Colorado School of Mines
Image and Multidimensional Signal
Processing
Professor William Hoff
Dept of Electrical Engineering &Computer Science
Colorado School of Mines Image and Multidimensional Signal Processing
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Digital Image Fundamentals
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Digital Image Fundamentals
Topics
• Image acquisition and formation
• Resolution and size of objects
• Spatial sampling and quantization
• Matlab exercises
Objectives
• Know how to estimate properties of image acquisition and
formation, such as resolution and the size of objects that can
be discerned
• Be familiar with the effects of spatial sampling and
quantization on the quality of an image and its storage size
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Notes:
Eyeball is about 20 mm in
diameter
Retina contains both rods
and cones
Fovea is about 1.5 mm in
width, contains about
337,000 cones
Focal length about 17 mm
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• Rods sensitive to low light (scotopic vision)
• Cones detect color, work in bright light (photopic vision)
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Image Formation
• Treat as pinhole camera – good
approximation H h
– Similar triangles f
• What is the size of the tree on the
retina? 15/100 = h/17 or
h=2.55 mm
• What if the tree were twice as far
away?
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Problem 2.1
• Assume the retina
– Contains 337,000 sensor elements arranged in a square array, 1.5x1.5 mm
– And the space between cones is equal to width of cone
• Estimate the diameter of the smallest printed dot that the eye can discern
if the page on which the dot is printed is 0.2 m away from the eyes
– Assume the visual system ceases to detect the dot when the image of the dot
on the fovea becomes smaller than the diameter of one receptor (cone) in
that area of the retina
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Colorado School of Mines Image and Multidimensional Signal Processing 8
Light and the Electromagnetic Spectrum
c
• Wavelength (l) and frequency (n) are related by l
• To resolve an object, we must use a wavelength equal to the size of the
object or smaller
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Colorado School of Mines Image and Multidimensional Signal Processing 10
CCD (Charge coupled device)
• A 2D array of
photosensitive transistors
• Charge accumulates
during exposure
• Charges are transferred
out to shift registers, read
out sequentially
• Output is an analog signal
(eg. RS-170, NTSC, PAL
format)
• Can also be digitized and
output in digital (via
Firewire, USB, etc)
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Typical CCD cameras
• Example: Panasonic GP-MF130
• Sensor is 6x5 mm, 768x494 pixels
• Typical lens ~ 6mm focal length
Field of view (see
next slide)?
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Field of View
• f = focal length
• q = field of view
• h = image plane size
H/2
q/2
h/2 D
f
Center of
projection
Object
Image plane
plane being
imaged
• tan(q/2) = (h/2) / f = (H/2) / D
• Horizontal field of view:
tan(q/2) = (6mm/2) /(6mm) = 0.5 • f, h can be in pixels or mm
q = 2 arctan(0.5) = 53 degrees • Horizontal, vertical fov could be
different
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Image Acquisition Using Sensor Strips
• Images can also be formed from
(a) A linear array of sensors that
is swept
(b) A circular array, where the
object is moved
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Example – Satellite Camera
• NOAA weather satellite
– KLM series for polar (low
Earth) orbits
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• Components Image Formation
– Illumination i(x,y)
– Reflection r(x,y)
f ( x, y ) i ( x, y ) r ( x, y )
0 i ( x, y )
0 r ( x, y ) 1
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Sampling and
Quantization
• N bits per
pixel allows
2^N values
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Examples
• An image has 8 bits per pixel
– If unsigned, range of values is?
– If signed (ie., two’s complement), range is?
– Number of bytes in a 3872 x 2592 pixel image?
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Image Representation
• Image can be represented by an xy
plane
• Sampling partitions the plane into a
grid of pixels, whose indices are
integers
col (or xim)
• We can also think of it as an MxN (1,1)
matrix of numbers Image
• We can index an element either by row
(row,col) or (x,y) (or
yim)
• We will use the convention
– Top left pixel is (1,1)
– x index (or column) increases to the
right
– y index (or row) increases down
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Summary
• In digital cameras, the image is projected onto a
2D array of sensor elements.
• The image is (spatially) sampled by the sensor
elements, and the intensities are quantized into
discrete values.
• We can use the “pinhole” camera model to
estimate the field of view and the size of objects
projected onto the image.
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Questions
• About how small an object can you see, using (a)
visible light, (b) X-rays, or (c) microwaves?
• How does the human eye compare with a digital
camera (e.g., in terms of resolution and sensitivity)?
• How could you measure the focal length of a
camera? What units can it be expressed in?
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