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DigitalImageProcessingThirdEditionRafaelC.GonzalezUniversityofTennesseeRichardE.WoodsMedDataInteractiveUpperSaddleRiver,NJ07458LibraryofCongressCataloging-in-PublicationDataonFileVicePresidentandEditorialDirector,ECS:MarciaJ.HortonExecutiveEditor:MichaelMcDonaldAssociateEditor:AliceDworkinEditorialAssistant:WilliamOpaluchManagingEditor:ScottDisannoProductionEditor:RoseKernanDirectorofCreativeServices:PaulBelfantiCreativeDirector:JuanLopezArtDirector:HeatherScottArtEditors:GregoryDullesandThomasBenfattiManufacturingManager:AlexisHeydt-LongManufacturingBuyer:LisaMcDowellSeniorMarketingManager:TimGalligan©2008byPearsonEducation,Inc.PearsonPrenticeHallPearsonEducation,Inc.UpperSaddleRiver,NewJersey07458Allrightsreserved.Nopartofthisbookmaybereproduced,inanyform,orbyanymeans,withoutpermissioninwritingfromthepublisher.PearsonPrenticeHall®isatrademarkofPearsonEducation,Inc.Theauthorsandpublisherofthisbookhaveusedtheirbesteffortsinpreparingthisbook.Theseeffortsincludethedevelopment,research,andtestingofthetheoriesandprogramstodeterminetheireffectiveness.Theauthorsandpublishermakenowarrantyofanykind,expressedorimplied,withregardtotheseprogramsorthedocumentationcontainedinthisbook.Theauthorsandpublishershallnotbeliableinanyeventforincidentalorconsequentialdamageswith,orarisingoutof,thefurnishing,performance,oruseoftheseprograms.PrintedintheUnitedStatesofAmerica.10987654321ISBN0-13-168728-x978-0-13-168728-8PearsonEducationLtd.,LondonPearsonEducationAustraliaPty.Ltd.,SydneyPearsonEducationSingapore,Pte.,Ltd.PearsonEducationNorthAsiaLtd.,HongKongPearsonEducationCanada,Inc.,TorontoPearsonEducacióndeMexico,S.A.deC.V.PearsonEducation—Japan,TokyoPearsonEducationMalaysia,Pte.Ltd.PearsonEducation,Inc.,UpperSaddleRiver,NewJerseyPrefaceWhensomethingcanbereadwithouteffort,greatefforthasgoneintoitswriting.EnriqueJardielPoncelaThiseditionofDigitalImageProcessingisamajorrevisionofthebook.Asinthe1977and1987editionsbyGonzalezandWintz,andthe1992and2002edi-tionsbyGonzalezandWoods,thisfifth-generationeditionwaspreparedwithstudentsandinstructorsinmind.Theprincipalobjectivesofthebookcontinuetobetoprovideanintroductiontobasicconceptsandmethodologiesfordigi-talimageprocessing,andtodevelopafoundationthatcanbeusedasthebasisforfurtherstudyandresearchinthisfield.Toachievetheseobjectives,wefocusedagainonmaterialthatwebelieveisfundamentalandwhosescopeofapplicationisnotlimitedtothesolutionofspecializedproblems.Themathe-maticalcomplexityofthebookremainsatalevelwellwithinthegraspofcollegeseniorsandfirst-yeargraduatestudentswhohaveintroductoryprepa-rationinmathematicalanalysis,vectors,matrices,probability,statistics,linearsystems,andcomputerprogramming.ThebookWebsiteprovidestutorialstosupportreadersneedingareviewofthisbackgroundmaterial.Oneoftheprincipalreasonsthisbookhasbeentheworldleaderinitsfieldformorethan30yearsisthelevelofattentionwepaytothechangingeduca-tionalneedsofourreaders.Thepresenteditionisbasedonthemostextensivesurveywehaveeverconducted.Thesurveyinvolvedfaculty,students,andin-dependentreadersofthebookin134institutionsfrom32countries.Themajorfindingsofthesurveyindicatedaneedfor:●Amorecomprehensiveintroductionearlyinthebooktothemathemati-caltoolsusedinimageprocessing.●Anexpandedexplanationofhistogramprocessingtechniques.●Statingcomplexalgorithmsinstep-by-stepsummaries.●Anexpandedexplanationofspatialcorrelationandconvolution.●Anintroductiontofuzzysettheoryanditsapplicationtoimageprocessing.●Arevisionofthematerialdealingwiththefrequencydomain,startingwithbasicprinciplesandshowinghowthediscreteFouriertransformfol-lowsfromdatasampling.●Coverageofcomputedtomography(CT).●Clarificationofbasicconceptsinthewaveletschapter.●Arevisionofthedatacompressionchaptertoincludemorevideocom-pressiontechniques,updatedstandards,andwatermarking.●Expansionofthechapteronmorphologytoincludemorphologicalrecon-structionandarevisionofgray-scalemorphology.xvxvi■Preface●Expansionofthecoverageonimagesegmentationtoincludemoread-vancededgedetectiontechniquessuchasCanny’salgorithm,andamorecomprehensivetreatmentofimagethresholding.●Anupdateofthechapterdealingwithimagerepresentationanddescription.●Streamliningthematerialdealingwithstructuralobjectrecognition.Thenewandreorganizedmaterialthatresultedinthepresenteditionisourattemptatprovidingareasonabledegreeofbalancebetweenrigor,clarityofpresentation,andthefindingsofthemarketsurvey,whileatthesametimekeepingthelengthofthebookatamanageablelevel.Themajorchangesinthiseditionofthebookareasfollows.Chapter1:Afewfigureswereupdatedandpartofthetextwasrewrittentocorrespondtochangesinlaterchapters.Chapter2:Approximately50%ofthischapterwasrevisedtoincludenewimagesandclearerexplanations.Majorrevisionsincludeanewsectiononimageinterpolationandacomprehensivenewsectionsummarizingtheprincipalmathematicaltoolsusedinthebook.Insteadofpresenting“dry”mathematicalconceptsoneaftertheother,however,wetookthisopportu-nitytobringintoChapter2anumberofimageprocessingapplicationsthatwerescatteredthroughoutthebook.Forexample,imageaveragingandimagesubtractionwe