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S09.s1 - Material

The document discusses algorithms for detecting simple curves like lines and circles using the Hough transform. It explains how the Hough transform works for lines by mapping edge points in an image to parameter space. It also covers implementing the Hough transform for lines using the Hessian normal form representation and dealing with noise. The document extends the Hough transform to detecting circles and ellipses as well.

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Harold Joel Zurita Linares
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13 views

S09.s1 - Material

The document discusses algorithms for detecting simple curves like lines and circles using the Hough transform. It explains how the Hough transform works for lines by mapping edge points in an image to parameter space. It also covers implementing the Hough transform for lines using the Hessian normal form representation and dealing with noise. The document extends the Hough transform to detecting circles and ellipses as well.

Uploaded by

Harold Joel Zurita Linares
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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PROCESAMIENTO DIGITAL DE

IMAGENES Y VISION ARTIFICIAL


Semana 9 – sesión 1
Detección de curvas simples
Objetivos de la sesión
Desarrollo de algoritmos de detección de curvas simples
Detecting Lines and SimpleCurves
⚫ Many man‐made objects exhibits simplegeometric
forms: lines, circles, ellipses
Hough Transform
⚫ Hough transform: Find any shape that can be defined
parametrically within a distribution of points(Paul Hough)
⚫ Example: lines, circles, ellipses.
⚫ Used to find line segments in edge maps
⚫ Why isn’t displaying results of edge detection adequate?
Difficulty of linefitting
• Extra edge points (clutter),
multiple models:
– which points go with which
line, if any?
• Only some parts of each line
detected, and some parts
are missing:
– how to find a line that bridges
missing evidence?
• Noise in measured edge
points, orientations:
– how to detect true underlying
parameters?
Hough Transform
⚫ Equation of aline slope intercept

⚫ If points p1 and p2 on same line, same k andd


Hough Transform
⚫ Equation of aline slope intercept

⚫ Hough transform:
⚫ start with edge point(x,y)
⚫ Find (slope k, intercept d) that passes through the most
edge points
Hough Transform
⚫ Consider the point (x,y) =(1,1)
⚫ Many lines of different slope k and intercept d canpass
through (1,1)
⚫ Thus we can rewrite equation of line through (1,1) as
1 = k.1 +d (image) => d = ‐k + 1 (parameter space)
⚫ Set of all lines passing through (1,1) (left)
can be shown as line in parameter space (right)

Parameter space

Image space k
Hough Transform:Example
⚫ Suppose image has 5 points: (1,0), (1,1), (2,1), (4,1) and (3,2)
⚫ Each of these points corresponds to the following lines that
can be plotted
d Parameter
(1,0) ‐> d = ‐k space
Image space
(1,1) ‐> d = ‐k + 1
(2,1) ‐> d = ‐2k + y
1 (4,1) ‐> d = ‐4k (3,2)
Combinations
(values) k and d
+1 (3,2) ‐> d = ‐3k (1,1) (2,1) (4,1) that intersect max
number of edges
+2
k
(1,0) x

Note: Lines in parameter space great for searching


for optimal values of k and d
Hough Transform:Example
⚫ After finding optimal values of k and d, we can draw them as
lines in image space
⚫ In example: (k,d) = (0,1) and (1,‐1) each intersect 3 lines
⚫ Converting to image space: (0,1) ‐> y = 1, (1,‐1) ‐> y = x ‐1
d

Combinations
y
(values) k and d
that intersect max (3,2)
number of edges
(1,1) (2,1) (4,1)

k
Parameter (1,0) x
space
Image space
Accumulator Array
⚫ Accumulator array: discrete representation ofparameter
space as 2D array
⚫ Given a point in image, increment all points on it’s
corresponding line (draw line) in parameterspace
⚫ A line in image will be intersection of multiple lines in
parameter space.
Hough Transform
⚫ A Problem: The form of line cannot express
vertical line (slope k =infinity)
⚫ Alternate line representation in terms ofr, ϴ:
⚫ r, perpendicular distance of line fromorigin
⚫ ϴ, angle of line’s perpendicular to x axis
⚫ If we allow negative r, then ‐90 < ϴ< 90
Hough Transform
⚫ Point (p,q) where perpendicular to line meets line
= (rcosϴ, rsinϴ)
⚫ Consider (x,y), another point on line, gradient of line is

⚫ Gradient of perpendicular istanϴ


(rcosϴ, rsinϴ)
⚫ So gradient of lineis

⚫ Putting these two expressionstogether


Hough Transform

⚫ If we multiply these fractions, we obtain

⚫ And this equation can be rewritten as

⚫ Below is required equation for the line as

called Hessian Normal Form


Implementing Hough Transformusing Hessian Normal Form of
line
⚫ Each point (x,y) that falls on line with (r, ϴ) must satisfy equation
below

⚫ To implement Hough transform,


⚫ Choose discrete set of ϴvalues
⚫ For instance, for image shown considerϴvalues

⚫ For each pixel (x,y) in image, computer as


Implementing Hough Transformusing Hessian Normal Form of
line
⚫ For each pixel (x,y) in image compute r as
ϴ
⚫ Put results in a table

⚫ Accumulator array (below): contains number of times each value


of (r, ϴ) appears in table(above)
Hough Transform

⚫ Two largest values occurat


⚫ The corresponding lines are:
Visualizing Image Space toParameter SpaceRepresentation

⚫ Image Space and parameter space using HNF representation


for
⚫ If image center is reference, then range of r limited to half of
diagonal. E.g. for image of width M and height N
Hough TransformAlgorithm
⚫ 2 main implementationstages

1. Create 2-dimensional
accumulator array

2. Search accumulator
array for maximum values
Return parameters for
k strongest lines
Hough Transform:Noise
⚫ 4 lines (left) correspond to 4 darkest points (right)

⚫ Results are noisy


⚫ Max (r, ϴ) values do not occur at exactly one point, but in a small area
⚫ Caused by rounding. Difficult to pinpoint one exact maxima
⚫ Two strategies for dealing withnoise:
⚫ Thresholding
⚫ Non‐maximum suppression
Dealing with Noise:Thresholding
(b) Thresholding (image b):
threshold using 50% of the
maximum value

(c ) Non‐maxima
suppression (image d):
⚫ Compare every cellin
Acc(r, ϴ) to its neighbors
⚫ If greater than allneighbors,
keep cell
⚫ Otherwise set cell to 0
⚫ Can also apply thresholding
afterwards
Hough Transform on Circles
Hough Transform on Circles
Improvement of Brute ForceApproach
⚫ Observation: If we know the radius, the locations of all
possible centers lie on acircle

⚫ Improvement: For each image point p = (u, v), increment


(search) only cell values along edge of appropriate circle on
each ρ plane of accumulatorarray
Hough Transform of Circles
Hough Transform of Ellipses
Hough Transform onEllipses
⚫ 5‐dimensional parameter space can yield verylarge
data structure
⚫ If 128 = 27 steps used in each dimension
⚫ requires 235 accumulator cells
⚫ If 4‐byte int values, requires 237 bytes (128 gigabytes)
memory

⚫ Generalized Hough Transform better, requires4‐


dimensional space
Ejercicios
Desarrollar algoritmos detectores de líneas y círculos
Cierre
References

⚫ Wilhelm Burger and Mark J.Burge, Digital Image Processing, Springer,


2008
⚫ Robert Collins, CSE 486 slides, Penn State University
⚫ University of Utah, CS 4640: Image Processing Basics, Spring 2012
⚫ Rutgers University, CS 334, Introduction to Imaging and Multimedia, Fall
2012
⚫ Gonzales and Woods, Digital Image Processing (3rd edition), Prentice Hall

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