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GLOBAL GLOBAL
EDITION EDITION
EDITION
FOURTH
This is a special edition of an established
title widely used by colleges and universities
Woods
Gonzalez
throughout the world. Pearson published this
exclusive edition for the benefit of students
outside the United States and Canada. If
you purchased this book within the United
States or Canada, you should be aware that
it has been imported without the approval of
EDITION
GLOBAL
the Publisher or Author. The Global Edition
is not supported in the United States and
Canada.
5 Image Restoration
and Reconstruction 317
A Model of the Image Degradation/Restoration
process 318
Noise Models 318
Restoration in the Presence of Noise Only—Spatial Filtering 327
Periodic Noise Reduction Using Frequency Domain Filtering 340
Linear, Position-Invariant Degradations 348
Estimating the Degradation Function 352
Inverse Filtering 356
Minimum Mean Square Error (Wiener) Filtering 358
Constrained Least Squares Filtering 363
Geometric Mean Filter 367
Image Reconstruction from Projections 368
Bibliography 995
Index 1009
The new and reorganized material that resulted in the present edition is our
attempt at providing a reasonable balance between rigor, clarity of presentation,
and the findings of the survey. In addition to new material, earlier portions of the
text were updated and clarified. This edition contains 241 new images, 72 new draw-
ings, and 135 new exercises.
R.C.G.
R.E.W.
Acknowledgments
We are indebted to a number of individuals in academic circles, industry, and gov-
ernment who have contributed to this edition of the book. In particular, we wish
to extend our appreciation to Hairong Qi and her students, Zhifei Zhang and
Chengcheng Li, for their valuable review of the material on neural networks, and for
their help in generating examples for that material. We also want to thank Ernesto
Bribiesca Correa for providing and reviewing material on slope chain codes, and
Dirk Padfield for his many suggestions and review of several chapters in the book.
We appreciate Michel Kocher’s many thoughtful comments and suggestions over
the years on how to improve the book. Thanks also to Steve Eddins for his sugges-
tions on MATLAB and related software issues.
Numerous individuals have contributed to material carried over from the previ-
ous to the current edition of the book. Their contributions have been important in so
many different ways that we find it difficult to acknowledge them in any other way
but alphabetically. We thank Mongi A. Abidi, Yongmin Kim, Bryan Morse, Andrew
Oldroyd, Ali M. Reza, Edgardo Felipe Riveron, Jose Ruiz Shulcloper, and Cameron
H.G. Wright for their many suggestions on how to improve the presentation and/or
the scope of coverage in the book. We are also indebted to Naomi Fernandes at the
MathWorks for providing us with MATLAB software and support that were impor-
tant in our ability to create many of the examples and experimental results included
in this edition of the book.
A significant percentage of the new images used in this edition (and in some
cases their history and interpretation) were obtained through the efforts of indi-
viduals whose contributions are sincerely appreciated. In particular, we wish to
acknowledge the efforts of Serge Beucher, Uwe Boos, Michael E. Casey, Michael
W. Davidson, Susan L. Forsburg, Thomas R. Gest, Daniel A. Hammer, Zhong He,
Roger Heady, Juan A. Herrera, John M. Hudak, Michael Hurwitz, Chris J. Johannsen,
Rhonda Knighton, Don P. Mitchell, A. Morris, Curtis C. Ober, David. R. Pickens,
Michael Robinson, Michael Shaffer, Pete Sites, Sally Stowe, Craig Watson, David
K. Wehe, and Robert A. West. We also wish to acknowledge other individuals and
organizations cited in the captions of numerous figures throughout the book for
their permission to use that material.
We also thank Scott Disanno, Michelle Bayman, Rose Kernan, and Julie Bai for
their support and significant patience during the production of the book.
R.C.G.
R.E.W.
RICHARD E. WOODS
R. E. Woods earned his B.S., M.S., and Ph.D. degrees in Electrical Engineering from
the University of Tennessee, Knoxville in 1975, 1977, and 1980, respectively. He
became an Assistant Professor of Electrical Engineering and Computer Science in
1981 and was recognized as a Distinguished Engineering Alumnus in 1986.
A veteran hardware and software developer, Dr. Woods has been involved in
the founding of several high-technology startups, including Perceptics Corporation,
where he was responsible for the development of the company’s quantitative image
analysis and autonomous decision-making products; MedData Interactive, a high-
technology company specializing in the development of handheld computer systems
for medical applications; and Interapptics, an internet-based company that designs
desktop and handheld computer applications.
Dr. Woods currently serves on several nonprofit educational and media-related
boards, including Johnson University, and was recently a summer English instructor
at the Beijing Institute of Technology. He is the holder of a U.S. Patent in the area
of digital image processing and has published two textbooks, as well as numerous
articles related to digital signal processing. Dr. Woods is a member of several profes-
sional societies, including Tau Beta Pi, Phi Kappa Phi, and the IEEE.
Preview
Interest in digital image processing methods stems from two principal application areas: improvement
of pictorial information for human interpretation, and processing of image data for tasks such as storage,
transmission, and extraction of pictorial information. This chapter has several objectives: (1) to define
the scope of the field that we call image processing; (2) to give a historical perspective of the origins of
this field; (3) to present an overview of the state of the art in image processing by examining some of
the principal areas in which it is applied; (4) to discuss briefly the principal approaches used in digital
image processing; (5) to give an overview of the components contained in a typical, general-purpose
image processing system; and (6) to provide direction to the literature where image processing work is
reported. The material in this chapter is extensively illustrated with a range of images that are represen-
tative of the images we will be using throughout the book.
17
One of the earliest applications of digital images was in the newspaper industry,
when pictures were first sent by submarine cable between London and New York.
Introduction of the Bartlane cable picture transmission system in the early 1920s
reduced the time required to transport a picture across the Atlantic from more than
a week to less than three hours. Specialized printing equipment coded pictures for
cable transmission, then reconstructed them at the receiving end. Figure 1.1 was
transmitted in this way and reproduced on a telegraph printer fitted with typefaces
simulating a halftone pattern.
Some of the initial problems in improving the visual quality of these early digital
pictures were related to the selection of printing procedures and the distribution of
FIGURE 1.1 A digital picture produced in 1921 from a coded tape by a telegraph printer with
special typefaces. (McFarlane.) [References in the bibliography at the end of the book are
listed in alphabetical order by authors’ last names.]
This was only prologue to the Ars Magna, the “Great Art” of
Ramón Lull. In 1274, the devout pilgrim climbed Mount Palma in
search of divine help in his writings. The result was the first recorded
attempt to use diagrams to discover and to prove non-mathematical
truths. Specifically, Lull determined that he could construct
mechanical devices that would perform logic to prove the validity of
God’s word. Where force, in the shape of the Crusades, had failed,
Lull was convinced that logical argument would win over the infidels,
and he devoted his life to the task.
Renouncing his estate, including his wife and children, Lull
devoted himself thenceforth solely to his Great Art. As a result of
dreams he had on Mount Palma, the basis for this work was the
assumption of simple premises or principles that are unquestionable.
Lull arranged these premises on rotating concentric circles. The first
of these wheels of logic was called A, standing for God. Arranged
about the circumference of the wheel were sixteen other letters
symbolizing attributes of God. The outer wheel also contained these
letters. Rotating them produced 240 two-term combinations telling
many things about God and His good. Other wheels prepared
sermons, advised physicians and scientists, and even tackled such
stumpers as “Where does the flame go when the candle is put out?”
From the Enciclopedia universal
illustrada,
Barcelona, 1923
Lull’s wheel.
Unfortunately for Lull, even divine help did not guarantee him
success. He was stoned to death by infidels in Bugia, Africa, at the
age of eighty-three. All his wheelspinning logic was to no avail in
advancing the cause of Christianity there, and most mathematicians
since have scoffed at his naïve devices as having no real merit. Far
from accepting the Ars Magna, most scholars have been “Lulled into
a secure sense of falsity,” finding it as specious as indiscriminate
syllogism.
Yet Lull did leave his mark, and many copies of his wheels have
been made and found useful. Where various permutations of
numbers or other symbols are required, such a mechanical tool is
often the fastest way of pairing them up. Even in the field of writing, a
Lullian device was popular a few decades ago in the form of the “Plot
Genii.” With this gadget the would-be author merely spun the wheels
to match up various characters with interesting situations to arrive at
story ideas. Other versions use cards to do the same job, and one
called Plotto was used by its inventor William Wallace Cook to plot
countless stories. Although these were perhaps not ideas for great
literature, eager writers paid as much as $75 for the plot boiler.
Not all serious thinkers relegated Lull to the position of fanatic
dreamer and gadgeteer. No less a mind that Gottfried Wilhelm von
Leibnitz found much to laud in Lull’s works. The Ars Magna might
well lead to a universal “algebra” of all knowledge, thought Leibnitz.
“If controversies were to arise,” he then mused, “there would be no
more reason for philosophers to dispute than there would for
accountants!”
Leibnitz applied Lull’s work to formal logic, constructed tables of
syllogisms from which he eliminated the false, and carried the work
of the “gifted crank” at bit nearer to true symbolic logic. Leibnitz also
extended the circle idea to that of overlapping them in early attempts
at logical manipulation that foreshadowed the work that John Venn
would do later. Leibnitz also saw in numbers a powerful argument for
the existence of God. God, he saw as the numeral 1, and 0 was the
nothingness from which He created the world. There are those,
including Voltaire whose Candide satirized the notion, who question
that it is the best of all possible worlds, but none can question that in
the seventeenth century Leibnitz foresaw the coming power of the
binary system. He also built arithmetical computers that could add
and subtract, multiply and divide.
A few years earlier than Leibnitz, Blaise Pascal was also
interested in computing machines. As a teen-ager working in his
father’s tax office, Pascal wearied of adding the tedious figures so he
built himself a gear-driven computer that would add eight columns of
numbers. A tall figure in the scientific world, Pascal had fathered
projective geometry at age sixteen and later established
hydrodynamics as a science. To assist a gambler friend, he also
developed the theory of probability which led to statistical science.
Another mathematical innovation of the century was that of placing
logarithms on a stick by the Scot, John Napier. What he had done, of
course, was to make an analog, or scale model of the arithmetical
numbers. “Napier’s bones” quickly became what we now call slide
rules, forerunners of a whole class of analog computers that solve
problems by being actual models of size or quantity. Newton joined
Leibnitz in contributing another valuable tool that would be used in
the computer, that of the calculus.
The Computer in Literature
Even as Plato had viewed with suspicion the infringement of
mechanical devices on man’s domain of higher thought, other men
have continued to eye the growth of “mechanisms” with mounting
alarm. The scientist and inventor battled not merely technical
difficulties, but the scornful satire and righteous condemnation of
some of their fellow men. Jonathan Swift, the Irish satirist who took a
swipe at many things that did not set well with his views, lambasted
the computing machine as a substitute for the brain. In Chapter V,
Book Three, of Gulliver’s Travels, the good dean runs up against a
scheming scientist in Laputa:
The first Professor I saw was in a very large Room, with Forty
Pupils about him. After Salutation, observing me to look earnestly
upon a Frame, which took up the greatest part of both the Length
and Breadth of the Room; he said, perhaps I might wonder to see
him employed in a Project for improving speculative knowledge by
practical and mechanical Operations. But the World would soon be
sensible of its Usefulness; and he flattered himself, that a more
noble exalted Thought never sprang in any other Man’s Head. Every
one knew how laborious the usual Method is of attaining to Arts and
Sciences; whereas by his Contrivance, the most ignorant Person at
a reasonable Charge, and with a little bodily Labour, may write
Books in Philosophy, Poetry, Politicks, Law, Mathematicks, and
Theology, without the least Assistance from Genius or Study. He
then led me to the Frame, about the Sides whereof all his Pupils
stood in Ranks. It was a Twenty Foot Square, placed in the Middle of
the Room. The Superfices was composed of several Bits of Wood,
about the Bigness of a Dye, but some larger than others. They were
all linked together by slender Wires. These Bits of Wood were
covered on every Square with Papers pasted on them; and on these
Papers were written all the Words of their Language in their several
Moods, Tenses, and Declensions, but without any Order. The
Professor then desired me to observe, for he was going to set his
Engine to work. The Pupils at his Command took each the hold of an
Iron Handle, whereof there were Forty fixed round the Edges of the
Frame; and giving them a sudden Turn, the whole Disposition of the
Words was entirely changed. He then commanded Six and Thirty of
the Lads to read the several Lines softly as they appeared upon the
Frame; and where they found three or four Words together that
might make Part of a Sentence, they dictated to the four remaining
Boys who were Scribes. This work was repeated three or four Times,
and at every Turn the Engine was so contrived, that the Words
shifted into new Places, as the square Bits of Wood moved upside
down.
Six hours a-day the young Students were employed in this Labour;
and the Professor showed me several Volumes in large Folio already
collected, of broken Sentences, which he intended to piece together,
and out of those rich Materials to give the World a compleat Body of
Art and Sciences; which however might be still improved, and much
expedited, if the Publick would raise a Fund for making and
employing five Hundred such Frames in Lagado....
Fortunately for Swift, who would have been horrified by it, he
never heard Russell Maloney’s classic story, “Inflexible Logic,” about
six monkeys pounding away at typewriters and re-creating the world
great literature. Gulliver’s Travels is not listed in their
accomplishments.
The French Revolution prompted no less an orator than Edmund
Burke to deliver in 1790 an address titled “Reflections on the French
Revolution,” in which he extols the virtues of the dying feudal order in
Europe. It galled Burke that “The Age of Chivalry is gone. That of
sophists, economists, and calculators has succeeded, and the glory
of Europe is extinguished forever.”
Seventy years later another eminent Englishman named Darwin
published a book called On the Origin of Species that in the eyes of
many readers did little to glorify man himself. Samuel Butler, better
known for his novel, The Way of All Flesh, wrote too of the
mechanical being, and was one of the first to point out just what sort
of future Darwin was suggesting. In the satirical Erewhon, he
described the machines of this mysterious land in some of the most
prophetic writing that has been done on the subject. It was almost a
hundred years ago that Butler wrote the first version, called “Darwin
Among the Machines,” but the words ring like those of a 1962 worrier
over the electronic brain. Butler’s character warns:
There is no security against the ultimate development of mechanical
consciousness in the fact of machines possessing little consciousness now.
Reflect upon the extraordinary advance which machines have made during the last
few hundred years, and note how slowly the animal and vegetable kingdoms are
advancing. The more highly organized machines are creatures not so much of
yesterday, as of the last five minutes, so to speak, in comparison with past time.
Do not let me be misunderstood as living in fear of any actually existing
machine; there is probably no known machine which is more than a prototype of
future mechanical life. The present machines are to the future as the early
Saurians to man ... what I fear is the extraordinary rapidity with which they are
becoming something very different to what they are at present.
Butler envisioned the day when the present rude cries with which
machines call out to one another will have been developed to a
speech as intricate as our own. After all, “... take man’s vaunted
power of calculation. Have we not engines which can do all manner
of sums more quickly and correctly than we can? What prizeman in
Hypothetics at any of our Colleges of Unreason can compare with
some of these machines in their own line?”
Noting another difference in man and his creation, Butler says,
... Our sum-engines never drop a figure, nor our looms a stitch; the machine is
brisk and active, when the man is weary, it is clear-headed and collected, when the
man is stupid and dull, it needs no slumber.... May not man himself become a sort
of parasite upon the machines? An affectionate machine-tickling aphid?
It can be answered that even though machines should hear never so well and
speak never so wisely, they will still always do the one or the other for our
advantage, not their own; that man will be the ruling spirit and the machine the
servant.... This is all very well. But the servant glides by imperceptible approaches
into the master, and we have come to such a pass that, even now, man must
suffer terribly on ceasing to benefit the machines. If all machines were to be
annihilated ... man should be left as it were naked upon a desert island, we should
become extinct in six weeks.
Is it not plain that the machines are gaining ground upon us, when we reflect on
the increasing number of those who are bound down to them as slaves, and of
those who devote their whole souls to the advancement of the mechanical
kingdom?