Taking an average of pixels in a box leads to artefacts such as ringing which we can remedy by taking a weighted average of all the pixels in the box surrounding the input pixel. The set of weights is referred to as a kernel. A common kernel used for image smoothing is the Gaussian kernel.
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Let’s recap the important points about spatial operators. Linear operators can be used to smooth images and determine gradients. Template matching can be used to find a face in a crowd. Non-linear operators such as rank filters can be used for noise removal, and mathematical morphology treats shapes according to their compatibility with a structuring […]
So far we have taken a linear combination of pixels in the box around the input pixel, but non-linear operations like sorting and ranking the pixel values also prove to be very useful. We look at the median filter which is much better at removing salt and pepper noise from image than simple smoothing.
Using the properties of convolution we can combine a simple derivative kernel with Gaussian smoothing to create a derivative of Gaussian (DoG) kernel which is very useful for edge detection, or a Laplacian of Gaussian (LoG) kernel which is useful for detecting regions.
We introduce spatial operators by a simple example of taking the average value of all pixels in a box surrounding each input pixel. The result is a blurring or smoothing of the input image.
Let’s recap the important points from the topics we have covered in advanced image processing.
For a camera moving through the environment we frequently wish to track particular world points from one frame to the next. We’ll do a quick introduction to the very large field of feature detection and matching using Harris corner features.
To move a robot smoothly from one pose to another we need smooth and coordinated motion of all the joints. The simplest approach is called joint interpolated motion but it has some limitations.
We combine what we’ve learnt about smoothly varying position and orientation to create smoothly varying pose, often called Cartesian interpolation.