Digital Image Processing, 2nd ed. www.imageprocessingbook.

com

Chapter 10
Image Segmentation

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Chapter 10
Image Segmentation

Image segmentation divides an image into regions that are

connected and have some similarity within the region and
some difference between adjacent regions.
The goal is usually to find individual objects in an image.
For the most part there are fundamentally two kinds of
approaches to segmentation: discontinuity and similarity.
Similarity may be due to pixel intensity, color or texture.
Differences are sudden changes (discontinuities) in any of these, but
especially sudden changes in intensity along a boundary line, which is
called an edge.

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities

There are three kinds of discontinuities of intensity: points,

lines and edges.
The most common way to look for discontinuities is to scan a
small mask over the image. The mask determines which kind
of discontinuity to look for.
9
R w1 z1 w2 z2 ... w9 z9 wi zi
i 1

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 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Point Detection

R T
where T : a nonnegativ e threshold

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Line Detection

Only slightly more common than point detection is to find a

one pixel wide line in an image.
For digital images the only three point straight lines are only
horizontal, vertical, or diagonal (+ or 45).

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Line Detection

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Edge Detection

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Edge Detection

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Edge Detection

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Edge Detection

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Gradient Operators

First-order derivatives:
The gradient of an image f(x,y) at location (x,y) is defined
as the vector:
G x f
x

f f
G y y
The magnitude of this vector: f mag (f ) G G 2
x
2
y
1
2

Gx
The direction of this vector: ( x, y ) tan
1

Gy

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Gradient Operators

Roberts cross-gradient operators

Prewitt operators

Sobel operators

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Gradient Operators

Prewitt masks for

detecting diagonal edges

Sobel masks for

detecting diagonal edges

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Gradient Operators: Example

f G x G y

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Gradient Operators: Example

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Gradient Operators: Example

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Gradient Operators

Second-order derivatives: (The Laplacian)

The Laplacian of an 2D function f(x,y) is defined as
2 f 2 f
f 2 2
2

x y
Two forms in practice:

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Gradient Operators

Consider the function: A Gaussian function

r2
2
h(r ) e 2
where r 2 x 2 y 2
and : the standard deviation
The Laplacian of h is
r2
r 2 2
2 2 The Laplacian of a
h( r )
2
e Gaussian (LoG)

4

The Laplacian of a Gaussian sometimes is called the Mexican
hat function. It also can be computed by smoothing the image
with the Gaussian smoothing mask, followed by application of
the Laplacian mask.
2002 R. C. Gonzalez & R. E. Woods
 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Gradient Operators

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Gradient Operators: Example

Sobel gradient

2002 R. C. Gonzalez & R. E. Woods

Gaussian smooth function Laplacian mask
 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Detection of Discontinuities
Gradient Operators: Example

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Edge Linking and Boundary Detection

Local Processing

Two properties of edge points are useful for edge linking:

the strength (or magnitude) of the detected edge points
their directions (determined from gradient directions)
This is usually done in local neighborhoods.
Adjacent edge points with similar magnitude and direction are
linked.
For example, an edge pixel with coordinates (x0,y0) in a
predefined neighborhood of (x,y) is similar to the pixel at (x,y)
if
f ( x, y) ( x0 , y0 ) E, E : a nonnegativ e threshold
( x, y) ( x0 , y0 ) A, A : a nonegative angle threshold

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Edge Linking and Boundary Detection

Local Processing: Example

In this example,
we can find the
license plate
candidate after
edge linking
process.

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Edge Linking and Boundary Detection

Global Processing via the Hough Transform

Hough transform: a way of finding edge points in an image

that lie along a straight line.
Example: xy-plane v.s. ab-plane (parameter space)
yi axi b

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Edge Linking and Boundary Detection

Global Processing via the Hough Transform

The Hough transform consists of

finding all pairs of values of
and which satisfy the equations
that pass through (x,y).
These are accumulated in what is
basically a 2-dimensional
histogram.
When plotted these pairs of and
will look like a sine wave. The
process is repeated for all
x cos y sin
appropriate (x,y) locations.

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Edge Linking and Boundary Detection

Hough Transform Example
The intersection of the
curves corresponding
to points 1,3,5

2,3,4

1,4
2002 R. C. Gonzalez & R. E. Woods
 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Edge Linking and Boundary Detection

Hough Transform Example

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Thresholding

Assumption: the range of intensity levels covered by objects of

interest is different from the background.
1 if f ( x, y) T
g ( x, y)
0 if f ( x, y ) T

Single threshold Multiple threshold

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Thresholding
The Role of Illumination

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Thresholding
The Role of Illumination

r ( x, y ) (a) (c) i ( x, y )

(d) (e)

f ( x, y ) i ( x, y ) r ( x, y )
2002 R. C. Gonzalez & R. E. Woods
 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Thresholding
Basic Global Thresholding

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Thresholding
Basic Global Thresholding

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Thresholding
Basic Adaptive Thresholding

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Thresholding
Basic Adaptive Thresholding

How to solve this problem?

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Thresholding
Basic Adaptive Thresholding

Answer: subdivision

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Thresholding
Optimal Global and Adaptive Thresholding

This method treats pixel values as probability density functions.

The goal of this method is to minimize the probability of
misclassifying pixels as either object or background.
There are two kinds of error:
mislabeling an object pixel as background, and
mislabeling a background pixel as object.

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Thresholding
Use of Boundary Characteristics

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Thresholding
Thresholds Based on Several Variables

Color image

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Region-Based Segmentation

Edges and thresholds sometimes do not give good

results for segmentation.
Region-based segmentation is based on the
connectivity of similar pixels in a region.
Each region must be uniform.
Connectivity of the pixels within the region is very
important.
There are two main approaches to region-based
segmentation: region growing and region splitting.

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Region-Based Segmentation
Basic Formulation

Let R represent the entire image region.

Segmentation is a process that partitions R into subregions,
R1,R2,,Rn, such that
n
(a) Ri R
i 1
(b) Ri is a connected region, i 1,2,..., n
(c) Ri R j for all i and j , i j
(d) P( Ri ) TRUE for i 1,2,..., n
(e) P( Ri R j ) FALSE for any adjacent regions Ri and R j
where P(Rk): a logical predicate defined over the points in set Rk
For example: P(Rk)=TRUE if all pixels in Rk have the same gray
level.
2002 R. C. Gonzalez & R. E. Woods
 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Region-Based Segmentation
Region Growing

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Region-Based Segmentation
Region Growing

Fig. 10.41 shows the histogram of Fig. 10.40 (a). It is difficult to

segment the defects by thresholding methods. (Applying region
growing methods are better in this case.)

Figure 10.40(a) Figure 10.41

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Region-Based Segmentation
Region Splitting and Merging

Region splitting is the opposite of region growing.

First there is a large region (possible the entire image).
Then a predicate (measurement) is used to determine if the
region is uniform.
If not, then the method requires that the region be split into
two regions.
Then each of these two regions is independently tested by
the predicate (measurement).
This procedure continues until all resulting regions are
uniform.

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Region-Based Segmentation
Region Splitting

The main problem with region splitting is determining where to

split a region.
One method to divide a region is to use a quadtree structure.
Quadtree: a tree in which nodes have exactly four descendants.

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Region-Based Segmentation
Region Splitting and Merging

The split and merge procedure:

Split into four disjoint quadrants any region Ri for which
P(Ri) = FALSE.
Merge any adjacent regions Rj and Rk for which P(RjURk) =
TRUE. (the quadtree structure may not be preserved)
Stop when no further merging or splitting is possible.

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Segmentation by Morphological Watersheds

The concept of watersheds is based on visualizing an image in

three dimensions: two spatial coordinates versus gray levels.
In such a topographic interpretation, we consider three types of
points:
(a) points belonging to a regional minimum
(b) points at which a drop of water would fall with certainty
to a single minimum
(c) points at which water would be equally likely to fall to
more than one such minimum
The principal objective of segmentation algorithms based on
these concepts is to find the watershed lines.

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Segmentation by Morphological Watersheds

Example

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Segmentation by Morphological Watersheds

Example

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

Segmentation by Morphological Watersheds

Example

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

The Use of Motion in Segmentation

ADI: accumulative difference image

2002 R. C. Gonzalez & R. E. Woods

 Digital Image Processing, 2nd ed. www.imageprocessingbook.com

The Use of Motion in Segmentation

2002 R. C. Gonzalez & R. E. Woods