Introduction
Signal processing is a discipline in electrical engineering and in mathematics that deals
with analysis and processing of analog and digital signals , and deals with storing ,
filtering , and other operations on signals. These signals include transmission signals ,
sound or voice signals , image signals , and other signals e.t.c.
Out of all these signals , the field that deals with the type of signals for which the input
is an image and the output is also an image is done in image processing. As it name
suggests, it deals with the processing on images.
It can be further divided into analog image processing and digital image processing.
Analog image processing
Analog image processing is done on analog signals. It includes processing on two
dimensional analog signals. In this type of processing, the images are manipulated by
electrical means by varying the electrical signal. The common example include is the
television image.
Digital image processing has dominated over analog image processing with the passage
of time due its wider range of applications.
Digital image processing
The digital image processing deals with developing a digital system that performs
operations on an digital image.
What is an Image
An image is nothing more than a two dimensional signal. It is defined by the
mathematical function f(x,y) where x and y are the two co-ordinates horizontally and
vertically.
The value of f(x,y) at any point is gives the pixel value at that point of an image.
The above figure is an example of digital image that you are now viewing on your
computer screen. But actually , this image is nothing but a two dimensional array of
numbers ranging between 0 and 255.
128 30 123
232 123 321
123 77 89
80 255 255
Each number represents the value of the function f(x,y) at any point. In this case the
value 128 , 230 ,123 each represents an individual pixel value. The dimensions of the
picture is actually the dimensions of this two dimensional array.
Relationship between a digital image and a signal
If the image is a two dimensional array then what does it have to do with a signal? In
order to understand that , We need to first understand what is a signal?
Signal
In physical world, any quantity measurable through time over space or any higher
dimension can be taken as a signal. A signal is a mathematical function, and it conveys
some information.
A signal can be one dimensional or two dimensional or higher dimensional signal. One
dimensional signal is a signal that is measured over time. The common example is a
voice signal.
The two dimensional signals are those that are measured over some other physical
quantities. The example of two dimensional signal is a digital image. We will look in
more detail in the next tutorial of how a one dimensional or two dimensional signals and
higher signals are formed and interpreted.
Relationship
Since anything that conveys information or broadcast a message in physical world
between two observers is a signal. That includes speech or (human voice) or an image
as a signal. Since when we speak , our voice is converted to a sound wave/signal and
transformed with respect to the time to person we are speaking to. Not only this , but
the way a digital camera works, as while acquiring an image from a digital camera
involves transfer of a signal from one part of the system to the other.
How a digital image is formed
Since capturing an image from a camera is a physical process. The sunlight is used as a
source of energy. A sensor array is used for the acquisition of the image. So when the
sunlight falls upon the object, then the amount of light reflected by that object is sensed
by the sensors, and a continuous voltage signal is generated by the amount of sensed
data. In order to create a digital image , we need to convert this data into a digital form.
This involves sampling and quantization. (They are discussed later on). The result of
sampling and quantization results in an two dimensional array or matrix of numbers
which are nothing but a digital image.
Overlapping fields
Machine/Computer vision
Machine vision or computer vision deals with developing a system in which the input is
an image and the output is some information. For example: Developing a system that
scans human face and opens any kind of lock. This system would look something like
this.
Computer graphics
Computer graphics deals with the formation of images from object models, rather then
the image is captured by some device. For example: Object rendering. Generating an
image from an object model. Such a system would look something like this.
Artificial intelligence
Artificial intelligence is more or less the study of putting human intelligence into
machines. Artificial intelligence has many applications in image processing. For example:
developing computer aided diagnosis systems that help doctors in interpreting images
of X-ray , MRI e.t.c and then highlighting conspicuous section to be examined by the
doctor.
Signal processing
Signal processing is an umbrella and image processing lies under it. The amount of light
reflected by an object in the physical world (3d world) is pass through the lens of the
camera and it becomes a 2d signal and hence result in image formation. This image is
then digitized using methods of signal processing and then this digital image is
manipulated in digital image processing.
Signals
In electrical engineering, the fundamental quantity of representing some information is
called a signal. It does not matter what the information is i-e: Analog or digital
information. In mathematics, a signal is a function that conveys some information. In fact
any quantity measurable through time over space or any higher dimension can be taken
as a signal. A signal could be of any dimension and could be of any form.
Analog signals
A signal could be an analog quantity that means it is defined with respect to the time. It
is a continuous signal. These signals are defined over continuous independent variables.
They are difficult to analyze, as they carry a huge number of values. They are very much
accurate due to a large sample of values. In order to store these signals , you require an
infinite memory because it can achieve infinite values on a real line. Analog signals are
denoted by sin waves.
For example:
Human voice
Human voice is an example of analog signals. When you speak, the voice that is
produced travel through air in the form of pressure waves and thus belongs to a
mathematical function, having independent variables of space and time and a value
corresponding to air pressure.
Another example is of sin wave which is shown in the figure below.
Y = sin(x) where x is independent
Digital signals
As compared to analog signals, digital signals are very easy to analyze. They are
discontinuous signals. They are the appropriation of analog signals.
The word digital stands for discrete values and hence it means that they use specific
values to represent any information. In digital signal, only two values are used to
represent something i-e: 1 and 0 (binary values). Digital signals are less accurate then
analog signals because they are the discrete samples of an analog signal taken over
some period of time. However digital signals are not subject to noise. So they last long
and are easy to interpret. Digital signals are denoted by square waves.
For example:
Computer keyboard
Whenever a key is pressed from the keyboard, the appropriate electrical signal is sent
to keyboard controller containing the ASCII value that particular key. For example the
electrical signal that is generated when keyboard key a is pressed, carry information of
digit 97 in the form of 0 and 1, which is the ASCII value of character a.
Difference between analog and digital signals
Comparison Analog signal Digital signal
element
Analysis Difficult Possible to analyze
Representation Continuous Discontinuous
Accuracy More accurate Less accurate
Storage Infinite memory Easily stored
Subject to Noise Yes No
Recording Original signal is preserved Samples of the signal are taken
Technique and preserved
Examples Human voice, Thermometer, Computers, Digital Phones,
Analog phones e.t.c Digital pens, e.t.c
Systems
A system is a defined by the type of input and output it deals with. Since we are dealing
with signals, so in our case, our system would be a mathematical model, a piece of
code/software, or a physical device, or a black box whose input is a signal and it performs
some processing on that signal, and the output is a signal. The input is known as
excitation and the output is known as response.
In the above figure a system has been shown whose input and output both are signals
but the input is an analog signal. And the output is an digital signal. It means our system
is actually a conversion system that converts analog signals to digital signals.
Let’s have a look at the inside of this black box system
Conversion of analog to digital signals
Since there are lot of concepts related to this analog to digital conversion and vice-versa.
We will only discuss those which are related to digital image processing. There are two
main concepts that are involved in the conversion.
• Sampling
• Quantization
Sampling
Sampling as its name suggests can be defined as take samples. Take samples of a digital
signal over x axis. Sampling is done on an independent variable. In case of this
mathematical equation:
Sampling is done on the x variable. We can also say that the conversion of x axis (infinite
values) to digital is done under sampling.
Sampling is further divide into up sampling and down sampling. If the range of values
on x-axis are less then we will increase the sample of values. This is known as up
sampling and its vice versa is known as down sampling.
Quantization
Quantization as its name suggest can be defined as dividing into quanta (partitions).
Quantization is done on dependent variable. It is opposite to sampling.
In case of this mathematical equation y = sin(x)
Quantization is done on the Y variable. It is done on the y axis. The conversion of y axis
infinite values to 1, 0, -1 (or any other level) is known as Quantization.
These are the two basics steps that are involved while converting an analog signal to a
digital signal.
The quantization of a signal has been shown in the figure below.
Why do we need to convert an analog signal to digital
signal.
The first and obvious reason is that digital image processing deals with digital images,
that are digital signals. So when ever the image is captured, it is converted into digital
format and then it is processed.
The second and important reason is, that in order to perform operations on an analog
signal with a digital computer, you have to store that analog signal in the computer. And
in order to store an analog signal, infinite memory is required to store it. And since thats
not possible, so thats why we convert that signal into digital format and then store it in
digital computer and then performs operations on it.
Continuous systems vs discrete systems
Continuous systems
The type of systems whose input and output both are continuous signals or analog
signals are called continuous systems.
Discrete systems
The type of systems whose input and output both are discrete signals or digital signals
are called digital systems.
Digital Image processing is not just limited to adjust the spatial resolution of the
everyday images captured by the camera. It is not just limited to increase the brightness
of the photo, e.t.c. Rather it is far more than that.
Electromagnetic waves can be thought of as stream of particles, where each particle is
moving with the speed of light. Each particle contains a bundle of energy. This bundle
of energy is called a photon.
The electromagnetic spectrum according to the energy of photon is shown below.
In this electromagnetic spectrum, we are only able to see the visible spectrum.Visible
spectrum mainly includes seven different colors that are commonly term as (VIBGOYR).
VIBGOYR stands for violet , indigo , blue , green , orange , yellow and Red.
But that doesnot nullify the existence of other stuff in the spectrum. Our human eye can
only see the visible portion, in which we saw all the objects. But a camera can see the
other things that a naked eye is unable to see. For example: x rays , gamma rays , e.t.c.
Hence the analysis of all that stuff too is done in digital image processing.
This discussion leads to another question which is
why do we need to analyze all that other stuff in EM
spectrum too?
The answer to this question lies in the fact, because that other stuff such as XRay has
been widely used in the field of medical. The analysis of Gamma ray is necessary
because it is used widely in nuclear medicine and astronomical observation. Same goes
with the rest of the things in EM spectrum.
Applications of Digital Image Processing
Some of the major fields in which digital image processing is widely used are mentioned
below
• Image sharpening and restoration
• Medical field
• Remote sensing
• Transmission and encoding
• Machine/Robot vision
• Color processing
• Pattern recognition
• Video processing
• Microscopic Imaging
• Others
Image sharpening and restoration
Image sharpening and restoration refers here to process images that have been captured
from the modern camera to make them a better image or to manipulate those images in
way to achieve desired result. It refers to do what Photoshop usually does.
This includes Zooming, blurring , sharpening , gray scale to color conversion, detecting
edges and vice versa , Image retrieval and Image recognition. The common examples
are:
The original image
The zoomed image
Blurr image
Sharp image
Edges
Medical field
The common applications of DIP in the field of medical is
• Gamma ray imaging
• PET scan
• X Ray Imaging
• Medical CT
• UV imaging
UV imaging
In the field of remote sensing , the area of the earth is scanned by a satellite or from a
very high ground and then it is analyzed to obtain information about it. One particular
application of digital image processing in the field of remote sensing is to detect
infrastructure damages caused by an earthquake.
As it takes longer time to grasp damage, even if serious damages are focused on. Since
the area effected by the earthquake is sometimes so wide , that it not possible to
examine it with human eye in order to estimate damages. Even if it is , then it is very
hectic and time consuming procedure. So a solution to this is found in digital image
processing. An image of the effected area is captured from the above ground and then
it is analyzed to detect the various types of damage done by the earthquake.
The key steps include in the analysis are
• The extraction of edges
• Analysis and enhancement of various types of edges
Transmission and encoding
The very first image that has been transmitted over the wire was from London to New
York via a submarine cable. The picture that was sent is shown below.
The picture that was sent took three hours to reach from one place to another.
Now just imagine , that today we are able to see live video feed , or live cctv footage
from one continent to another with just a delay of seconds. It means that a lot of work
has been done in this field too. This field doesnot only focus on transmission , but also
on encoding. Many different formats have been developed for high or low bandwith to
encode photos and then stream it over the internet or e.t.c.
Machine/Robot vision
Apart form the many challenges that a robot face today , one of the biggest challenge
still is to increase the vision of the robot. Make robot able to see things , identify them ,
identify the hurdles e.t.c. Much work has been contributed by this field and a complete
other field of computer vision has been introduced to work on it.
Hurdle detection
Hurdle detection is one of the common task that has been done through image
processing, by identifying different type of objects in the image and then calculating the
distance between robot and hurdles.
Line follower robot
Most of the robots today work by following the line and thus are called line follower
robots. This help a robot to move on its path and perform some tasks. This has also been
achieved through image processing.
Color processing
Color processing includes processing of colored images and different color spaces that
are used. For example RGB color model , YCbCr, HSV. It also involves studying
transmission , storage , and encoding of these color images.
Pattern recognition
Pattern recognition involves study from image processing and from various other fields
that includes machine learning ( a branch of artificial intelligence). In pattern recognition
, image processing is used for identifying the objects in an images and then machine
learning is used to train the system for the change in pattern. Pattern recognition is used
in computer aided diagnosis , recognition of handwriting , recognition of images e.t.c
Video processing
A video is nothing but just the very fast movement of pictures. The quality of the video
depends on the number of frames/pictures per minute and the quality of each frame
being used. Video processing involves noise reduction , detail enhancement , motion
detection , frame rate conversion , aspect ratio conversion , color space conversion e.t.c.
We will look at this example in order to understand the concept of dimension.
Consider you have a friend who lives on moon, and he wants to send you a gift on your
birthday present. He ask you about your residence on earth. The only problem is that the
courier service on moon doesnot understand the alphabetical address, rather it only
understand the numerical co-ordinates. So how do you send him your position on earth?
Thats where comes the concept of dimensions. Dimensions define the minimum number
of points required to point a position of any particular object within a space.
So lets go back to our example again in which you have to send your position on earth
to your friend on moon. You send him three pair of co-ordinates. The first one is called
longitude , the second one is called latitude, and the third one is called altitude.
These three co-ordinates define your position on the earth. The first two defines your
location, and the third one defines your height above the sea level.
So that means that only three co-ordinates are required to define your position on earth.
That means you live in world which is 3 dimensional. And thus this not only answers the
question about dimension, but also answers the reason, that why we live in a 3d world.
Since we are studying this concept in reference to the digital image processing, so we
are now going to relate this concept of dimension with an image.
Dimensions of image
So if we live in the 3d world, means a 3 dimensional world, then what are the dimensions
of an image that we capture. An image is a two dimensional, thats why we also define
an image as a 2 dimensional signal. An image has only height and width. An image does
not have depth. Just have a look at this image below.
If you would look at the above figure, it shows that it has only two axis which are the
height and width axis. You cannot perceive depth from this image. Thats why we say
that an image is two dimensional signal. But our eye is able to perceive three
dimensional objects, but this would be more explained in the next tutorial of how the
camera works, and image is perceived.
This discussion leads to some other questions that how 3 dimension systems is formed
from 2 dimension.
How does television works?
If we look the image above, we will see that it is a two dimensional image. In order to
convert it into three dimension, we need one other dimension. Lets take time as the third
dimension, in that case we will move this two dimensional image over the third
dimension time. The same concept that happens in television, that helps us perceive the
depth of different objects on a screen. Does that mean that what comes on the T.V or
what we see in the television screen is 3d. Well we can yes.
The reason is that, in case of T.V we if we are playing a video. Then a video is nothing
else but two dimensional pictures move over time dimension. As two dimensional
objects are moving over the third dimension which is a time so we can say it is 3
dimensional.
Different dimensions of signals
1 dimension signal
The common example of a 1 dimension signal is a waveform. It can be mathematically
represented as
F(x) = waveform
Where x is an independent variable. Since it is a one dimension signal , so that’s why
there is only one variable x is used.
Pictorial representation of a one dimensional signal is given below:
The above figure shows a one dimensional signal.
Now this lead to another question, which is, even though it is a one dimensional signal
,then why does it have two axis?. The answer to this question is that even though it is a
one dimensional signal, but we are drawing it in a two dimensional space. Or we can say
that the space in which we are representing this signal is two dimensional. That’s why
it looks like a two dimensional signal.
Perhaps you can understand the concept of one dimension more better by looking at the
figure below.
Now refer back to our initial discussion on dimension, Consider the above figure a real
line with positive numbers from one point to the other. Now if we have to explain the
location of any point on this line, we just need only one number, which means only one
dimension.
2 dimensions signal
The common example of a two dimensional signal is an image, which has already been
discussed above.
As we have already seen that an image is two dimensional signal, i-e: it has two
dimensions. It can be mathematically represented as:
F (x , y) = Image
Where x and y are two variables. The concept of two dimension can also be explained
in terms of mathematics as:
Now in the above figure, label the four corners of the square as A,B,C and D respectively.
If we call, one line segment in the figure AB and the other CD, then we can see that
these two parallel segments join up and make a square. Each line segment corresponds
to one dimension, so these two line segments correspond to 2 dimensions.
3 dimension signal
Three dimensional signal as it names refers to those signals which has three dimensions.
The most common example has been discussed in the beginning which is of our world.
We live in a three dimensional world. This example has been discussed very elaborately.
Another example of a three dimensional signal is a cube or a volumetric data or the most
common example would be animated or 3d cartoon character.
The mathematical representation of three dimensional signal is:
F(x,y,z) = animated character.
Another axis or dimension Z is involved in a three dimension, that gives the illusion of
depth. In a Cartesian co-ordinate system it can be viewed as:
4 dimension signal
In a four dimensional signal, four dimensions are involved. The first three are the same
as of three dimensional signal which are: (X, Y, Z), and the fourth one which is added to
them is T(time). Time is often referred to as temporal dimension which is a way to
measure change. Mathematically a four d signal can be stated as:
F(x,y,z,t) = animated movie.
The common example of a 4 dimensional signal can be an animated 3d movie. As each
character is a 3d character and then they are moved with respect to the time, due to
which we saw an illusion of a three dimensional movie more like a real world.
So that means that in reality the animated movies are 4 dimensional i-e: movement of
3d characters over the fourth dimension time.
