Digital Image Processing

Chapter 5: Image Restoration

A Model of the Image
Degradation/Restoration Process
 Degradation
⚫ Degradation function H
⚫ Additive noise  ( x, y )
⚫ Spatial domain

g ( x, y ) = h ( x, y ) * f ( x, y ) +  ( x , y )
⚫ Frequency domain

G (u, v) = H (u, v) F (u, v) + N (u, v)

 Restoration

g ( x, y)  Restoration Filter  fˆ ( x, y)
Noise Models
 Sources of noise
⚫ Image acquisition, digitization,
transmission
 White noise
⚫ The Fourier spectrum of noise is
constant
 Assuming
⚫ Noise is independent of spatial
coordinates
⚫ Noise is uncorrelated with respect to
the image itself
 Gaussian noise
⚫ The PDF of a Gaussian random variable,
z,
1 − ( z −  ) 2 / 2 2
p( z ) = e
2 

⚫ Mean: 
⚫ Standard deviation: 
⚫ Variance:  2
⚫ 70% of its values will be in the range

(  −  ), (  +  )
⚫ 95% of its values will be in the range

( − 2 ), ( + 2 )
 Rayleigh noise
⚫ The PDF of Rayleigh noise,
2
 ( z − a )e −( z − a ) 2 / b
for z  a
p( z ) =  b
 0 for z  a
⚫ Mean:  = a+  b/4
b( 4 −  )
⚫ Variance:  =2

4
 Erlang (Gamma) noise
⚫ The PDF of Erlang noise, a0 , b
is a positive integer,
 a b z b −1 − a z
 e for z  0
p ( z ) =  (b − 1)!
 0 for z  0
b
⚫ Mean: =
a
b
⚫ Variance:  = 2
2

a
 Exponential noise
⚫ The PDF of exponential noise, a0 ,

ae − a z for z  0
p( z ) = 
 0 for z  0
1
⚫ Mean: =
a
1
⚫ Variance:  = 2
2

a
 Uniform noise
⚫ The PDF of uniform noise,

 1
 if a  z  b
p( z ) =  b − a
 0 otherwise
a+b
⚫ Mean: =
2
⚫ Variance: 
(b − a ) 2
2
=
12
 Impulse (salt-and-pepper) noise
⚫ The PDF of (bipolar) impulse noise,

 Pa for z = a

p ( z ) =  Pb for z = b
0
 otherwise
⚫ b  a : gray-level b will appear as a
light dot, while level a will appear like
a dark dot
⚫ Unipolar: either Pa or Pb is zero
⚫ Usually, for an 8-bit image, a =0
(black) and b =0 (white)
 Modeling
⚫ Gaussian
 Electronic circuit noise, sensor noise due
to poor illumination and/or high
temperature
⚫ Rayleigh
 Range imaging
⚫ Exponential and gamma
 Laser imaging
⚫ Impulse
 Quick transients, such as faulty switching
⚫ Uniform
 Least descriptive
 Basis for numerous random number
generators
 Periodic noise
⚫ Arises typically from electrical or
electromechanical interference
⚫ Reduced significantly via frequency
domain filtering
 Estimation of noise parameters
⚫ Inspection of the Fourier spectrum
⚫ Small patches of reasonably constant
gray level
 For example, 150*20 vertical strips
 Calculate  ,  , a , b from
 =  zi p ( zi )
zi S

 =  ( zi −  ) p ( z i )
2 2

zi S
Restoration in the Presence of Noise
Only-Spatial Filtering

 Degradation
⚫ Spatial domain
g ( x, y ) = f ( x, y ) +  ( x, y )
⚫ Frequency domain

G (u, v) = F (u, v) + N (u, v)

 Mean filters
⚫ Arithmetic mean filter

ˆf ( x, y ) = 1
 g ( s, t )
mn ( s ,t )S xy
⚫ Geometric mean filter
1
  mn
fˆ ( x, y ) =   g ( s, t ) 
( s ,t )S xy 
⚫ Harmonic mean filter
 Works well for salt noise, but fails fpr
pepper noise

mn
fˆ ( x, y ) =
1

( s ,t )S xy g ( s, t )
⚫ Contraharmonic mean filter
 Q0 : eliminates pepper noise
 Q0 : eliminates salt noise

 g ( s ,
( s ,t )S xy
t ) Q +1

fˆ ( x, y ) =
 g ( s ,
( s ,t )S xy
t ) Q
 Usage
⚫ Arithmetic and geometric mean filters:
suited for Gaussian or uniform noise
⚫ Contraharmonic filters: suited for
impulse noise
 Order-statistics filters
⚫ Median filter
 Effective in the presence of both bipolar
and unipolar impulse noise

fˆ ( x, y ) = median{g ( s, t )}
( s ,t )S xy
⚫ Max and min filters
 max filters reduce pepper noise

fˆ ( x, y ) = max {g ( s, t )}
( s ,t )S xy

 min filters salt noise

fˆ ( x, y ) = min {g ( s, t )}
( s ,t )S xy
⚫ Midpoint filter
 Works best for randomly distributed noise,
like Gaussian or uniform noise

ˆf ( x, y ) = 1  max {g ( s, t )} + min {g ( s, t )}

2 ( s ,t )S xy ( s ,t )S xy 
⚫ Alpha-trimmed mean filter
 Delete the d/2 lowest and the d/2 highest
gray-level values
 Useful in situations involving multiple
types of noise, such as a combination of
salt-and-pepper and Gaussian noise

1
fˆ ( x, y ) =
mn − d
 g ( s, t )
( s ,t )S xy
r
 Adaptive, local noise reduction filter
⚫ If  2 is zero, return simply the value
of g ( x, y )
⚫ If    L , return a value close to
2 2

g ( x, y )
⚫ If  =  , return the arithmetic
2 2
 L
mean value mL

ˆf ( x, y ) = g ( x, y ) −   g ( x, y ) − m 
2

L 2 L
 Adaptive median filter
⚫ z min = minimum gray level value in
S xy
⚫ z max = maximum gray level value in
S xy
⚫ z med = median of gray levels in S xy
⚫ z xy = gray level at coordinates ( x, y )
⚫ S max = maximum allowed size of S xy
⚫ Algorithm:
⚫ Level A: A1= z med − z min
⚫ A2= z med − z max
⚫ If A1>0 AND A2<0, Go to
⚫ level B
⚫ Else increase the window size
⚫ If window size  S max
⚫ repeat level A
⚫ Else output z med
⚫ Level B: B1= z xy − zmin
⚫ B2= z xy − zmax
⚫ If B1>0 AND B2<0, output z xy
⚫ Else output z med
⚫ Purposes of the algorithm
 Remove salt-and-pepper (impulse) noise
 Provide smoothing

 Reduce distortion, such as excessive

thinning or thickening of object
boundaries
 Periodic Noise Reduction by Frequency
Domain Filtering

 Bandreject filters
⚫ Ideal bandreject filter
 W
1 if D(u, v)  D 0 −
2

 W W
H (u , v) = 0 if D 0 −  D(u, v)  D 0 +
 2 2
1 W
if D(u, v)  D 0 +

 2

D(u, v) = (u − M / 2) + (v − N / 2)
2

2 1/ 2
⚫ Butterworth bandreject filter of order n
1
H (u, v) = 2n
 D(u, v)W 
1+  2 2
 D (u, v) − D0 
⚫ Gaussian bandreject filter
2
1  D 2 ( u ,v ) − D02 
−  
2  D ( u ,v )W 
H (u, v) = 1 − e
 Bandpass filters

H bp (u, v) = 1 − H br (u, v)
  Notch filters
⚫ Ideal notch reject filter

0 if D1 (u, v)  D 0 or D 2 (u, v)  D 0
H (u, v) = 
1 otherwise


D1 (u, v) = (u − M / 2 − u0 ) + (v − N / 2 − v0 )
2

2 1/ 2

D (u, v) = (u − M / 2 + u )
2 0
2
+ (v − N / 2 + v ) 
0
2 1/ 2
 Butterworth notch reject filter of
order n
1
H (u, v) = n
 D 2

1+  0

 D1 (u, v) D2 (u, v) 
 Gaussian notch reject filter

1  D1 ( u ,v ) D2 ( u ,v ) 
−  2 
2  
H (u, v) = 1 − e
D0
 Notch pass filter

H np (u, v) = 1 − H nr (u, v)
 Optimum notch filtering
⚫ Interference noise pattern

N (u, v) = H (u, v)G (u, v)

⚫ Interference noise pattern in the spatial
domain

 ( x, y ) =  {H (u , v)G (u , v)}
−1

⚫ Subtract from g ( x, y ) a weighted

portion of  ( x, y ) to obtain an
estimate of f ( x, y )
fˆ ( x, y) = g ( x, y) − w( x, y) ( x, y)
⚫ Minimize the local variance of fˆ ( x, y )
⚫ The detailed steps are listed in Page
251
⚫ Result

g ( x, y ) ( x, y ) − g ( x, y ) ( x, y )
w( x, y ) =
 2 ( x, y ) −  2 ( x, y )