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1、*1单击此处编辑母版标题样式单击此处编辑母版副标题样式图像处理与控制系统 授课教师：祝海江 电子邮箱： 办公地点：科技楼502室简 介 2004年6月毕业于中国科学院自动化研究所模式识别国家重点实验室模式识别与智能系统专业，获得工学博士学位；同年7月进入北京化工大学信息科学与技术学院工作； 2006.6-2007.6在日本岩手大学工学部任客座研究员； 主要从事机器视觉、图像处理、信号处理与检测等方向的教学与科研工作。 承担国家自然科学基金、教育部留学回国人员科研启动基金、中央高校基本科研业务费等国家和省部级课题。科技楼502研究室常规计算机控制系统常规计算机控制系统u计算机保持器广义对象测量变
2、送器e(kT)u(kT)y单回路计算机控制系统示意图ym采样器A/DD/A计算机系统设定值r基于图像处理的控制系统系统框图：控制平台/控制策略执行机构被控对象摄像头图像处理模块数模转换数字图像处理 概述 图像获取 图像增强与滤波 图像分割 图像特征提取概述*9单击此处编辑母版标题样式单击此处编辑母版副标题样式本田公司最新开发的新型机器人“阿西莫” 世界第一个机器人艺人“Ever-2 Muse” The goal of Digital Image Processing is to enable the process of recognition. The ultimate goal of DI
3、P is to enable a computing machine to recognize at least geometrical sizes, shapes and other objects as in human vision DIP is a branch of Artificial Intelligence (AI). An attempt to emulate human vision is called weak AI. To exactly produce a human replica electronically is called strong AI.什么是数字图像
4、处理（Digital Image Processing）?原始图像噪声图像低通滤波后的图像原始图像基于大津方法的二值化图像轮廓图像 原始图像直方图增强图像 边缘检测（ Robert operator） 边缘检测（ Sobel operator )数字图像处理的应用1. In Flexible Manufacturing Systems:Product Inspection（产品检测）Assembly（装配）Vehicle Guidance（车辆导航）2. In Biomedical Engineering:Analyzing Chromosome （染色体分析）Tomography（断层摄影术
5、）X-ray Analysis （X射线分析）医疗产品检测基于图像分析的玉米染色体中缺陷识别 3. In Military Areas:Bomb Disposal（炸弹处理）Infra-red Night Vision（红外线夜视）Radar Image Processing（雷达图像处理）Target Identification（目标识别）4. In Civilian Areas:Telecommunications（可视化通讯）Fire fighting（消防）Fingerprint detection (指纹识别)Intelligent Vehicle Highway System（智
6、能交通系统）Fingerprint Detection System5. In Commercial Areas:Bar Code Reader（条形码阅读器）Text Reader（文本阅读器）Multimedia（多媒体）6. In Scientific Experiments:Fingerprint Detection（指纹识别）Space Exploration（太空探索）Geographic Studies（地理学）Archaeology（考古学）Physics（物理）汉王随身抄汉王随身抄 晨拓阅读扫描笔晨拓阅读扫描笔 简要历史回顾1920图像在伦敦与纽约 之间经 由海底电缆传输19
7、21照相复制技术产 生1929图像亮度级别 从5增加到15，图像复制技术改进1964计算机首次应用到处理图像中 Jet Propulsion Lab (JPL)Now数字图像处理及模式识别 在许多领域广泛应用数字图像处理系统回顾1.Image Capturing System（图像获取系统）2. Image Enhancement System（图像增强系统）3.Feature Extraction System（特征提取系统）4.Feature Representation and Description System（特征表示与描述系统）5.Object Classification Sy
8、stem（目标分类系统）图像获取400800BlueGreenRedInfrared红外线Ultraviolet紫外线Visible lightX-raysWavelength (nanometers)成像方式Radiance 光辉Irradiance 发光点光源相机目标传感器NZOptical axisSurface normal成像设备 (1) ChargeCoupled Device (CCD,电荷耦合装置 ) CamerasTo Frame BufferPixelImage plane3D SceneLensRead row or pixelAlternative analog TV
9、signalTo TV像素像素数字图像是离散形式PixelPixelPixelDigital image196Gray level92图像坐标系统crI0,0IM-1,0IM-1,N-1rasteroriented 光栅导栅导 向usesrowandcolumncoordinatesstartingat0,0fromthetopleftxyF0,0FM-1,N-1Cartesian笛卡尔coordinateframewith0,0atthelowerleftxy0,0W/2,H/2-W/2,-H/2Cartesiancoordinateframewith0,0attheimagecenterR
10、elationshipofpixelcenterpointx,ytoareaelementsampledinarrayelementIi,jx0,y0 x0+ix,y0+jyFi,jFi+1,j图图像类类型1:模拟图拟图 像 Ananalog image isa2DimageF(x,y)which-hasinfiniteprecisioninspatialparametersxandy,and-infiniteprecisioninintensityateachspatialpoint(x,y).yxf(xi, yi)=Real numberxi=Real numberyi=Real numb
11、er2:数字图像 Adigital image isa2D imageIr,crepresentedbyadiscrete2Darrayofintensitysamples,eachofwhichisrepresentedusingalimitedprecision.Itiscommontorecordintensityasan8bit(1byte)numberwhichallowsvaluesof0to255.256differentlevelsisusuallyalltheprecisionavailable-fromthesensorand-alsoisusuallyenoughtosa
12、tisfytheconsumer.yxf(xi, yi)=Integerxi=Integeryi=Integer3: A picture function is a mathematical representation f(x, y) of a picture as a function of two spatial variables x and y. x and y are real values defining points of the picture. f(x, y) is usually also a real value defining the intensity of t
13、he picture at point (x, y). 4:单色灰度图像 A grayscale image is a monochrome digital image f(x, y) with one intensity value per pixel.f(x,y)=0f(x,y)=89f(x,y)=2185:彩色图像 A multispectral image is a 2D image Mx, y, which has a vector of values at each spatial point or pixel. If the image is actually a color i
14、mage, then the vector has 3 elements. I = 0.11R + 0.59G + 0.3B6:二值图像 A binary image is a digital image with all pixel values 0 or 1. 图BA像xyf(x,y)=1f(x,y)=07:分类图像 A labeled image is a digital image Lr, c whose pixel values are symbols. The symbol value of a pixel denotes the outcome of some decision
15、made for that pixel. Original imageLabeled imageBoundaries of the extracted face regionOriginal image (tiger)Labeled image1:标称分辨度 The nominal resolution of a CCD sensor is the size of the scene element that images to a single pixel on the image plane. Each pixel of a digital image represents a sampl
16、e of some elemental region of the real image.图图图图像度量与量化（数字化）像度量与量化（数字化）pixel3D SceneLensImage PlaneSize of scene elementpixelIf the pixel is projected from the image plane back out to the source material in the scene, then the size of that scene element is the nominal resolution 标标称分辨度 of the sensor. pixel3D SceneLensImage PlaneFor example, if a 10 inch square sheet of paper is imaged to form a 500500 digital image, then the nominal resolution of the sensor is 0.02 inches (10/500 = 0.02).1010 in
