An Introduction to

Computer Vision

Lecture 08
Edge Detection
Edge and line detection An Introduction to
Computer Vision
2

Why detect edges?

• Edges (lines) convey meaning.
• Useful when trying to
– reconstruct scenes,
– segment objects,
– determine boundaries,
– identify features, …
Detecting Edge Features An Introduction to
Computer Vision
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1st order edge detection methods:

1. Determine gradient of image
2. Perform non-maximal suppression
3. Threshold

2nd order edge detection methods:

– Locate zero crossings in 2nd derivative using Laplacian.
Edge Detection Methods An Introduction to
Computer Vision
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There are many different edge detection algorithms. We

will look at two of the important ones:
A first order method:
– Canny: widely regarded as the best edge detector.
A second order method.
– Marr-Hildreth: a 2nd order edge detector.
Canny Edge Detector An Introduction to
Computer Vision
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Steps:
1. Convolve image with Gaussian
2. Compute gradient ∇I
3. Perform non-maximal suppression on ||∇I|| in direction ∠∇I.
4. Hysteresis thresholding using ||∇I|| to measure edge strength.
Smoothing An Introduction to
Computer Vision
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Typically images have noise that shows up strongly in the

differentiation process that is used for 1st order edge detection.

To overcome this problem the

image is first convolved with
a smooth low pass kernel
such as a Gaussian.

image
Gaussian kernel
filtered image
Compute Gradient An Introduction to
Computer Vision
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Compute Gradient An Introduction to
Computer Vision
8

Sub-sample the distributions at pixel centre points to

obtain an explicit kernel K. (Is the kernel separable?)
Non-Maximal suppression An Introduction to
Computer Vision
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1st order edge detection methods:

1. Determine gradient of image
2. Perform non-maximal suppression
3. Threshold

Non-maximal suppression is applied based on the algorithm

covered in the previous lecture.
Hysteresis Thresholding An Introduction to
Computer Vision
10

• Two thresholds khigh and klow

• Threshold at khigh to find strong edges.
• Threshold at klow to find weak edges.
• Accept all weak edges that are “connected” to strong edges.

Remember the definition of connectedness for binary

objects? Normally use 8-connected for edge connection.

Klow Khigh
Classified as not edges Weak edges Strong edges
Edge pixel intensity
Canny Edge Detector An Introduction to
Computer Vision
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Original image Magnitude of gradient

Magnitude of gradient after

non-maximal suppression
Canny Edge Detector An Introduction to
Computer Vision
12

weak edges strong edges

strong edges &

connected weak edges
Original image An Introduction to
Computer Vision
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 14
Output of Canny Edge Detector An Introduction to
Computer Vision
Marr-Hildreth algorithm An Introduction to
Computer Vision
15

The Marr-Hildreth algorithm uses second order derivative

information.

Steps:
1. Convolve image with Gaussian
2. Compute the Laplacian ∇2 IG
3. Compute the zero crossings of ∇2 IG
2nd Derivative An Introduction to
Computer Vision
16

• You know the 2nd derivative is the derivative of the

derivative.
• For an image I

∂ I 2

∂x 2 =∂ (∂I )
∂x ∂x

∂ I 2
=∂ ⎛⎜ ∂I ⎞⎟
∂y 2
∂y ⎝ ∂y ⎠
2nd Derivative An Introduction to
Computer Vision
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The 2nd derivative can be determined from the 1st derivative

or can be calculated directly from the image using a 2nd
derivative kernel.

2nd derivative kernel.

2nd Order Derivative Operators An Introduction to 18
Computer Vision

• In practice higher order derivatives are seldom used, an

exception is the Laplacian.
• The Laplacian is the sum of the 2nd derivatives,

∂ I ∂ I 2 2
∇ I= 2 + 2
2

∂x ∂y

Requires two separate filters to be run over image data

 19
Laplacian of Gaussian An Introduction to
Computer Vision

• The LoG (Laplacian of Gaussian) operator measures the strength of the 2nd
derivative in both directions after the image has been smoothed by a Gaussian
G

∇2(G * I) = ∇2G * I
• ∇2G is the LoG operator.
Similarly to the derivative of a smoothed image, the ∇2 G operator will be
implemented as a linear convolution direction on an image I

∂G ∂G 2 2
∇ G ∗I = 2 ∗I + 2 ∗I
2

∂x ∂y
Laplacian of Gaussian An Introduction to
Computer Vision
20

Derivatives and Laplacian of a 2D Gaussian G,

intensity axis (a) not to scale

G
a
K ∂G y x
∂x a
K ∂G
y ∂y
x
a y x

y x

∂ 2G ∂ 2G
K ∇ 2G = 2 + 2
∂x ∂y
Not separable
Difference of Gaussians An Introduction to
Computer Vision
21

- =

• LoG can be approximated by a difference of 2 Gaussians.

Separable kernel

• This is the DoG (Difference of Gaussians) operator – also called the

Mexican Hat Operator.
Marr-Hildreth Edge Detector An Introduction to
Computer Vision
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• The Marr-Hildreth operator locates edges at the zero crossings in the

LoG of the image ∇2G * I
• This is looking for zeros in the 2nd derivative
Marr-Hildreth Edge Detector An Introduction to
Computer Vision
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• Advantages:
– Edges found in all orientations simultaneously
– Zero crossings easy to find: simply look for a sign change
– Zero crossings always define closed curves, this is handy for
segmenting objects in an image
• Disadvantages:
– 2nd derivative is very sensitive to noise
– Not all edges form closed contours
Original image An Introduction to
Computer Vision
24
Output of Marr-Hildreth An Introduction to
Computer Vision
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 26
Output of Canny Edge Detector An Introduction to
Computer Vision