Edge Detection Techniques-An Overview

In computer vision and image processing, edge detection concerns the localization of significant variations of the grey level image and the identification of the physical phenomena that originated them. This information is very useful for applications in 3D reconstruction, motion, recognition, image enhancement and restoration, image registration, image compression, and so on. Usually, edge detection requires smoothing and differentiation of the image. Differentiation is an ill-conditioned problem and smoothing results in a loss of information. It is difficult to design a general edge detection algorithm which performs well in many contexts and captures the requirements of subsequent processing stages. Consequently, over the history of digital image processing a variety of edge detectors have been devised which differ in their mathematical and algorithmic properties. This paper is an account of the current state of our understanding of edge detection. We propose an overview of research in edge detection: edge definition, properties of detectors, the methodology of edge detection, the mutual influence between edges and detectors, and existing edge detectors and their implementation.

[1]  Thomas O. Binford,et al.  On Boundary Detection , 1970 .

[2]  Manfred H. Hueckel An Operator Which Locates Edges in Digitized Pictures , 1971, J. ACM.

[3]  A. Rosenfeld,et al.  Edge and Curve Detection for Visual Scene Analysis , 1971, IEEE Transactions on Computers.

[4]  Manfred H. Hueckel A Local Visual Operator Which Recognizes Edges and Lines , 1973, JACM.

[5]  Larry S. Davis,et al.  A survey of edge detection techniques , 1975 .

[6]  J. Modestino,et al.  Edge Detection in Noisy Images using Recursive Digital Filtering. , 1977 .

[7]  Ikram E Abdou Quantitative Methods of Edge Detection , 1978 .

[8]  Fred M. Dickey,et al.  An Optimal Frequency Domain Filter for Edge Detection in Digital Pictures , 1979, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[9]  Azriel Rosenfeld,et al.  Thinning Algorithms for Gray-Scale Pictures , 1979, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[10]  D Marr,et al.  Theory of edge detection , 1979, Proceedings of the Royal Society of London. Series B. Biological Sciences.

[11]  Martin A. Fischler,et al.  Detection of roads and linear structures in low-resolution aerial imagery using a multisource knowledge integration technique☆ , 1981 .

[12]  Les Kitchen,et al.  Edge Evaluation Using Local Edge Coherence , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[13]  Michael Brady,et al.  Rotationally symmetric operators for surface interpolation , 1983, Comput. Vis. Graph. Image Process..

[14]  Ellen C. Hildreth,et al.  The detection of intensity changes by computer and biological vision systems , 1983, Comput. Vis. Graph. Image Process..

[15]  J. Canny Finding Edges and Lines in Images , 1983 .

[16]  Andrew P. Witkin,et al.  Scale-Space Filtering , 1983, IJCAI.

[17]  Robert M. Haralick,et al.  Ridges and valleys on digital images , 1983, Comput. Vis. Graph. Image Process..

[18]  Owen Robert Mitchell,et al.  Edge Location to Subpixel Values in Digital Imagery , 1984, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[19]  Ezzatollah Salari,et al.  The ridge-seeking method for obtaining the skeleton of digital images , 1984, IEEE Transactions on Systems, Man, and Cybernetics.

[20]  E. R. Davies,et al.  Circularity - a new principle underlying the design of accurate edge orientation operators , 1984, Image Vis. Comput..

[21]  Jon A. Webb,et al.  The Shape of Subjective Contours , 1984, AAAI.

[22]  T. Poggio,et al.  Ill-Posed Problems and Regularization Analysis in Early Vision , 1984 .

[23]  V. Berzins Accuracy of laplacian edge detectors , 1984 .

[24]  Gabriella Sanniti di Baja,et al.  A Width-Independent Fast Thinning Algorithm , 1985, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[25]  Jean Ponce,et al.  Toward a surface primal sketch , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[26]  Libor Spacek,et al.  Edge detection and motion detection , 1986, Image Vis. Comput..

[27]  Thomas O. Binford,et al.  On Detecting Edges , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[28]  Gérard G. Medioni,et al.  Detection of Intensity Changes with Subpixel Accuracy Using Laplacian-Gaussian Masks , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[29]  Tomaso A. Poggio,et al.  On Edge Detection , 1984, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[30]  W. Lunscher,et al.  Optimal Edge Detector Design I: Parameter Selection and Noise Effects , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[31]  John F. Canny,et al.  A Computational Approach to Edge Detection , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[32]  Andrew P. Witkin,et al.  Uniqueness of the Gaussian Kernel for Scale-Space Filtering , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[33]  Ioannis Pitas,et al.  Edge Detectors Based on Nonlinear Filters , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[34]  Fredrik Bergholm,et al.  Edge Focusing , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[35]  J. Alison Noble,et al.  Finding Corners , 1988, Alvey Vision Conference.

[36]  Roland T. Chin,et al.  A one-pass thinning algorithm and its parallel implementation , 1987, Comput. Vis. Graph. Image Process..

[37]  Robyn A. Owens,et al.  Feature detection from local energy , 1987, Pattern Recognit. Lett..

[38]  Vishvjit S. Nalwa Edge-Detector Resolution Improvement by Image Interpolation , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[39]  R. Haralick Digital Step Edges from Zero Crossing of Second Directional Derivatives , 1984, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[40]  Raymond W. Smith,et al.  Computer processing of line images: A survey , 1987, Pattern Recognit..

[41]  Reiner Lenz,et al.  Optimal filters for the detection of linear patterns in 2-D and higher dimensional images , 1987, Pattern Recognit..

[42]  Owen Robert Mitchell,et al.  Precision Edge Contrast and Orientation Estimation , 1988, IEEE Trans. Pattern Anal. Mach. Intell..

[43]  James J. Clark Singularity Theory and Phantom Edges in Scale Space , 1988, IEEE Trans. Pattern Anal. Mach. Intell..

[44]  Axel Korn,et al.  Toward a Symbolic Representation of Intensity Changes in Images , 1988, IEEE Trans. Pattern Anal. Mach. Intell..

[45]  Alan L. Yuille,et al.  A regularized solution to edge detection , 1985, J. Complex..

[46]  Antonio Guiducci,et al.  Corner characterization by differential geometry techniques , 1988, Pattern Recognit. Lett..

[47]  M. R. B. Forshaw,et al.  Speeding up the Marr-Hildreth edge operator , 1988, Comput. Vis. Graph. Image Process..

[48]  Reiner Lenz,et al.  Group-theoretical model of feature extraction , 1989 .

[49]  Ramesh C. Jain,et al.  Behavior of Edges in Scale Space , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[50]  L. J. Kitchen,et al.  The effect of spatial discretization on the magnitude and direction response of simple differential edge operators on a step edge , 1987, Comput. Vis. Graph. Image Process..

[51]  James J. Clark Authenticating Edges Produced by Zero-Crossing Algorithms , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[52]  Vincent Torre,et al.  Localization and Noise in Edge Detection , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[53]  Mubarak Shah,et al.  Optimal corner detector , 1989, Comput. Vis. Graph. Image Process..

[54]  Svetha Venkatesh,et al.  Edge detection is a projection , 1989, Pattern Recognit. Lett..

[55]  Daniele D. Giusto,et al.  Automatic parameter computation for edge detection by the zero-crossing method , 1989 .

[56]  Kim L. Boyer,et al.  The laplacian-of-gaussian kernel: A formal analysis and design procedure for fast, accurate convolution and full-frame output , 1989, Comput. Vis. Graph. Image Process..

[57]  Gérard G. Medioni,et al.  Detection, Localization, and Estimation of Edges , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[58]  Takashi Matsuyama Expert systems for image processing: Knowledge-based composition of image analysis processes , 1989, Comput. Vis. Graph. Image Process..

[59]  Rachid Deriche Fast Algorithms for Low-Level Vision , 1990, IEEE Trans. Pattern Anal. Mach. Intell..

[60]  Jun Shen,et al.  Optimal Filter For Edge Detection Methods And Results , 1990, ECCV.

[61]  Lide Wu,et al.  Scaling Theorems for Zero-Crossings , 1990, IEEE Trans. Pattern Anal. Mach. Intell..

[62]  Jitendra Malik,et al.  Scale-Space and Edge Detection Using Anisotropic Diffusion , 1990, IEEE Trans. Pattern Anal. Mach. Intell..

[63]  Olle Seger,et al.  Rotation Invariance in Gradient and Higher Order Derivative Detectors , 1990, Computer Vision Graphics and Image Processing.

[64]  Vinciane Lacroix,et al.  Edge detection: what about rotation invariance? , 1990, Pattern Recognit. Lett..

[65]  Jitendra Malik,et al.  Detecting and localizing edges composed of steps, peaks and roofs , 1990, [1990] Proceedings Third International Conference on Computer Vision.

[66]  Vinciane Lacroix The primary raster: a multiresolution image description , 1990, [1990] Proceedings. 10th International Conference on Pattern Recognition.

[67]  N. Ranganathan,et al.  Corner detection , 1990, Pattern Recognit..

[68]  Mubarak Shah,et al.  Edge Contours Using Multiple Scales , 1990, ECCV.

[69]  Svetha Venkatesh,et al.  On the classification of image features , 1990, Pattern Recognit. Lett..

[70]  Josef Kittler,et al.  Optimal Edge Detectors for Ramp Edges , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[71]  Inge Jonassen,et al.  A comparison of splitting methods for the identification of corner-points , 1991, Pattern Recognit. Lett..

[72]  James W. Cooper,et al.  Early jump-out corner detectors , 1991, Proceedings. 1991 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[73]  Djemel Ziou,et al.  Line detection using an optimal IIR filter , 1991, Pattern Recognit..

[74]  Edward H. Adelson,et al.  The Design and Use of Steerable Filters , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[75]  Kim L. Boyer,et al.  On Optimal Infinite Impulse Response Edge Detection Filters , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[76]  J. Alison Noble,et al.  Finding half boundaries and junctions in images , 1992, Image Vis. Comput..

[77]  Salvatore Tabbone,et al.  Subpixel positioning of edges for first and second order operators , 1992, Proceedings., 11th IAPR International Conference on Pattern Recognition. Vol. III. Conference C: Image, Speech and Signal Analysis,.

[78]  Margaret M. Fleck Multiple Widths Yield Reliable Finite Differences (Computer Vision) , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[79]  Jun Shen,et al.  An optimal linear operator for step edge detection , 1992, CVGIP Graph. Model. Image Process..

[80]  Ramesh C. Jain,et al.  Reasoning About Edges in Scale Space , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[81]  Svetha Venkatesh,et al.  Edge evaluation using necessary components , 1992, CVGIP Graph. Model. Image Process..

[82]  Paul Kube,et al.  Properties of energy edge detectors , 1992, Proceedings 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[83]  Hong Jeong,et al.  Adaptive Determination of Filter Scales for Edge Detection , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[84]  Mubarak Shah,et al.  Edge Characterization Using Normalized Edge Detector , 1993, CVGIP Graph. Model. Image Process..

[85]  Salvatore Tabbone,et al.  Efficient edge detection using two scales , 1993, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[86]  David Lee,et al.  A new zero-crossing-based discontinuity detector , 1993, IEEE Trans. Image Process..

[87]  Muhittin Gökmen,et al.  Edge Detection and Surface Reconstruction Using Refined Regularization , 1993, IEEE Trans. Pattern Anal. Mach. Intell..

[88]  Vishvjit S. Nalwa,et al.  A guided tour of computer vision , 1993 .

[89]  Rachid Deriche,et al.  Recovering and characterizing image features using an efficient model based approach , 1993, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[90]  Salvatore Tabbone,et al.  A multi-scale edge detector , 1993, Pattern Recognit..

[91]  Svetha Venkatesh,et al.  Modeling Edges at Subpixel Accuracy Using the Local Energy Approach , 1994, IEEE Trans. Pattern Anal. Mach. Intell..

[92]  Djemel Ziou,et al.  Effects of edge orientation on the performance of first-order operators , 1994, Pattern Recognit. Lett..

[93]  Bhabatosh Chanda,et al.  Detecting lines in gray level images using search techniques , 1994, Signal Process..

[94]  Salvatore Tabbone Detecting junctions using properties of the Laplacian of Gaussian detector , 1994, Proceedings of 12th International Conference on Pattern Recognition.

[95]  Tony Lindeberg,et al.  Junction detection with automatic selection of detection scales and localization scales , 1994, Proceedings of 1st International Conference on Image Processing.

[96]  JUN SHEN,et al.  Image smoothing and edge detection by Hermite integration , 1995, Pattern Recognit..

[97]  Tabbone D. ZiouCRIN On the Behavior of the Laplacian of Gaussian for Junction ModelsS , 1995 .

[98]  Robert M. Haralick,et al.  A methodology for quantitative performance evaluation of detection algorithms , 1995, IEEE Trans. Image Process..

[99]  Abder Koukam,et al.  The selection of edge detectors using local image structure , 1995, Proceedings of 7th IEEE International Conference on Tools with Artificial Intelligence.

[100]  Pat Hanrahan,et al.  A realistic camera model for computer graphics , 1995, SIGGRAPH.

[101]  C. Ronse The Phase Congruence Model for Edge Detection in Two-dimensional Pictures: a Mathematical Study , 1995 .

[102]  Salvatore Tabbone,et al.  Adaptive Elimination of False Edges for First Order Detectors , 1995, ICIAP.

[103]  Michael Brady,et al.  Isotropic gradient estimation , 1996, Proceedings CVPR IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[104]  Salvatore Tabbone,et al.  An approach to detect lofar lines , 1996, Pattern Recognit. Lett..

[105]  Rajiv Mehrotra,et al.  A Computational Approach to Zero-Crossing-Based Two-Dimensional Edge Detection , 1996, CVGIP Graph. Model. Image Process..

[106]  J.H. Elder,et al.  Scale space localization, blur, and contour-based image coding , 1996, Proceedings CVPR IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[107]  Jun Shen On Multi-Edge Detection , 1996, CVGIP Graph. Model. Image Process..

[108]  Tony Lindeberg,et al.  Edge Detection and Ridge Detection with Automatic Scale Selection , 1996, Proceedings CVPR IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[109]  Shengrui Wang,et al.  Isotropic processing for gradient estimation , 1996, Proceedings CVPR IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[110]  Klaus Kohlmann,et al.  Corner detection in natural images based on the 2-D Hilbert transform , 1996, Signal Process..

[111]  Sudeep Sarkar,et al.  Comparison of edge detectors: a methodology and initial study , 1996, Proceedings CVPR IEEE Computer Society Conference on Computer Vision and Pattern Recognition.