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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.]
FIGURE 1.2
A digital picture
made in 1922
from a tape
punched after
the signals had
crossed the
Atlantic twice.
(McFarlane.)
intensity levels. The printing method used to obtain Fig. 1.1 was abandoned toward
the end of 1921 in favor of a technique based on photographic reproduction made
from tapes perforated at the telegraph receiving terminal. Figure 1.2 shows an image
obtained using this method. The improvements over Fig. 1.1 are evident, both in
tonal quality and in resolution.
The early Bartlane systems were capable of coding images in five distinct levels
of gray. This capability was increased to 15 levels in 1929. Figure 1.3 is typical of the
type of images that could be obtained using the 15-tone equipment. During this
period, introduction of a system for developing a film plate via light beams that were
modulated by the coded picture tape improved the reproduction process consider-
ably.
Although the examples just cited involve digital images, they are not considered
digital image processing results in the context of our definition, because digital com-
puters were not used in their creation. Thus, the history of digital image processing
is intimately tied to the development of the digital computer. In fact, digital images
require so much storage and computational power that progress in the field of digi-
tal image processing has been dependent on the development of digital computers
and of supporting technologies that include data storage, display, and transmission.
FIGURE 1.3
Unretouched
cable picture of
Generals Pershing
(right) and Foch,
transmitted in
1929 from
London to New
York by 15-tone
equipment.
(McFarlane.)
The concept of a computer dates back to the invention of the abacus in Asia
Minor, more than 5000 years ago. More recently, there have been developments
in the past two centuries that are the foundation of what we call a computer today.
However, the basis for what we call a modern digital computer dates back to only
the 1940s, with the introduction by John von Neumann of two key concepts: (1) a
memory to hold a stored program and data, and (2) conditional branching. These
two ideas are the foundation of a central processing unit (CPU), which is at the heart
of computers today. Starting with von Neumann, there were a series of key advanc-
es that led to computers powerful enough to be used for digital image processing.
Briefly, these advances may be summarized as follows: (1) the invention of the tran-
sistor at Bell Laboratories in 1948; (2) the development in the 1950s and 1960s of
the high-level programming languages COBOL (Common Business-Oriented Lan-
guage) and FORTRAN (Formula Translator); (3) the invention of the integrated
circuit (IC) at Texas Instruments in 1958; (4) the development of operating systems
in the early 1960s; (5) the development of the microprocessor (a single chip consist-
ing of a CPU, memory, and input and output controls) by Intel in the early 1970s;
(6) the introduction by IBM of the personal computer in 1981; and (7) progressive
miniaturization of components, starting with large-scale integration (LI) in the late
1970s, then very-large-scale integration (VLSI) in the 1980s, to the present use of
ultra-large-scale integration (ULSI) and experimental nonotechnologies. Concur-
rent with these advances were developments in the areas of mass storage and display
systems, both of which are fundamental requirements for digital image processing.
The first computers powerful enough to carry out meaningful image processing
tasks appeared in the early 1960s. The birth of what we call digital image processing
today can be traced to the availability of those machines, and to the onset of the
space program during that period. It took the combination of those two develop-
ments to bring into focus the potential of digital image processing for solving prob-
lems of practical significance. Work on using computer techniques for improving
images from a space probe began at the Jet Propulsion Laboratory (Pasadena, Cali-
fornia) in 1964, when pictures of the moon transmitted by Ranger 7 were processed
by a computer to correct various types of image distortion inherent in the on-board
television camera. Figure 1.4 shows the first image of the moon taken by Ranger
7 on July 31, 1964 at 9:09 A.M. Eastern Daylight Time (EDT), about 17 minutes
before impacting the lunar surface (the markers, called reseau marks, are used for
geometric corrections, as discussed in Chapter 2).This also is the first image of the
moon taken by a U.S. spacecraft. The imaging lessons learned with Ranger 7 served
as the basis for improved methods used to enhance and restore images from the Sur-
veyor missions to the moon, the Mariner series of flyby missions to Mars, the Apollo
manned flights to the moon, and others.
In parallel with space applications, digital image processing techniques began in
the late 1960s and early 1970s to be used in medical imaging, remote Earth resourc-
es observations, and astronomy. The invention in the early 1970s of computerized
axial tomography (CAT), also called computerized tomography (CT) for short, is
one of the most important events in the application of image processing in medical
diagnosis. Computerized axial tomography is a process in which a ring of detectors
FIGURE 1.4
The first picture
of the moon by
a U.S. spacecraft.
Ranger 7 took
this image on
July 31, 1964 at
9:09 A.M. EDT,
about 17 minutes
before impacting
the lunar surface.
(Courtesy of
NASA.)
encircles an object (or patient) and an X-ray source, concentric with the detector
ring, rotates about the object. The X-rays pass through the object and are collected
at the opposite end by the corresponding detectors in the ring. This procedure is
repeated the source rotates. Tomography consists of algorithms that use the sensed
data to construct an image that represents a “slice” through the object. Motion of
the object in a direction perpendicular to the ring of detectors produces a set of
such slices, which constitute a three-dimensional (3-D) rendition of the inside of the
object. Tomography was invented independently by Sir Godfrey N. Hounsfield and
Professor Allan M. Cormack, who shared the 1979 Nobel Prize in Medicine for their
invention. It is interesting to note that X-rays were discovered in 1895 by Wilhelm
Conrad Roentgen, for which he received the 1901 Nobel Prize for Physics. These two
inventions, nearly 100 years apart, led to some of the most important applications of
image processing today.
From the 1960s until the present, the field of image processing has grown vigor-
ously. In addition to applications in medicine and the space program, digital image
processing techniques are now used in a broad range of applications. Computer pro-
cedures are used to enhance the contrast or code the intensity levels into color for
easier interpretation of X-rays and other images used in industry, medicine, and the
biological sciences. Geographers use the same or similar techniques to study pollu-
tion patterns from aerial and satellite imagery. Image enhancement and restoration
procedures are used to process degraded images of unrecoverable objects, or experi-
mental results too expensive to duplicate. In archeology, image processing meth-
ods have successfully restored blurred pictures that were the only available records
of rare artifacts lost or damaged after being photographed. In physics and related
fields, computer techniques routinely enhance images of experiments in areas such
as high-energy plasmas and electron microscopy. Similarly successful applications
of image processing concepts can be found in astronomy, biology, nuclear medicine,
law enforcement, defense, and industry.
Today, there is almost no area of technical endeavor that is not impacted in some
way by digital image processing. We can cover only a few of these applications in the
context and space of the current discussion. However, limited as it is, the material
presented in this section will leave no doubt in your mind regarding the breadth and
importance of digital image processing. We show in this section numerous areas of
application, each of which routinely utilizes the digital image processing techniques
developed in the following chapters. Many of the images shown in this section are
used later in one or more of the examples given in the book. Most images shown are
digital images.
The areas of application of digital image processing are so varied that some form
of organization is desirable in attempting to capture the breadth of this field. One
of the simplest ways to develop a basic understanding of the extent of image pro-
cessing applications is to categorize images according to their source (e.g., X-ray,
visual, infrared, and so on).The principal energy source for images in use today is
the electromagnetic energy spectrum. Other important sources of energy include
acoustic, ultrasonic, and electronic (in the form of electron beams used in electron
microscopy). Synthetic images, used for modeling and visualization, are generated
by computer. In this section we will discuss briefly how images are generated in
these various categories, and the areas in which they are applied. Methods for con-
verting images into digital form will be discussed in the next chapter.
Images based on radiation from the EM spectrum are the most familiar, espe-
cially images in the X-ray and visual bands of the spectrum. Electromagnetic waves
can be conceptualized as propagating sinusoidal waves of varying wavelengths, or
they can be thought of as a stream of massless particles, each traveling in a wavelike
pattern and moving at the speed of light. Each massless particle contains a certain
amount (or bundle) of energy. Each bundle of energy is called a photon. If spectral
Vai niin! Matleena tuli niin kiukkuiseksi, että hänen sisunsa aivan
kiehui. Hänen teki mielensä sivaltaa Anttia, sillä tämä ei näyttänyt
ensinkään välittävän hänen nipistämisistään, vaikka hän teki ne
tuntuvammiksi kynsillään. "Mutta poika, oletko sinä hullu!" huusi hän
lopulta, kun Antti nousi lyöden kättä kaupan vahvistukseksi.
Sahanhoitaja saisi säilyttää rahat, kunnes Antti vaatisi ne.
"Ja nämä kunnon ihmiset antavat sille kyllä joka päivä leipääkin ja
suolavettä ja kaikenlaisia jätteitä syötyänsä", mutisi Matleena alkaen
käsittää, että Antin tapa rakastaa Helokkia oli parempi kuin hänen
omansa.
Hän kertoi, että suurin poika, Niilo, koko pitäjän pelotin, niin jopa
ulkopitäjäinkin, oli taittanut molemmat säärensä kerran metsässä
oltuaan jossakin pahanteossa. Niilo väitti, että muutamat katovuoden
kulkurilapset olivat varastaneet vanhalta isoisältä kellon, vaikka ukko
oli vakuuttanut kuolemaansa asti antaneensa sen, ettei Niilo saisi
sitä. Ja nyt hänen piti muka lähteä sitä etsimään. Niilo oli ottanut
mukaansa rengin ja harmaan koiran, joka oli vihainen ihmisille ja
opetettu löytämään jäljet, jotka sille näytettiin. Toiset ilkeät, häijyt
lapset olivat joukossa nekin, sekä toinen renki.
Näillä mailla oli talojen väli niin lyhyt, että Antti ja Matleena, joilla
ei nyt ollut Maunoa, rupesivat ikävöimään metsiin, missä he arvelivat
saattavansa elää marjoilla, ettei olisi tarvinnut mennä joka päivä
vieraisiin taloihin ja seisoa kerjäläisenä ovensuussa.
Kaikkein vaikeinta oli yhä, kun ensin sai tulla ovesta ja seisoa
pitkät ajat, ennenkuin kukaan tuskin viitsi tervehtiä tai rupesi heistä
pitämään huolta. Lapset olivat saaneet vaihtaa ruokaan vispilöitä,
mäntiä ja puulusikoita tai olivat saaneet niistä lantin. Mutta ei niitä
ehtinyt paljon valmistaa sellainen, joka vaelsi heidän laillaan ovelta
ovelle ja jolla ei ollut pysyväistä paikkaa.
Kolmaskymmenesensimäinen luku.
MARJAMETSÄSSÄ.
Kolmaskymmenestoinen luku.
Samassa heitti Antti maahan kirjan, josta hänen piti saarnata. Hän
tarttui salamannopeasti tanotorveen, asetti sen suulleen ja puhalsi
minkä keuhkoista lähti ihan karhun korviin, sen juostessa aivan kiven
vieritse hiehon perässä aikoen juuri iskeä siihen.
Olla vaiti! Eipä ollut helppoa olla vaiti sen, joka pienenä ja
yksinäisenä oli muutaman askeleen päässä nälkäisestä, vihaisesti
mölisevästä karhusta, jonka suupalaksi oli uhassa joutua, ja tuntea
sitä paitsi kuolemanpelkoa lähes yhtä vaarallisessa asemassa olevan
veljen tähden, sen ainoan, minkä omisti koko avarassa maailmassa.
Mutta Matleena osasi sittenkin hillitä itsensä ja olla huutamatta,
vaikka hän vapisi kuin nuori haapa pohjatuulen kourissa.
Äkkiä Antti riemastui: "No, nyt ei sitte muuta neuvoksi kuin lähteä
kiveltä mustikkametsään, sillä minun on kovasti nälkä."
Kolmaskymmeneskolmas luku.
TUNTURIMAJOILLA.
"Voi tule alas, kuuletko", huusi rukoilevasti pieni tyttö, joka seisoi
kiven juurella. Hän oli vaatetettu herrastapaan: kotikutoiseen,
siniruutuiseen hurstipukuun, valkoiseen, punatäpläiseen
karttuuniesiliinaan ja — mikä herätti Matleenan epäilyä ja
levottomuutta — hänellä oli sininauhainen hattu! Kaksi vaaleaa,
paksua palmikkoa oli kierretty korville ja kiinnitetty tummansinisin
nauharuusukkein. Huolestuttavaa ja hirveää oli joutua sellaisen
oikean herrasväen pariin!
Mutta Antti kiirehti. Hän liukui edellä saaden tytönkin lopulta alas.
Ja kerran maahan päästyään tunsi Matleena itsensä kuitenkin
kaikitenkin onnelliseksi ja turvalliseksi juuri kuin olisi saapunut
laivahylystä kuivalle maalle.
"Se oli minun lehmäni", sanoi Elsa. "Olen saanut lypsää sitä joka
päivä tunturimajoilla ollessamme, ja se nuoli minua ja juoksi
perässäni, jos minne menin. Suren Tähdikkiä äärettömästi."
"Ei mesikämmen ole sitä repinyt, ei, vaikka ajoikin sitä takaa",
sanoi Antti varmasti. "Se vain pelotteli sitä. Tuonne päin se juoksi.
Siellä on suo, niin että se pikemminkin on vajonnut sinne. Mutta jos
niin on, ehdimme kyllä vetää sen maihin, sillä se joutui vasta äsken
sinne."