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11RobotVision–ImageProcessing2012/9/8ROBOTVISIONHuang-NanHuang52012/9/82012AutumnOutlineImageModel32012/9/842012/9/8ImageModelDigitalimagerepresentationArithmetic/LogicOperationsf(x,y):atwo–dimensionallightintensityfunction,thevalueoffatanypoint(x,y)isproportionaltoptheImageGeometrybrightness(orgraylevel)FilteringIngenerality,256graylevelsisusedinPC.8bits0~255MonochromeTVimageisa512×512arraywith128graylevels.PerceivedbrightnessandactualImageModelillumination52012/9/862012/9/8 Weberfraction(ratio):Brightnessdiscrimination experimentΔ :Theincrementofilluminationdiscriminable50%ofthetimewithbackgroundillumination Machband:describesthevisualsystemtendstoundershootorovershootaroundtheboundaryofregionsofdifferentintensities.Simultaneouscontrast:aregion’sperceivedbrightnessdoesnotdependsimplyonitsintensity.Animagemodel72012/9/882012/9/8 ( , ):a2–Dlight-intensityfunction0< , <∞(∵lightisaformofenergy)Twocomponents:illumination(照明) ( , );reflectancecomponent(反射分量), ( , ), , = , ⋅ , ,0< <∞,0< <1Theimage,peopleperceive,normallyconsistsoflightreflectedfromobject.GrayLevelSamplingandQuantization92012/9/8102012/9/8Graylevel :theintensityofmonochromeimage Samplingisfordigitizationofspatialcoordinates.Quantizationisforamplitudedigitization(i.e.graylevel)Acontinuousimage ( , )isapproximatedbyequallyspacedsamplesinan × array:3DModelResolution112012/9/8122012/9/8Resolution:degreeofdiscernible(可辨別的)details.dependson , , .Generally,imagequalityincreaseswith , .Forimageofmuchdetail:afewgraylevelsareneeded.Incommonpractice,Forfixed ,thequalityisimprovedbydecreasing .(∵decreasing canincreasethecontrastofimage)Resolution132012/9/82012/9/8Falsecontouringaridge-like(背脊的)structureinsmoothgraylevelareacausedbyinsufficientgray–levelsinsmootharea142012/9/82012/9/81516NeighborsofaPixelConnectivity172012/9/8182012/9/8Connectivity:establishingboundarieso
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