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Segmentat
ion
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INTRODUCTION
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Segmented Image
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Segmentation based on
-The main difficulty of motion segmentation is that
motion
an intermediate step is required to (either implicitly
or explicitly) estimate an optical flow field
-The segmentation must be based on this estimate
and not, in general, the true flow
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Segmentation based on
depth
-This example shows a range image,
obtained with a laser range finder
-A segmentation based on the range (the
object distance from the sensor) is useful in
guiding mobile robots
Original
image
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Segmente
d Image
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Edge-based
THERE
ARE THREE BASIC TYPES OF GRAY-LEVEL
segmentation
DISCONTINUITIES IN A DIGITAL IMAGE: POINTS,
LINES, AND EDGES
THE MOST COMMON WAY TO LOOK FOR
DISCONTINUITIES IS TO RUN A MASK THROUGH
THE IMAGE.
WE SAY THAT A POINT, LINE, AND EDGE HAS BEEN
DETECTED AT THE LOCATION ON WHICH THE
MASK IS CENTERED IF R>T
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Point Detection
Point detection can be
achieved simply using
the mask below:
Line Detection
The next level of complexity is to try to detect lines
The masks below will extract lines that are one
pixel thick and running in a particular direction
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EDGE DETECTION
An edge is a set of connected pixels that lie
on the boundary between two regions
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EDGE DETECTION
Edge detection: Gradient
operation
f GGxy
f
fx
y
f mag (f ) Gx G y
2
( x, y ) tan (
1
Gy
Gx
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REGION-BASED
SEGMENTATION
Region growing: Groups pixels or sub-region
into larger regions.
step1:
Start with a set of seed points and from these grow regions
by appending to each seed those neighboring pixels that have
properties similar to the seed.
step2:
Region splitting and merging
Advantage
With good connectivity
Disadvantage
Initial seed-points:
different sets of initial seedpoint cause different
segmented result
Time-consuming problem
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THRESHOLDING
Thresholding is usually the first step in
any segmentation approach
Single value thresholding can be given
mathematically as follows:
f ( xf, y( x) ,yT) T
1 if1 if
g (gx(,xy,)y)
f ( xf, y( )x,yT) T
0 if0 if
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Original Image
Thresholded Image
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THRESHOLD
If you get the threshold wrong the results can
be disastrous
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THRESHOLDING
ALGORITHM
The basic global threshold, T, is calculated
as follows:
1. Select an initial estimate for T (typically the average grey
level in the image)
2. Segment the image using T to produce two groups of
pixels: G1 consisting of pixels with grey levels >T and G2
consisting pixels with grey levels T
3. Compute the average grey levels of pixels in G1 to give 1
and G2 to give 2
4. Compute a new
value:
1 threshold
2
5.
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THANKS
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