Edge Detection: Convolution vs

Morphological Operation
MATERIKULIAH– [9]:
PENGEMBANGAN APLIKASI INFORMATIKA MEDIS
Tim Pengajar:

Chanifah Indah Ratnasari

Izzati Muhimmah
Rahadian Kurniawan
Sri Kusumadewi
 Sasaran
• Mahasiswa memantapkan konsep konvolusi
• Mahasiswa mendapat gambaran
penggunaan konvolusi untuk penajaman
fitur

Referensi Utama

Noah Snavely. Image Filtering.

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Outline

Penajaman fitur edge melalui konvolusi

Penajaman fitur edge melalui Operasi Morfologi

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Kasus
Citra Biner
Hasil segmentasi pada citra yang
telah melewati Gaussian filtering.
Penajaman Fitur
Fitur tepi objek nantinya dapat
digunakan untuk menghitung
keliling sel

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 Sifat tepi
• Tepi objek merupakan posisi piksel yang nilai
intensitasnya berubah secara mencolok.
intensity function
image (along horizontal scanline) first derivative

edges correspond to
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Source: L. Lazebnik extrema of derivative
Outline

Penajaman fitur edge melalui konvolusi

Penajaman fitur edge melalui Operasi Morfologi

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 Theory of Edge Detection

Ideal edge
y
B1 L(x, y ) = x sin θ − y cos θ + ρ = 0
B1 : L( x, y ) < 0
B2 t B2 : L( x, y ) > 0
x
Unit step function:

1 for t > 0
 t
u (t ) =  1 for t = 0 u (t ) = ∫ δ (s )ds
2 −∞
0 for t < 0


Image intensity (brightness):

I (x, y ) = B1 + (B2 − B1 )u ( x sin θ − y cos θ + ρ )

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 Theory of Edge Detection
• Image intensity (brightness):
I (x, y ) = B1 + (B2 − B1 )u (x sin θ − y cos θ + ρ )
• Partial derivatives (gradients):
∂I
= + sin θ (B2 − B1 )δ (x sin θ − y cosθ + ρ )
∂x
∂I
= − cosθ (B2 − B1 )δ (x sin θ − y cosθ + ρ )
∂y

• Squared gradient:
2 2
 ∂I   ∂I 
s( x, y ) =   +   = [(B2 − B1 )δ (x sin θ − y cosθ + ρ )]
2

 ∂x   ∂y 
Edge Magnitude: s ( x, y )
 ∂I ∂I 
Edge Orientation: arctan /  (normal of the edge)
 ∂y ∂x 
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Rotationally symmetric, non-linear operator
 Theory of Edge Detection
• Image intensity (brightness):

I (x, y ) = B1 + (B2 − B1 )u (x sin θ − y cos θ + ρ )

• Partial derivatives (gradients):
∂I
= + sin θ (B2 − B1 )δ (x sin θ − y cosθ + ρ )
∂x
∂I
= − cosθ (B2 − B1 )δ (x sin θ − y cosθ + ρ )
∂y
• Laplacian: 2 2
∂ I ∂ I
∇ I = 2 + 2 = (B2 − B1 )δ ' ( x sin θ − y cosθ + ρ )
2

∂x ∂y
Rotationally symmetric, linear operator
∂I ∂2I
I
∂x ∂x 2 zero-crossing

x
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x x
 Discrete Edge Operators

• How can we differentiate a discrete image?

Finite difference approximations:

∂I 1
≈ ((I i+1, j +1 − I i, j +1 ) + (I i+1, j − I i, j )) I i , j +1 I i +1, j +1
∂x 2ε ε
∂I 1
≈ ((I i +1, j +1 − I i +1, j ) + (I i, j +1 − I i, j )) Ii, j I i +1, j
∂y 2ε

Convolution masks :

∂I 1 −1 1 ∂I 1 1 1
≈ ≈
∂x 2ε ∂y 2ε
−1 1 −1 −1

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 Discrete Edge Operators
• Second order partial derivatives:
2
I i −1, j +1 I i , j +1 I i +1, j +1
∂ I 1
2
≈ 2 (I i −1, j − 2 I i , j + I i +1, j )
∂x ε I i −1, j I i , j I i +1, j
∂2I 1
2
≈ 2 (I i , j −1 − 2 I i , j + I i , j +1 ) I i −1, j −1 I i , j −1 I i +1, j −1
∂y ε

• Laplacian :
2 ∂2I ∂2I
∇ I= 2+ 2
∂x ∂y
Convolution masks :

0 1 0 1 4 1
2 1 1
∇ I≈ 1 −4 1 or 4 − 20 4 (more accurate)
ε2 6ε 2
0 1 0 1 4 1
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 The Sobel Operators
• Better approximations of the gradients exist

– The Sobel operators below are commonly used

-1 0 1 1 2 1
-2 0 2 0 0 0
-1 0 1 -1 -2 -1

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Penerapan Deteksi Tepi dengan
Operator Sobel
• http://homepages.inf.ed.ac.uk/rbf/HIPR2/sob
el.htm
• Susun matriks kernel sx
• Susun matrix kernel sy
• Gx = konvolusi (I,sx)
• Gy = konvolusi (I,sy)
• Tepi = |Gx|+|Gy|

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Hasil konvolusi dengan kernel sx

Perhatikan jika tidak dimutlakan, komponen negatif tidak muncul pada Gx

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Hasil konvolusi dengan kernel sy

Perhatikan jika tidak dimutlakan, komponen negatif tidak muncul pada Gy

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Hasil Penajaman Fitur Tepi dengan
Operator Sobel

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 Comparing Edge Operators
Good Localization
Gradient: Noise Sensitive
Poor Detection
Roberts (2 x 2): 0 1 1 0
-1 0 0 -1

Prewitt (3 x 3):
-1 0 1 1 1 1
-1 0 1 0 0 0
-1 0 1 -1 -1 1
Sobel (5 x 5):
-1 -2 0 2 1 1 2 3 2 1
-2 -3 0 3 2 2 3 5 3 2
Poor Localization
-3 -5 0 5 3 0 0 0 0 0
Less Noise Sensitive
-2 -3 0 3 2 -2 -3 -5 -3 -2 Good Detection
-1 -2 0 2 1 -1 -2 -3 -2 -1
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Kernel gaussian
• Untuk penapisan derau, dengan kernel
gaussian.
• Untuk penegasan fitur, dapat digunakan
turunan fungsi Gaussian.
1st derivative 2nd derivative
Gaussian of Gaussian of Gaussian

Baik untuk penapisan derau Baik untuk penegasan fitur

(smoothing) (sharpening)

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 Image derivatives
• How can we differentiate a digital image F[x,y]?
– Option 1: reconstruct a continuous image, f, then
compute the derivative
– Option 2: take discrete derivative (finite difference)

How would you implement this as a linear filter?

: 1 -1 : -1
1

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Source: S. Seitz
Image gradient
• The gradient of an image:
The gradient points in the direction of most rapid increase in intensity

The edge strength is given by the gradient magnitude:

The gradient direction is given by:

• how does this relate to the direction of the edge? 21 Seitz

Source: Steve
2D edge detection filters

derivative of Gaussian (x)

Gaussian

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 Derivative of Gaussian filter

x-direction y-direction

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Outline

Penajaman fitur edge melalui konvolusi

Penajaman fitur tepi/edge melalui Operasi
Morfologi

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Operasi Morfologi
• http://homepages.inf.ed.ac.uk/rbf/HIPR2/morops.htm
• Menggunakan teori himpunan untuk memproses citra.
Tipe data citra yang digunakan biasanya binary.
• Dapat digunakan untuk deteksi tepi, penghilangan
derau, peningkatan citra, dan segmentasi.
• Operasi dasar yang sering digunakan adalah
erosion (mengikis objek) dan dilation (memperluas
objek).
• Prosesnya membutuhkan dua masukan: citra biner
dan structuring element ( kernel biner).

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 Mathematic Morphology

mathematical framework used for:

• pre-processing
– noise filtering, shape simplification, ...
• enhancing object structure
– skeletonization, convex hull...
• Segmentation
– watershed,…
• quantitative description
– area, perimeter, ...
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 Z2 and Z3
• set in mathematic morphology represent
objects in an image
– binary image (0 = white, 1 = black) : the element
of the set is the coordinates (x,y) of pixel belong to
the object
Z2
• gray-scaled image : the element of the set is the
coordinates (x,y) of pixel belong to the object and
the gray levels
Z3

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Basic Set Theory

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 Reflection and Translation

ˆ
B = {w | w ∈ −b, for b ∈ B}
( A) z = {c | c ∈ a + z, for a ∈ A}

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Logic Operations

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Example

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 Structuring element (SE)

small set to probe the image under study

for each SE, define origo

shape and size must be adapted to geometric
properties for the objects

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 Basic idea
• in parallel for each pixel in binary image:
– check if SE is ”satisfied”
– output pixel is set to 0 or 1 depending on used
operation

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 How to describe SE
• many different ways!
• information needed:
– position of origo for SE
– positions of elements belonging to SE

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 Basic morphological operations

• Erosion

• Dilation

keep general shape but

• combine to smooth with respect to

– Opening object
– Closening background

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 Erosion

• Does the structuring element fit the set?

erosion of a set A by structuring element B: all z
in A such that B is in A when origin of B=z

A − B = {z|(B)z ⊆ A}
shrink the object

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Erosion

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Erosion

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Erosion

A − B = {z|(B)z ⊆ A}
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Penerapan Erosi untuk deteksi tepi
• Susun matriks SE
• Terapkan operasi Erosion
Terkikis = (I,SE);
• Tepi = xor(Terkikis, I);

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Perbandingan Tepi: Sobel vs Operasi
Morfologi

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 Dilation

• Does the structuring element hit the set?

• dilation of a set A by structuring element B: all z
in A such that B hits A when origin of B=z

A ⊕ B = { z|( Bˆ )z ∩ A ≠ Φ }
• grow the object

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Dilation

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Dilation

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Dilation

B = structuring element

ˆ
A ⊕ B = {z|(B)z ∩ A ≠ Φ}
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Dilation : Bridging gaps

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 useful
• erosion
– removal of structures of certain shape and size,
given by SE
• Dilation
– filling of holes of certain shape and size, given by
SE

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 Combining erosion and dilation
• WANTED:
– remove structures / fill holes
– without affecting remaining parts

• SOLUTION:
• combine erosion and dilation
• (using same SE)

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 Erosion : eliminating irrelevant detail

structuring element B = 13x13 pixels of gray level 1

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Terima kasih

izzati@uii.ac.id

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