cse 185 introduction to computer vision
DESCRIPTION
CSE 185 Introduction to Computer Vision. Image Filtering: Frequency Domain. Image filtering. Fourier transform and frequency domain Frequency view of filtering Hybrid images Sampling Today’s lecture covers material in 3.4 Reading: Chapters 3 - PowerPoint PPT PresentationTRANSCRIPT
CSE 185 Introduction to Computer
VisionImage Filtering:
Frequency Domain
Image filtering
• Fourier transform and frequency domain– Frequency view of filtering– Hybrid images– Sampling
• Reading: Chapters 3• Some slides from James Hays, David
Hoeim, Steve Seitz, …
Gaussian Box filter
Gaussian filter
Hybrid images
• Filter one image with low-pass filter and the other with high-pass filter, and then superimpose them
• A. Oliva, A. Torralba, P.G. Schyns, “Hybrid Images,” SIGGRAPH 2006
Why do we get different, distance-dependent interpretations of hybrid images?
?
Why does a lower resolution image still make sense to us? What do we lose?
Thinking in terms of frequency
Jean Baptiste Joseph Fourier had crazy idea (1807):
Any univariate function can be rewritten as a weighted sum of sines and cosines of different frequencies.
• Don’t believe it? – Neither did Lagrange,
Laplace, Poisson and other big wigs
– Not translated into English until 1878!
• But it’s (mostly) true!– called Fourier Series– there are some subtle
restrictions
...the manner in which the author arrives at these equations is not exempt of difficulties
and...his analysis to integrate them still leaves something to be desired on the score
of generality and even rigour.
Laplace
LagrangeLegendre
A sum of sinesOur building block:
Add enough of them to get any signal g(x) you want!
xAsin(
Frequency spectra
• example : g(t) = sin(2πf t) + (1/3)sin(2π(3f) t)
= +
Frequency spectra
= +
=
Frequency spectra
= +
=
Frequency spectra
= +
=
Frequency spectra
= +
=
Frequency spectra
= +
=
Frequency spectra
= 1
1sin(2 )
k
A ktk
Frequency spectra
Example: Music
• We think of music in terms of frequencies at different magnitudes
Fourier analysis in images
Intensity Image
Fourier Image
Signals can be composed
+ =
More: http://www.cs.unm.edu/~brayer/vision/fourier.html
Fourier transform
• Fourier transform stores the magnitude and phase at each frequency– Magnitude encodes how much signal there is at a
particular frequency– Phase encodes spatial information (indirectly)– For mathematical convenience, this is often notated in
terms of real and complex numbers
22 )()( IRA )(
)(tan 1
R
IAmplitude: Phase:
Computing Fourier transform
Continuous
Discrete
k = -N/2..N/2
Fast Fourier Transform (FFT): NlogN
Phase and magnitude
• Fourier transform of a real function is complex– difficult to plot,
visualize– instead, we can think of
the phase and magnitude of the transform
• Phase is the phase of the complex transform
• Magnitude is the magnitude of the complex transform
• Curious fact– all natural images have
about the same magnitude transform
– hence, phase seems to matter, but magnitude largely doesn’t
• Demonstration– Take two pictures, swap
the phase transforms, compute the inverse - what does the result look like?
This is the magnitude transform of the cheetah pic
This is the phase transform of the cheetah pic
This is the magnitude transform of the zebra pic
This is the phase transform of the zebra pic
Reconstruction with zebra phase, cheetah magnitude
Reconstruction with cheetah phase, zebra magnitude
The convolution theorem• The Fourier transform of the convolution
of two functions is the product of their Fourier transforms
• Convolution in spatial domain is equivalent to multiplication in frequency domain!
]F[]F[]F[ hghg
]]F[][F[F* 1 hghg
Properties of Fourier transform
• Linearity
• Fourier transform of a real signal is symmetric about the origin
• The energy of the signal is the same as the energy of its Fourier transform
See Szeliski Book (3.4)
2D FFT
1,...,2,1,0,1,...,2,1,0for
),(),(1
0
1
0
)//(2
NyMx
evuFyxfM
u
N
v
NvyMuxj
• Fourier transform (discrete case)
• Inverse Fourier transform:
• u, v : the transform or frequency variables• x, y : the spatial or image variables
1,...,2,1,0,1,...,2,1,0for
),(1
),(1
0
1
0
)//(2
NvMu
eyxfMN
vuFM
x
N
y
NvyMuxj
Euler’s formula
2D FFT
Sinusoid with frequency = 1 and its FFT
2D FFT
Sinusoid with frequency = 3 and its FFT
2D FFT
Sinusoid with frequency = 5 and its FFT
2D FFT
Sinusoid with frequency = 10 and its FFT
2D FFT
Sinusoid with frequency = 15 and its FFT
2D FFT
Sinusoid with varying frequency and their FFT
Rotation
Sinusoid rotated at 30 degrees and its FFT
2D FFT
Sinusoid rotated at 60 degrees and its FFT
2D FFT
Image analysis with FFT
Image analysis with FFT
http://www.cs.unm.edu/~brayer/vision/fourier.html
Filtering in spatial domain
-101
-202
-101
* =
Filtering in frequency domain
FFT
FFT
Inverse FFT
=
FFT in Matlab
• Filtering with fft
• Displaying with fft
im = double(imread('cameraman.tif'))/255;[imh, imw] = size(im); hs = 50; % filter half-sizefil = fspecial('gaussian', hs*2+1, 10); fftsize = 1024; % should be order of 2 (for speed) and include paddingim_fft = fft2(im, fftsize, fftsize); % 1) fft im with paddingfil_fft = fft2(fil, fftsize, fftsize); % 2) fft fil, pad to same size as imageim_fil_fft = im_fft .* fil_fft; % 3) multiply fft imagesim_fil = ifft2(im_fil_fft); % 4) inverse fft2im_fil = im_fil(1+hs:size(im,1)+hs, 1+hs:size(im, 2)+hs); % 5) remove paddingfigure, imshow(im);figure, imshow(im_fil);
figure(1), imagesc(log(abs(fftshift(im_fft)))), axis image, colormap jet
Questions
Which has more information, the phase or the magnitude?
What happens if you take the phase from one image and combine it with the magnitude from another image?
FilteringWhy does the Gaussian give a nice smooth image, but the
square filter give edgy artifacts?
Gaussian Box filter
Gaussian
Gaussian filter
Box Filter
Box filter
Sampling
Why does a lower resolution image still make sense to us? What do we lose?
Throw away every other row and
column to create a 1/2 size image
Subsampling by a factor of 2
• 1D example (sinewave):
Aliasing problem
• 1D example (sinewave):
Aliasing problem
• Sub-sampling may be dangerous….• Characteristic errors may appear:
– “Wagon wheels rolling the wrong way in movies”
– “Checkerboards disintegrate in ray tracing”
– “Striped shirts look funny on color television”
Aliasing problem
Aliasing in video
Aliasing in graphics
Resample the checkerboard by taking one sample at each circle. In the case of the top left board, new representation is reasonable.
Top right also yields a reasonable representation.
Bottom left is all black (dubious) and bottom right has checks that are too big.
Sampling scheme is crucially related to frequency
Constructing a pyramid by taking every second pixel leads to layers that badly misrepresent the top layer
• When sampling a signal at discrete intervals, the sampling frequency must be 2 fmax
• fmax = max frequency of the input signal
• This will allows to reconstruct the original from the sampled version without aliasing
good
bad
v v v
Nyquist-Shannon Sampling Theorem
Anti-aliasing
Solutions:• Sample more often
• Get rid of all frequencies that are greater than half the new sampling frequency– Will lose information– But it’s better than aliasing– Apply a smoothing filter
Algorithm for downsampling by factor of 2
1. Start with image(h, w)2. Apply low-pass filter
im_blur = imfilter(image, fspecial(‘gaussian’, 7, 1))
3. Sample every other pixelim_small = im_blur(1:2:end, 1:2:end);
Sampling without smoothing. Top row shows the images, sampled at every second pixel to get the next; bottom row shows the magnitude spectrum of these images.
substantial aliasing
Magnitude of the Fourier transform of each image displayed as a log scale (constant component is at the center). Fourier transform of a resampled image is obtained by scaling the Fourier transform of the original image and then tiling the plane
Sampling with smoothing (small σ). Top row shows the images. We get the next image by smoothing the image with a Gaussian with σ=1 pixel, then sampling at every second pixel to get the next; bottom row shows the magnitude spectrum of these images.
Low pass filter suppresses high frequency components with less aliasing
reducing aliasing
Sampling with smoothing (large σ). Top row shows the images. We get the next image by smoothing the image with a Gaussian with σ=2 pixels, then sampling at every second pixel to get the next; bottom row shows the magnitude spectrum of these images.
Large σ less aliasing, but with little detailGaussian is not an ideal low-pass filter
lose details
Subsampling without pre-filtering
1/4 (2x zoom) 1/8 (4x zoom)1/2
Subsampling with Gaussian pre-filtering
G 1/4 G 1/8Gaussian 1/2
Why does a lower resolution image still make sense to us? What do we lose?
Why do we get different, distance-dependent interpretations of hybrid images?
?
Salvador Dali invented Hybrid Images?
Salvador Dali“Gala Contemplating the Mediterranean Sea, which at 30 meters becomes the portrait of Abraham Lincoln”, 1976
Application: Hybrid images
• Combine low-frequency of one image with high-frequency of another one
• Sad faces when looked closely• Happy faces when looked a few meters away• A. Oliva, A. Torralba, P.G. Schyns, “Hy brid Im ages,”
SIGGRAPH 2006
• Early processing in humans filters for various orientations and scales of frequency
• Perceptual cues in the mid-high frequencies dominate perception
• When we see an image from far away, we are effectively subsampling it
Early Visual Processing: Multi-scale edge and blob filters
Clues from human perception
Campbell-Robson contrast sensitivity curve
Detect slight change in shades of gray before they become indistinguishableContrast sensitivity is better for mid-range spatial frequencies
Hybrid image in FFT
Hybrid Image Low-passed Image High-passed Image
PerceptionWhy do we get different, distance-dependent
interpretations of hybrid images?
?
Things to remember• Sometimes it makes sense to
think of images and filtering in the frequency domain– Fourier analysis
• Can be faster to filter using FFT for large images (N logN vs. N2 for auto-correlation)
• Images are mostly smooth– Basis for compression
• Remember to low-pass before sampling
Practice question
1. Match the spatial domain image to the Fourier magnitude image
1 54
A
32
C
B
DE
Practice question
1. Match the spatial domain image to the Fourier magnitude image
1 54
A
32
C
B
DE
1 – D, 2 – B, 3 – A, 4 – E, 5 - C