Marr and Hildreth`s Method*
Edge is scale-de5endent
diIIerent edge ma5 can be generated at diIIerent scale
Scale s5ace re5resentation
) ; , ( ) ; , ( ) ; , ( s x g x 1 s x 1
1ine-sc,e
im,ge
co,rse-sc,e
im,ge
G,:ssi,n kerne
with width o1 s
)
2
ex5(
2
) ; , (
2 2
s
x
s
s x g
6
LL465: Introduction to Digital Image
Processing Copyright Xin Li 34
Importance o Scale
LL465: Introduction to Digital Image
Processing Copyright Xin Li 35
Scale-S5ace Edge Detection Exam5les
Iine
coarse
Image to Sketch Online Apps
LL465: Introduction to Digital Image
Processing Copyright Xin Li 36
http://sporkforge.com/imaging/sketch.php