Thinking in Frequency

Transcription

1 Thinking in Frequency Computer Vision Jia-Bin Huang, Virginia Tech Dali: Gala Contemplating the Mediterranean Sea (1976)

2 Administrative stuffs Course website: Office hours - Jia-Bin (440 Whittemore Hall ) Monday at 1:00 PM 2:00 PM (final project) sign up here Friday at 3:00 PM 4:00 PM (lectures, HW discussions) MATLAB tutorial session by Akrit Friday 3-4 PM, Whittemore Hall 340A Bring your laptop with MATLAB installed HW 1 will be posted tomorrow (Sept 2). Due date: Sept 19.

3 Previous class: Image Filtering Linear filtering is sum of dot product at each position Can smooth, sharpen, translate (among many other uses) Gaussian filters Low pass filters, separability, variance Attend to details: filter size, extrapolation, cropping Noise models and nonlinear image filters

4 Today s class Review of image filtering in spatial domain Application: representing textures Noise models and nonlinear image filters Fourier transform and frequency domain Frequency view of filtering Image downsizing and interpolation

5 Demo

6 Review: questions Fill in the blanks: a) _ = D * B b) A = _ * _ c) F = D * _ d) _ = D * D Filtering Operator A E B F G C H I D Slide: Hoiem

7 Application: Representing Texture Source: Forsyth

8 Texture and Material

9 Texture and Orientation

10 Texture and Scale

11 What is texture? Regular or stochastic patterns caused by bumps, grooves, and/or markings

12 How can we represent texture? Compute responses of blobs and edges at various orientations and scales

13 Overcomplete representation: filter banks orientations scales Edges Bars Spots Code for filter banks:

14 Filter banks Process image with each filter and keep responses (or squared/abs responses)

15 How can we represent texture? Measure responses of blobs and edges at various orientations and scales Idea 1: Record simple statistics (e.g., mean, std.) of absolute filter responses

16 Can you match the texture to the response? Filters A 1 B 2 C 3 Mean abs responses

17 Mean abs responses Representing texture by mean abs response Filters

18 Representing texture Idea 2: take vectors of filter responses at each pixel and cluster them, then take histograms (more on this in coming weeks)

19 So Denoising and Nonlinear Image Filtering Salt and pepper noise: contains random occurrences of black and white pixels Impulse noise: contains random occurrences of white pixels Gaussian noise: variations in intensity drawn from a Gaussian normal distribution

20 Reducing salt-and-pepper noise 3x3 5x5 7x7 What s wrong with Gaussian filtering?

21 Alternative idea: Median filtering A median filter operates over a window by selecting the median intensity in the window Is median filtering linear? Source: K. Grauman

22 Median filter Is median filtering linear? Let s try filtering A é ê êê ë ù é ú ê úú + êê û ë B Median(A) = 1 Median(B) = 0 Median(A+B) = 2 Violate linearity filter(f 1 + f 2 ) = filter(f 1 ) + filter(f 2 ) ù ú úú û

23 Median filter What advantage does median filtering have over Gaussian filtering? Robustness to outliers Source: K. Grauman

24 Median filter Salt-and-pepper noise Median filtered MATLAB: medfilt2(image, [h w]) Source: M. Hebert

25 Gaussian vs. median filtering 3x3 5x5 7x7 Gaussian Median

26 Other non-linear filters Weighted median (pixels further from center count less) Clipped mean (average, ignoring few brightest and darkest pixels) Bilateral filtering (weight by spatial distance and intensity difference) Bilateral filtering Image:

27 Bilateral Filters Edge preserving: weights similar pixels more Original Gaussian Bilateral spatial similarity (e.g., intensity) Carlo Tomasi, Roberto Manduchi, Bilateral Filtering for Gray and Color Images, ICCV, 1998.

28 Guided Image Filters Bilateral filters Guided filters B = imguidedfilter(a,g); Kaiming He, Jian Sun, Xiaou Tang, Guided Image Filtering. PAMI 2013

29 Gaussian Why does the Gaussian give a nice smooth image, but the box filter give edgy artifacts? Box filter Slide credit: Derek Hoiem

30 Hybrid Images Slide credit: Derek Hoiem A. Oliva, A. Torralba, P.G. Schyns, Hybrid Images, SIGGRAPH 2006

31 Why do we get different, distance-dependent interpretations of hybrid images?? Slide credit: Derek Hoiem

32 Why does a lower resolution image still make sense to us? What do we lose? Slide credit: Derek Hoiem Image:

33 Thinking in terms of frequency

34 Jean Baptiste Joseph Fourier ( ) had crazy idea (1807): Any univariate function can be rewritten as a weighted sum of sines and cosines of different frequencies. Don t believe it? Neither did Lagrange, Laplace, Poisson and other big wigs Not translated into English until 1878! But it s (mostly) true! called Fourier Series there are some subtle restrictions...the manner in which the author arrives at these equations is not exempt of difficulties and...his analysis to integrate them still leaves something to be desired on the score of generality and even rigour. Laplace Lagrange Legendre Slides: Efros

35 How would math have changed if the Slanket or Snuggie had been invented? Slide credit: James Hays

36 A sum of sines Our building block: Asin( x Add enough of them to get any signal f(x) you want!

37 Frequency Spectra example : g(t) = sin(2πf t) + (1/3)sin(2π(3f) t) = + Slides: Efros

38 Frequency Spectra

39 Frequency Spectra = + =

40 Frequency Spectra = + =

41 Frequency Spectra = + =

42 Frequency Spectra = + =

43 Frequency Spectra = + =

44 Frequency Spectra = A k 1 1 sin(2 kt ) k

45 Example: Music We think of music in terms of frequencies at different magnitudes

46 Other signals We can also think of all kinds of other signals the same way Cats(?) xkcd.com

47 Fourier analysis in images Intensity Image Fourier Image

48 Signals can be composed + = More:

49 Fourier Transform Fourier transform stores the magnitude and phase at each frequency Magnitude encodes how much signal there is at a particular frequency Phase encodes spatial information (indirectly) For mathematical convenience, this is often notated in terms of real and complex numbers Amplitude: A R I 2 2 ( ) ( ) Phase: tan 1 I( ) R( ) Euler s formula:

50 Salvador Dali invented Hybrid Images? Salvador Dali Gala Contemplating the Mediterranean Sea, which at 30 meters becomes the portrait of Abraham Lincoln, 1976

51

52

53 Strong Vertical Frequency (Sharp Horizontal Edge) Diagonal Frequencies Strong Horz. Frequency (Sharp Vert. Edge) Log Magnitude Low Frequencies

54 Man-made Scene

55 Can change spectrum, then reconstruct

56 Low and High Pass filtering

57 Computing the Fourier Transform Continuous Discrete k = -N/2..N/2 Fast Fourier Transform (FFT): NlogN

58 The Convolution Theorem The Fourier transform of the convolution of two functions is the product of their Fourier transforms F[ g h] F[ g]f[ h] The inverse Fourier transform of the product of two Fourier transforms is the convolution of the two inverse Fourier transforms F 1 [ gh] F 1 [ g] [ h] Convolution in spatial domain is equivalent to multiplication in frequency domain! F 1

59 Properties of Fourier Transforms Linearity Fourier transform of a real signal is symmetric about the origin The energy of the signal is the same as the energy of its Fourier transform See Szeliski Book (3.4)

60 Filtering in spatial domain * =

61 Filtering in frequency domain FFT FFT = Inverse FFT

62 FFT in Matlab Filtering with fft im =... % im should be a gray-scale floating point image [imh, imw] = size(im); fftsize = 1024; % should be order of 2 (for speed) and include padding im_fft = fft2(im, fftsize, fftsize); % 1) fft im with padding hs = 50; % filter half-size fil = fspecial('gaussian', hs*2+1, 10); fil_fft = fft2(fil, fftsize, fftsize); % 2) fft fil, pad to same size as image im_fil_fft = im_fft.* fil_fft; % 3) multiply fft images im_fil = ifft2(im_fil_fft); % 4) inverse fft2 im_fil = im_fil(1+hs:size(im,1)+hs, 1+hs:size(im, 2)+hs); % 5) remove padding Displaying with fft figure(1), imagesc(log(abs(fftshift(im_fft)))), axis image, colormap jet

63 Questions Which has more information, the phase or the magnitude? What happens if you take the phase from one image and combine it with the magnitude from another image?

64 Filtering Why does the Gaussian give a nice smooth image, but the square filter give edgy artifacts? Gaussian Box filter

65 Gaussian

66 Box Filter

67 Question Match the spatial domain image to the Fourier magnitude image B A C D E

68 Image half-sizing This image is too big to fit on the screen. How can we reduce it? How to generate a halfsized version?

69 Image sub-sampling 1/8 1/4 Throw away every other row and column to create a 1/2 size image - called image sub-sampling Slide by Steve Seitz

70 Image sub-sampling 1/2 Why does this look so crufty? Aliasing! What do we do? 1/4 (2x zoom) 1/8 (4x zoom) Slide by Steve Seitz

71 Image sub-sampling Source: F. Durand

72 Even worse for synthetic images Source: L. Zhang

73 Aliasing problem 1D example (sinewave): Source: S. Marschner

74 Aliasing problem 1D example (sinewave): Source: S. Marschner

75 Aliasing problem Sub-sampling may be dangerous. Characteristic errors may appear: Wagon wheels rolling the wrong way in movies Checkerboards disintegrate in ray tracing Striped shirts look funny on color television Source: D. Forsyth

76 Aliasing Occurs when your sampling rate is not high enough to capture the amount of detail in your image Can give you the wrong signal/image an alias To do sampling right, need to understand the structure of your signal/image To avoid aliasing: sampling rate 2 * max frequency in the image said another way: two samples per cycle This minimum sampling rate is called the Nyquist rate Source: L. Zhang

77 Wagon-wheel effect (See Source: L. Zhang

78 Wagon-wheel effect

79 Sampling an image Examples of GOOD sampling

80 Undersampling Examples of BAD sampling -> Aliasing

81 Anti-aliasing Forsyth and Ponce 2002

82 Gaussian (low-pass) pre-filtering G 1/4 G 1/8 Gaussian 1/2 Solution: filter the image, then subsample Source: S. Seitz

83 Subsampling with Gaussian pre-filtering Gaussian 1/2 G 1/4 G 1/8 Solution: filter the image, then subsample Source: S. Seitz

84 Compare with... 1/2 1/4 (2x zoom) 1/8 (4x zoom) Source: S. Seitz

85 Why does a lower resolution image still make sense to us? What do we lose? Image:

86 Why do we get different, distance-dependent interpretations of hybrid images??

87 Clues from Human Perception Early processing in humans filters for various orientations and scales of frequency Perceptual cues in the mid-high frequencies dominate perception When we see an image from far away, we are effectively subsampling it Early Visual Processing: Multi-scale edge and blob filters

88 Hybrid Image in FFT Hybrid Image Low-passed Image High-passed Image

89 Upsampling This image is too small for this screen: How can we make it 10 times as big? Simplest approach: repeat each row and column 10 times ( Nearest neighbor interpolation )

90 Image interpolation d = 1 in this example Recall how a digital image is formed It is a discrete point-sampling of a continuous function If we could somehow reconstruct the original function, any new image could be generated, at any resolution and scale Adapted from: S. Seitz

91 Image interpolation d = 1 in this example Recall how a digital image is formed It is a discrete point-sampling of a continuous function If we could somehow reconstruct the original function, any new image could be generated, at any resolution and scale Adapted from: S. Seitz

92 Image interpolation 1 d = 1 in this example What if we don t know? Guess an approximation: Can be done in a principled way: filtering Convert to a continuous function: Reconstruct by convolution with a reconstruction filter, h Adapted from: S. Seitz

93 Image interpolation Ideal reconstruction Nearest-neighbor interpolation Linear interpolation Gaussian reconstruction Source: B. Curless

94 Reconstruction filters What does the 2D version of this hat function look like? performs linear interpolation (tent function) performs bilinear interpolation Often implemented without cross-correlation E.g., Better filters give better resampled images Bicubic is common choice Cubic reconstruction filter

95 Image interpolation Original image: x 10 Nearest-neighbor interpolation Bilinear interpolation Bicubic interpolation

96 Image interpolation Also used for resampling

97 Things to Remember Sometimes it makes sense to think of images and filtering in the frequency domain Fourier analysis Can be faster to filter using FFT for large images (N logn vs. N 2 for auto-correlation) Images are mostly smooth Basis for compression Remember to low-pass before sampling

98 Thank you Enjoy your long weekend! Next class: Pyramid, template matching