Thresholding is the simplest method of image segmentation

Segmentation (image processing)

In computer vision, segmentation refers to the process of partitioning a digital image into multiple segments . The goal of segmentation is to simplify and/or change the representation of an image into something that is more meaningful and easier to analyze...

. From a grayscale

Grayscale

In photography and computing, a grayscale or greyscale digital image is an image in which the value of each pixel is a single sample, that is, it carries only intensity information...

 image, thresholding can be used to create binary image

Binary image

A binary image is a digital image that has only two possible values for each pixel. Typically the two colors used for a binary image are black and white though any two colors can be used. The color used for the object in the image is the foreground color while the rest of the image is the...

s (Shapiro, et al. 2001:83).

Method

During the thresholding process, individual pixels in an image are marked as "object" pixels if their value is greater than some threshold value (assuming an object to be brighter than the background) and as "background" pixels otherwise. This convention is known as threshold above. Variants include threshold below, which is opposite of threshold above; threshold inside, where a pixel is labeled "object" if its value is between two thresholds; and threshold outside, which is the opposite of threshold inside (Shapiro, et al. 2001:83). Typically, an object pixel is given a value of “1” while a background pixel is given a value of “0.” Finally, a binary image is created by coloring each pixel white or black, depending on a pixel's labels.

Threshold selection

The key parameter in the thresholding process is the choice of the threshold value (or values, as mentioned earlier). Several different methods for choosing a threshold exist; users can manually choose a threshold value, or a thresholding algorithm can compute a value automatically, which is known as automatic thresholding (Shapiro, et al. 2001:83). A simple method would be to choose the mean

Mean

In statistics, mean has two related meanings:* the arithmetic mean .* the expected value of a random variable, which is also called the population mean....

 or median

Median

In probability theory and statistics, a median is described as the numerical value separating the higher half of a sample, a population, or a probability distribution, from the lower half. The median of a finite list of numbers can be found by arranging all the observations from lowest value to...

 value, the rationale being that if the object pixels are brighter than the background, they should also be brighter than the average. In a noiseless image with uniform background and object values, the mean or median will work well as the threshold, however, this will generally not be the case. A more sophisticated approach might be to create a histogram

Histogram

In statistics, a histogram is a graphical representation showing a visual impression of the distribution of data. It is an estimate of the probability distribution of a continuous variable and was first introduced by Karl Pearson...

 of the image pixel intensities and use the valley point as the threshold. The histogram approach assumes that there is some average value for the background and object pixels, but that the actual pixel values have some variation around these average values. However, this may be computationally expensive, and image histograms may not have clearly defined valley points, often making the selection of an accurate threshold difficult. One method that is relatively simple, does not require much specific knowledge of the image, and is robust against image noise

Image noise

Image noise is random variation of brightness or color information in images, and is usually an aspect of electronic noise. It can be produced by the sensor and circuitry of a scanner or digital camera...

, is the following iterative method

Iterative method

In computational mathematics, an iterative method is a mathematical procedure that generates a sequence of improving approximate solutions for a class of problems. A specific implementation of an iterative method, including the termination criteria, is an algorithm of the iterative method...

:

1. An initial threshold (T) is chosen, this can be done randomly or according to any other method desired.
2. The image is segmented into object and background pixels as described above, creating two sets:
   1. = {f(m,n):f(m,n)>T} (object pixels)
   2. = {f(m,n):f(m,n)T} (background pixels) (note, f(m,n) is the value of the pixel located in the column, row)
3. The average of each set is computed.
   1. = average value of
   2. = average value of
4. A new threshold is created that is the average of and
   1. T’ = ( + )/2
5. Go back to step two, now using the new threshold computed in step four, keep repeating until the new threshold matches the one before it (i.e. until convergence has been reached).

This iterative algorithm is a special one-dimensional case of the k-means clustering algorithm, which has been proven to converge at a local minimum—meaning that a different initial threshold may give a different final result.

Adaptive thresholding

Thresholding is called adaptive thresholding when a different threshold is used for different regions in the image. This may also be known as local or dynamic thresholding (Shapiro, et al. 2001:89).

Categorizing thresholding Methods

Sezgin and Sankur (2004) categorize thresholding methods into the following six groups based on the information the algorithm manipulates (Sezgin et al., 2004):

• "histogram
  Histogram
  In statistics, a histogram is a graphical representation showing a visual impression of the distribution of data. It is an estimate of the probability distribution of a continuous variable and was first introduced by Karl Pearson...
  
   shape-based methods, where, for example, the peaks, valleys and curvatures of the smoothed histogram are analyzed
• clustering-based methods, where the gray-level samples are clustered in two parts as background and foreground (object), or alternately are modeled as a mixture of two Gaussians
• entropy
  Entropy
  Entropy is a thermodynamic property that can be used to determine the energy available for useful work in a thermodynamic process, such as in energy conversion devices, engines, or machines. Such devices can only be driven by convertible energy, and have a theoretical maximum efficiency when...
  
  -based methods result in algorithms that use the entropy of the foreground and background regions, the cross-entropy between the original and binarized image, etc.
• object attribute-based methods search a measure of similarity between the gray-level and the binarized images, such as fuzzy shape similarity, edge coincidence, etc.
• spatial methods [that] use higher-order probability distribution and/or correlation between pixels
• local methods adapt the threshold value on each pixel to the local image characteristics."

Multiband thresholding

Colour images can also be thresholded. One approach is to designate a separate threshold for each of the RGB

RGB color model

The RGB color model is an additive color model in which red, green, and blue light is added together in various ways to reproduce a broad array of colors...

 components of the image and then combine them with an AND operation. This reflects the way the camera works and how the data is stored in the computer, but it does not correspond to the way that people recognize colour. Therefore, the HSL and HSV colour models are more often used. It is also possible to use the CMYK

CMYK color model

The CMYK color model is a subtractive color model, used in color printing, and is also used to describe the printing process itself. CMYK refers to the four inks used in some color printing: cyan, magenta, yellow, and key...

 colour model (Pham et al., 2007).

Citations

• Pham N, Morrison A, Schwock J et al. (2007). Quantitative image analysis of immunohistochemical stains using a CMYK color model. Diagn Pathol. 2:8.
• Shapiro, Linda G. & Stockman, George C. (2002). "Computer Vision". Prentice Hall. ISBN 0-13-030796-3
• Mehmet Sezgin and Bulent Sankur, Survey over image thresholding techniques and quantitative performance evaluation, Journal of Electronic Imaging 13(1), 146–165 (January 2004).