EECE253 08 FrequencyFiltering

EECE\CS 253 Image Processing
Lecture Notes: Frequency Filtering Lecture Notes
Richard Alan Peters II

Department of Electrical Engineering and Computer Science
Fall Semester 2007
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Convolution Property of the Fourier Transform

Let functions f ( r, c ) and g ( r, c ) have Fourier Transforms F (u, v ) and G (u, v ). Then,
* = convolution = multiplication
F { f g } = F G.
Moreover,
F { f g } = F G.
The Fourier Transform of a The Fourier Transform of a convolution equals the convolution equals the product of the Fourier product of the Fourier Transforms. Similarly, the Transforms. Similarly, the Fourier Transform of a Fourier Transform of a convolution is the product of convolution is the product of the Fourier Transforms the Fourier Transforms
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1999-2007 by Richard Alan Peters II
Convolution via Fourier Transform
Image & Mask
Transforms
Pixel-wise Product
Inverse Transform
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How to Convolve via FT in Matlab

1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. Read the image from a file into a variable, say I. The mask is usually 1-band Read in or create the convolution mask, h. The mask is usually 1-band Compute the sum of the mask: s = sum(sum(h)); If s == 0, set s = 1; For color images you may For color images you may need to do each step for Create: H = zeros(size(I)); need to do each step for each band separately. each band separately. Copy h into the middle of H. Shift H into position: H = ifftshift(H); Take the 2D FT of I and H: FI=fft2(I); FH=fft2(H); Pointwise multiply the FTs: FJ=FI.*FH; Compute the inverse FT: J = real(ifft2(FJ)); Normalize the result: J = J/s;
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Coordinate Origin of the FFT

Even Odd Even
Center Center == (floor(R/2)+1, floor(C/2)+1) (floor(R/2)+1, floor(C/2)+1)

Odd
Image Origin
Image Origin
Weight Matrix Origin
Weight Matrix Origin
After FFT shift
After FFT shift
After IFFT shift
After IFFT shift
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Matlabs fftshift and ifftshift

J = fftshift(I): I (1,1) J ( R/2 +1, C/2 +1)
2 3 1 5 8 6 9 4 7 1 4 7 2 5 8 3 6 9
I = ifftshift(J): J ( R/2 +1, C/2 +1) I (1,1)
5 1 4 7 2 5 8 3 6 9 2 8
6 9
4 7
where x = floor(x) = the largest integer smaller than x.

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Blurring: Averaging / Lowpass Filtering

Blurring results from:
Pixel averaging in the spatial domain:

Each pixel in the output is a weighted average of its neighbors. Is a convolution whose weight matrix sums to 1. High frequencies are diminished or eliminated Individual frequency components are multiplied by a nonincreasing function of such as 1/ = 1/(u2+v2). The values of the output image are all non-negative. The values of the output image are all non-negative.
Lowpass filtering in the frequency domain:

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Sharpening: Differencing / Highpass Filtering

Sharpening results from adding to the image, a copy of itself that has been:
Pixel-differenced in the spatial domain:

Each pixel in the output is a difference between itself and a weighted average of its neighbors. Is a convolution whose weight matrix sums to 0. High frequencies are enhanced or amplified. Individual frequency components are multiplied by an increasing function of such as = (u2+v2), where is a constant. The values of the output image positive & negative. The values of the output image positive & negative.
Highpass filtered in the frequency domain:

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Recall: Recall:
Convolution Property of the Fourier Transform

Let functions f ( r, c ) and g ( r, c ) have Fourier Transforms F (u, v ) and G (u, v ). Then,
* = convolution = multiplication
F { f g } = F G.
Moreover,
F { f g } = F G.
Thus we can compute f g by f g = F -1{F G}.
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The Fourier Transform of a The Fourier Transform of a convolution equals the convolution equals the product of the Fourier product of the Fourier Transforms. Similarly, the Transforms. Similarly, the Fourier Transform of a Fourier Transform of a convolution is the product of convolution is the product of the Fourier Transforms the Fourier Transforms
9
Ideal Lowpass Filter

Multiply by this, or convolve by this
Image size: 512x512 Image size: 512x512 FD filter radius: 16 FD filter radius: 16
Fourier Domain Rep. Fourier Domain Rep.
Spatial Representation Spatial Representation
Central Profile Central Profile
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10

Multiply by this, or convolve by this
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11
Consider the Consider the image below: image below:
Power Spectrum and Phase of an Image
Original Image Original Image
Power Spectrum Power Spectrum
Phase Phase
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12
Ideal LPF in FD Ideal LPF in FD
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13
Filtered Image Filtered Image
Filtered Power Spectrum Filtered Power Spectrum
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14
Ideal Highpass Filter

Multiply by Multiply by this, or this, or convolve convolve by this by this
Image size: 512x512 Image size: 512x512 FD notch radius: 16 FD notch radius: 16
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15
Ideal HPF in FD Ideal HPF in FD
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16
**signedimage; 0 signed image; 0
mapped to 128 mapped to 128
Filtered Image* Filtered Image*
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17
Positive Pixels Positive Pixels
Negative Pixels Negative Pixels
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18
The Uncertainty Relation

space frequency
FT FT
If x y is the extent of the object in space and if u v is its extent in frequency then, 1 x y u v 16 2
A small object in space A small object in space has a large frequency has a large frequency extent and vice-versa. extent and vice-versa.
space
frequency
FT FT
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19
The Uncertainty Relation

frequency small extent space large extent
IFT IFT
Recall: a symmetric Recall: a symmetric pair of impulses in the pair of impulses in the frequency domain frequency domain becomes a sinusoid in becomes a sinusoid in the spatial domain. the spatial domain. A symmetric pair of A symmetric pair of lines in the frequency lines in the frequency domain becomes a domain becomes a sinusoidal line in the sinusoidal line in the spatial domain. spatial domain.
small extent frequency large extent
large extent space small extent
IFT IFT
small extent
large extent 1999-2007 by Richard Alan Peters II
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20
Ideal Filters Do Not Produce Ideal Results
IFT IFT
A sharp cutoff in the A sharp cutoff in the frequency domain frequency domain
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causes ringing in the causes ringing in the spatial domain. spatial domain.
21
Ideal Filters Do Not Produce Ideal Results
Ideal LPF Ideal LPF
Blurring the image above Blurring the image above w/ an ideal lowpass filter w/ an ideal lowpass filter
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distorts the results with distorts the results with ringing or ghosting. ringing or ghosting.
22
Optimal Filter: The Gaussian
IFT IFT
The Gaussian filter optimizes the uncertainty relation. The Gaussian filter optimizes the uncertainty relation. It provides the sharpest cutoff with the least ringing. It provides the sharpest cutoff with the least ringing.
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23
One-Dimensional Gaussian
g ( x) =
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1 2
( x ) 2 2 2
24
Two-Dimensional Gaussian
R = 512, C = 512
g ( r, c) = g ( r ) g (c) = 1 2 e
r c
If and are If and are different for rr& cc different for &
2
( r r )2 ( y c ) 2 2 2 r 2 c
= 1 2 e
r c
2 2 c ( x r )2 + r ( y c )2 2 2 2 r c
or if and are or if and are the same for rr& cc. the same for & .
= 257, = 64
g ( r, c ) = 212 e
( r )2 + ( c )2 2 2
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25
Optimal Filter: The Gaussian
Gaussian LPF Gaussian LPF
With a gaussian lowpass With a gaussian lowpass filter, the image above filter, the image above
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is blurred without ringing is blurred without ringing or ghosting. or ghosting.

26
Gaussian Lowpass Filter

Image size: 512x512 Image size: 512x512 SD filter sigma 8 SD filter sigma ==8
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27

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28
Gaussian LPF in FD Gaussian LPF in FD
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29
Filtered Image Filtered Image
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30
Gaussian Highpass Filter

Image size: 512x512 Image size: 512x512 FD notch sigma 8 FD notch sigma ==8
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31
Gaussian HPF in FD Gaussian HPF in FD
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32
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33
Positive Pixels Filtered Image Positive Pixels Filtered Image
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34
Comparison of Ideal and Gaussian Filters
Ideal LPF Ideal LPF
Ideal HPF* Ideal HPF*
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35
Gaussian LPF Gaussian LPF
Gaussian HPF* Gaussian HPF*
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36
*signed image; 0 *signed image; 0
Another Highpass Filter
original image original image
filter power spectrum filter power spectrum
filtered image* filtered image*
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37
*signed image; 0 *signed image; 0
Ideal Bandpass Filter
filter power spectrum filter power spectrum
filtered image* filtered image*
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38
Gaussian Bandpass Filter
Image size: 512x512 Image size: 512x512 sigma 2 sigma 8 sigma ==2 --sigma ==8
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39
Gaussian BPF in FD Gaussian BPF in FD
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40
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41
Positive Pixels Filtered Image Positive Pixels Filtered Image
FilteredImage** Filtered Image
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42
Ideal BPF* Ideal BPF*
Gaussian BPF* Gaussian BPF*
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43
Power Spectrum and Phase of a Blurred Image
blurred image blurred image

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power spectrum power spectrum
phase phase
44
Power Spectrum and Phase of an Image

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phase phase
45
Power Spectrum and Phase of a Sharpened Image
sharpened image sharpened image

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phase phase
46

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EECE\CS 253 Image Processing

Lecture Notes: Frequency Filtering Lecture Notes

Richard Alan Peters II

Convolution Property of the Fourier Transform

1999-2007 by Richard Alan Peters II

Convolution via Fourier Transform

Image & Mask

1999-2007 by Richard Alan Peters II

How to Convolve via FT in Matlab

Coordinate Origin of the FFT

Center Center == (floor(R/2)+1, floor(C/2)+1) (floor(R/2)+1, floor(C/2)+1)

Weight Matrix Origin

Weight Matrix Origin

After FFT shift

After FFT shift

After IFFT shift

After IFFT shift

1999-2007 by Richard Alan Peters II

Matlabs fftshift and ifftshift

I = ifftshift(J): J ( R/2 +1, C/2 +1) I (1,1)

where x = floor(x) = the largest integer smaller than x.

Blurring: Averaging / Lowpass Filtering

Lowpass filtering in the frequency domain:

1999-2007 by Richard Alan Peters II

Sharpening: Differencing / Highpass Filtering

Highpass filtered in the frequency domain:

1999-2007 by Richard Alan Peters II

Convolution Property of the Fourier Transform

1999-2007 by Richard Alan Peters II

Ideal Lowpass Filter

Fourier Domain Rep. Fourier Domain Rep.

Spatial Representation Spatial Representation

Central Profile Central Profile

1999-2007 by Richard Alan Peters II

Ideal Lowpass Filter

Fourier Domain Rep. Fourier Domain Rep.

Spatial Representation Spatial Representation

Central Profile Central Profile

1999-2007 by Richard Alan Peters II

Consider the Consider the image below: image below:

Power Spectrum and Phase of an Image

Original Image Original Image

Power Spectrum Power Spectrum

1999-2007 by Richard Alan Peters II

Ideal Lowpass Filter

Original Image Original Image

Power Spectrum Power Spectrum

Ideal LPF in FD Ideal LPF in FD

1999-2007 by Richard Alan Peters II

Ideal Lowpass Filter

Filtered Image Filtered Image

Filtered Power Spectrum Filtered Power Spectrum

Original Image Original Image

1999-2007 by Richard Alan Peters II

Ideal Highpass Filter

Fourier Domain Rep. Fourier Domain Rep.

Spatial Representation Spatial Representation

Central Profile Central Profile

1999-2007 by Richard Alan Peters II

Ideal Highpass Filter

Original Image Original Image

Power Spectrum Power Spectrum