Images get degraded during

ACQUISITION and/or TRANSMISSION

Examples:
Low light level, Quality of the CCD chip, temperature
of the CCD chip, atmospheric conditions like turbulence
and rain, non linear gradient in the acquisition systems
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Image degradation due to turbulence

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Image degradation due to the motion of detector and/or object

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raj@bits-pilani.ac.in

Need Restoration !!!!!

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ENHANCEMENT is completely subjective process

whereas
RESTORATION is the objective process
RESTORATION is to recover an image that has been
degraded by using a priori knowledge of the degradation
phenomenon.
Restoration requires modeling the degradation process
and applying the inverse process in order to recover the
original image.

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Needs mathematical modeling to Restore the image

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Determination of
The degradation function (h(x,y))
Noise (x,y)
In restoration, estimate the image f ( x , y )
from the idea of degradation function and noise.
A better knowledge of h(x,y) and (x,y) yields
a closer estimate.
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Linear position-invariant degradation

The degraded image g(x,y) can be written as

g ( x , y ) = H [ f ( x , y )] + ( x , y )
H is some operator, that operates on the input image
f(x,y)
If the noise (x,y) = 0,

&

g ( x , y ) = H [ f ( x , y )]
g( x , y )
f ( x, y) =
H raj@bits-pilani.ac.in

Some basic knowledge about the operators::

LINEAR OPERATOR , H

H [af1 ( x , y ) + bf 2 ( x , y )] = H [af1 ( x , y )] + H [bf 2 ( x , y )]

a and b are scalars and f1(x,y) and f2(x,y) are the
two input images
This is the property of additivity of the linear operator H

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Let f2(x,y) = 0,

H [a f1 ( x , y )] = aH [ f1 ( x , y )]
This is the property of homogeneity of the linear operator H

An operator having input-output relationship

g ( x , y ) = H [ f ( x , y )]
is said to be position invariant if,

H [ f ( x , y )] = g ( x , y )

*
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Delta function (continuous)

f ( x, y) =

f ( , ) ( x , y )d d

g ( x , y ) = H [ f ( x , y )]

= H f ( , ) ( x , y )d d

If H is linear operator, then from the property of

additivity
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If H is linear; using the property of additivity

g( x , y ) =

H [ f ( , ) ( x , y )]d d

Q f(x,y) is independent of x,y and using the property

of homogeneity of the linear operator H

g( x , y ) =

f ( , ) H [ ( x , y )]d d

Define::

H [ ( x , y )] = h( x , , y , )

impulse response of H

raj@bits-pilani.ac.in
h(x,
function (PSF)
,y,
) is also known as point spread

Point spread function

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g( x , y ) =

f ( , ) h( x, , y, )d d

This is called superposition integral of first kind

If H is position invariant, i.e.,

H [ ( x , y )] = h( x , y )
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g( x , y ) =

f ( , ) h( x , y )d d

This is convolution integral of the two

functions; input image (f ) & impulse
response (h)
In the presence of the noise (x,y)

g( x , y ) =

f ( , ) h( x , y )d d

+ ( x, y )

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g ( x , y ) = f ( x , y ) h( x , y ) + ( x , y )
A linear, spatially invariant degradation system with
additive noise can be modeled in the spatial domains
as the Convolution of the degradation function with an
image , followed by the addition of the noise.

Applying the Convolution Theorem:

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

The knowledge of degradation function (H ) & noise (N )

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will yield the degraded image (G).

The information of noise is important in modeling

and restoration.
Noise: can be introduced during image acquisition
and/or transmission

Modeling of the noise

Assumption:1. noise is spatial independent
2. uncorrelated with respect to image

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Noise can be random or periodic

Random noise are characterized by the Probability

Density Function (PDF)

Some of the noises

a) Gaussian Noise

1 (z)2 / 2 2
p(z) =
e
2

z = gray level
= avg(z)
= SD

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b) Rayleigh noise

2
( za)2 / b
p(z) = (z a)e
za
b
=0
z<a
z = =a+

b
4

b( 4 )
=
4
2

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raj@bits-pilani.ac.in

Periodic noise:

Very easy to handle and model the degradation!!!!

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Estimation of the Degradation Function

1.Estimation by observation

2.Estimation by experimentation

3.Estimation by mathematical modeling

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Estimating the Degradation Function through mathematical

modeling

Example:

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The degradation function for the Atmospheric

Turbulence

H ( u, v ) = e

k ( u 2 + v 2 )5 / 6

k is the constant depend on the nature of turbulence

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Example::
Images get degraded (blurred) by uniform linear motion
of the object and the sensor.
T

g ( x , y ) = f [ x xo ( t ), y yo ( t )]dt
0

T = exposure time

xo(t) and yo(t) are the time varying components of

motion in the x & y directions

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raj@bits-pilani.ac.in

G ( u, v ) =

g( x, y )e

j 2 ( ux + vy )

dx dy

Substitute g(x,y)

T
j 2 ( ux + vy )
G ( u, v ) = f ( x xo( t ), y yo( t )) dt e
dx dy
0

j 2 ( ux + vy )
= f ( x xo( t ), y yo( t )) e
dx dy dt
0

FT of the displaced function

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Recall

f ( x xo , y yo ) F ( u, v )e j 2 ( uxo + vyo )
T

G ( u, v ) = F ( u, v ) e

j 2 ( ux o ( t ) + vyo ( t ))

dt

0
T

= F ( u, v ) e

j 2 ( ux o ( t ) + vyo ( t ))

dt

Identifying

G ( u, v ) = F ( u, v ) H ( u, v )
T

H ( u, v ) = e
0

j 2 ( ux o ( t ) + vyo ( t ))

dt

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Example::

Image gets degraded due to linear motion

along the x-direction by an amount of a
during the exposure time T
Let xo(t) = at/T
and yo(t) = 0
T

H ( u, v ) = e

j 2 ( ux o ( t ))

dt

T
jua
=
sin(ua )e
ua
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T
j ( ua + vb )
H ( u, v ) =
sin( ( ua + vb))e
( ua + vb)

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We are successful in modeling the degradation !!!

Inverse Filtering
An estimate of the original image is made by

G ( u, v )

F ( u, v ) =
H ( u, v )
We know::>

[division element by element]

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

N ( u, v )

F ( u, v ) = F ( u, v ) +
H ( u, v )
Problems with Inverse Filtering:
1. We cannot recover the undegraded image EXACTLY
even if know the degradation function H(u,v) because
N(u,v) is random and whose Fourier transform is not
understood.
2. If H(u,v) is zero or very small value, the term
N(u,v)/H(u,v) contributes to a large value in F ( u, v )
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Solutions

1. Very difficult !!!

2. Limit oneself to the lower frequencies and

appropriately cut the higher frequencies. Try limiting
the frequencies near the origin, we reduce the
probability of encountering the zero values.

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Inv[F (u, v)]

G(u,v)

H ( u, v ) = e

k (( u M / 2 ) 2 + ( v N / 2 ) 2 ) 5 / 6

G ( u, v )

F ( u, v ) =
H ( u, v )

k=0.0025

Image is poor; low values

of H(u,v)
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Improved images were obtained by applying cut-off to H(u,v)

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Minimum mean square error (Weiner) Filtering

We were handicapped to handle the noise in INVERSE Filt.
Weiner filter* takes care of not only the smaller values of
degradation function but also the statistical characteristic
of the noise in the restoration process.

e =E (f f)
2

Mean square error (e2) has to be minimized

*In 1942, theory was developed by Weiner raj@bits-pilani.ac.in

Assumption made during minimization

Images and noise are random and are uncorrelated
Noise has zero mean
The gray level in the estimate are a linear function
of the levels in the degraded image
*

H
(
u
,
v
)
S
(
u
,
v
)
f
G ( u, v )
F ( u, v ) =
2
S f ( u, v ) H ( u, v ) + S ( u, v )

2
1

H ( u, v )
=
G ( u, v )
H ( u, v ) H ( u, v ) 2 + S ( u, v )

S f ( u, v )

This is Weiner filter

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Where

S ( u, v ) = N ( u, v )

S f ( u, v ) = F ( u, v )

= power spectrum of noise

= power spectrum of the
undegraded image

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Example:
If the white noise is present; S(u,v) = constant

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raj@bits-pilani.ac.in