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Lecture02

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Lecture02

1. 1. Robert CollinsCSE486, Penn State Lecture 2: Intensity Surfaces and Gradients
2. 2. Robert CollinsCSE486, Penn State Visualizing Images Recall two ways of visualizing an image Intensity pattern 2d array of numbers We “see it” at this level Computer works at this level
3. 3. Robert CollinsCSE486, Penn State Bridging the Gap Motivation: we want to visualize images at a level high enough to retain human insight, but low enough to allow us to readily translate our insights into mathematical notation and, ultimately, computer algorithms that operate on arrays of numbers.
4. 4. Robert CollinsCSE486, Penn State Images as Surfaces Surface height proportional to pixel grey value (dark=low, light=high)
5. 5. Robert CollinsCSE486, Penn State Examples Note: see demoImSurf.m in matlab examples directory on course web site if you want to generate plots like these. Mean = 164 Std = 1.8
6. 6. Robert CollinsCSE486, Penn State Examples
7. 7. Robert CollinsCSE486, Penn State Examples
8. 8. Robert CollinsCSE486, Penn State Examples
9. 9. Robert CollinsCSE486, Penn State Examples Mean = 111 Std = 15.4
10. 10. Robert CollinsCSE486, Penn State Examples
11. 11. Robert CollinsCSE486, Penn State How does this visualization help us?
12. 12. Robert CollinsCSE486, Penn State Terrain Concepts
13. 13. Robert CollinsCSE486, Penn State Terrain Concepts www.pianoladynancy.com/ wallpapers/1003/wp86.jpg
14. 14. Robert CollinsCSE486, Penn State Terrain Concepts Basic notions: Uphill / downhill Contour lines (curves of constant elevation) Steepness of slope Peaks/Valleys (local extrema) More mathematical notions: Tangent Plane Normal vectors Curvature Gradient vectors (vectors of partial derivatives) will help us define/compute all of these.
15. 15. Robert CollinsCSE486, Penn State Math Example : 1D Gradient Consider function f(x) = 100 - 0.5 * x^2
16. 16. Robert CollinsCSE486, Penn State Math Example : 1D Gradient Consider function f(x) = 100 - 0.5 * x^2 Gradient is df(x)/dx = - 2 * 0.5 * x = - x Geometric interpretation: gradient at x0 is slope of tangent line to curve at point x0 tangent line Δy slope = Δy / Δx x0 Δx = df(x)/dx x 0 f(x)
17. 17. Robert CollinsCSE486, Penn State Math Example : 1D Gradient f(x) = 100 - 0.5 * x^2 df(x)/dx = - x grad = slope = 2 x0 = -2
18. 18. Robert CollinsCSE486, Penn State Math Example : 1D Gradient f(x) = 100 - 0.5 * x^2 df(x)/dx = - x 0 1 -1 2 -2 3 gradients -3
19. 19. Robert CollinsCSE486, Penn State Math Example : 1D Gradient f(x) = 100 - 0.5 * x^2 df(x)/dx = - x Gradients Gradients 0 on this side 1 on this side -1 of peak are 2 of peak are positive -2 negative 3 gradients -3 Note: Sign of gradient at point tells you what direction to go to travel “uphill”
20. 20. Robert CollinsCSE486, Penn State Math Example : 2D Gradient f(x,y) = 100 - 0.5 * x^2 - 0.5 * y^2 df(x,y)/dx = - x df(x,y)/dy = - y Gradient = [df(x,y)/dx , df(x,y)/dy] = [- x , - y] Gradient is vector of partial derivs wrt x and y axes
21. 21. Robert CollinsCSE486, Penn State Math Example : 2D Gradient f(x,y) = 100 - 0.5 * x^2 - 0.5 * y^2 Gradient = [df(x,y)/dx , df(x,y)/dy] = [- x , - y] Plotted as a vector field, the gradient vector at each pixel points “uphill” The gradient indicates the direction of steepest ascent. The gradient is 0 at the peak (also at any flat spots, and local minima,…but there are none of those for this function)
22. 22. Robert CollinsCSE486, Penn State Math Example : 2D Gradient f(x,y) = 100 - 0.5 * x^2 - 0.5 * y^2 Gradient = [df(x,y)/dx , df(x,y)/dy] = [- x , - y] Let g=[gx,gy] be the gradient vector at point/pixel (x0,y0) Vector g points uphill (direction of steepest ascent) Vector - g points downhill (direction of steepest descent) Vector [gy, -gx] is perpendicular, and denotes direction of constant elevation. i.e. normal to contour line passing through point (x0,y0)
23. 23. Robert CollinsCSE486, Penn State Math Example : 2D Gradient f(x,y) = 100 - 0.5 * x^2 - 0.5 * y^2 Gradient = [df(x,y)/dx , df(x,y)/dy] = [- x , - y] And so on for all points
24. 24. Robert CollinsCSE486, Penn State Image Gradient The same is true of 2D image gradients. The underlying function is numerical (tabulated) rather than algebraic. So need numerical derivatives.
25. 25. Robert CollinsCSE486, Penn State Numerical Derivatives See also T&V, Appendix A.2 Taylor Series expansion Manipulate: Finite forward difference
26. 26. Robert CollinsCSE486, Penn State Numerical Derivatives See also T&V, Appendix A.2 Taylor Series expansion Manipulate: Finite backward difference
27. 27. Robert CollinsCSE486, Penn State Numerical Derivatives See also T&V, Appendix A.2 Taylor Series expansion subtract Finite central difference
28. 28. Robert CollinsCSE486, Penn State Numerical Derivatives See also T&V, Appendix A.2 Finite forward difference Finite backward difference Finite central difference More accurate
29. 29. Robert CollinsCSE486, Penn State Example: Temporal Gradient A video is a sequence of image frames I(x,y,t). df(x)/dx derivative Each frame has two spatial indices x, y and one temporal (time) index t.
30. 30. Robert CollinsCSE486, Penn State Example: Temporal Gradient Consider the sequence of intensity values observed at a single pixel over time. 1D function f(x) over time 1D gradient (deriv) of f(x) over time df(x)/dx derivative
31. 31. Robert CollinsCSE486, Penn State Temporal Gradient (cont) What does the temporal intensity gradient at each pixel look like over time?
32. 32. Robert Collins Example: Spatial Image GradientsCSE486, Penn State Ix=dI(x,y)/dx I(x+1,y) - I(x-1,y) 2 I(x,y) Partial derivative wrt x I(x,y+1) - I(x,y-1) 2 Iy=dI(x,y)/dy Partial derivative wrt y
33. 33. Robert CollinsCSE486, Penn State Functions of Gradients I(x,y) Ix Iy Magnitude of gradient sqrt(Ix.^2 + Iy.^2) Measures steepness of slope at each pixel
34. 34. Robert CollinsCSE486, Penn State Functions of Gradients I(x,y) Ix Iy Angle of gradient atan2(Iy, Ix) Denotes similarity of orientation of slope
35. 35. Robert CollinsCSE486, Penn State Functions of Gradients I(x,y) atan2(Iy, Ix) What else do we observe in this image? Enhanced detail in low contrast areas (e.g. folds in coat; imaging artifacts in sky)
36. 36. Robert CollinsCSE486, Penn State Next Time: Linear Operators Gradients are an example of linear operators, i.e. value at a pixel is computed as a linear combination of values of neighboring pixels.