Concepts in Image Processing

Image Moment

$$M_{pq}\stackrel{def}{=}\sum _x\sum _y{x}^p{y}^{q}I(x,y)$$
so the centroid of image is
$$(x,y)=\left(\frac{M_{10}}{M_{00}},\frac{M_{01}}{M_{00}}\right)$$
compute moments in python:

M = cv2.moments(c)

reference: Image moment

Canny Edge Detection

a multi-stage algorithm

1. Noise Reduction
   • Gaussian Filter
2. Finding Intensity Gradient of the Image
   1. filter with Sobel Kernel in both horizontal and vertical direction to get first derivative in horizontal direction $G_x$ and vetical direcition $G_y$
   2. $$\begin{gathered} G=\sqrt{G_x^2+G_y^2} \\ \theta =\arctan \left(\frac{G_y}{G_x}\right) \end{gathered}$$
3. Non-maximum Suppression
   • what is it: Non-maximum Suppression (NMS)
4. Hysteresis Thresholding
   • what is it: Standard and Hysteresis Thresholding
   • We need two threshold values, minVal and maxVal. Any edges with intensity gradient more than maxVal are sure to be edges and those below minVal are sure to be non-edges, so discarded. Those who lie between these two thresholds are classified edges or non-edges based on their connectivity. If they are connected to “sure-edge” pixels, they are considered to be part of edges. Otherwise, they are also discarded.

OpenCV

edges = cv2.Canny(image, 100, 200)

reference: Canny Edge Detection