Most block-based homoscedastic noise estimators can be easily adapted to deal with signal-dependent noise. Even if the signal-signal-dependent noise model by itself is not sucient to characterize the correlated noise (see Chapters 3 and 4), yet it is useful to obtain the noise curves of raw images, where the noise is only-signal dependent. Section 1.1 explains in detail the procedure to adapt a block-based noise estimator to measure signal-dependent noise.
Once the noise curve has been obtained, it might happen that some of its control points exhibit an overestimation for some particular intensities. This happens when all blocks in a small intensity range belong to a texture. Section 1.2 proposes a ltering algorithm to minimize the overestimation in the noise curve. Another problem that block-based noise estimators are expected to nd is the presence of saturated points in the image. This special points appear at extreme intensities as isolated control points that distort the noise curve when interpolation is performed in between.
Section 1.3 presents a procedure to avoid taking into account completely saturated pixels in the noise estimation.
The techniques presented in this chapter are general, in the sense that they can be applied to almost any block-based noise estimator. In Chapters 10, 11, and 12, we apply them to the Ponomarenko et al., Percentile and PCA methods, namely. The articles presented in this third part were published in the Image Processing On Line (IPOL) journal. It publishes image processing and image analysis algorithms, described in accurate literary form, coupled with code. This way, scientists are allowed to check directly the published algorithms online with any uploaded image. It also promotes reproducible research, and the establishment of a state of the art veriable by all, and on any image.
1. General techniques for adapt to signal-dependent noise estimation
1.1. Extension to signal-dependent noise. Most noise estimation methods found in the literature assume that the noise in the image is additive, signal-independent, and Gaussian. Note that in this context uniform means that the variance of the Gaussian noise is xed and it does not depend on the intensity of the pixels of the ideal image. This assumption is not realistic because of the quantum nature of light itself and the way a CCD or CMOS detector responds to light. It is well-known that the emission of photons by a body follows a Poisson distribution.
This distribution can be approximated by a Gaussian distribution when the number of photons is large enough. For very dark regions of the image this assumption does not hold. We consider
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an image pixelU˜(x, y)as a Poisson variable with variance and mean U(x, y). The Poisson noise has therefore a standard deviation of p
U(x, y). (An image is nothing but a noise whose mean would be the ideal image.) This noise adds up to a thermal noise and to an electronic noise which are approximately additive and white. On a motionless scene with constant lighting, the expected value U can be approximated by simply accumulating photons for a long exposure time, and then by taking the temporal average of this photon count. Any noise estimation algorithm assuming that the noise is uniform is unrealistic. Fortunately, most block-based methods are easily adapted to signal-dependent noise.
For a signal-dependent noise, a noise curve must be established. This noise curve associates with each image value U(x, y) an estimation of the standard deviation of the noise associated with this value. Thus, for each block in the image, its mean must be computed and will give an estimation of a value in U. The measurement of the variation of the block (for example, its variance) will also be stored. The means are classied into a disjoint union of variable intervals or bins, in such a way that each interval contains a large enough number of elements. These measurements allow for the construction of a list of block variances whose corresponding means belong to the given bin. To nd the number of samples/bin that minimizes the committed RMSE of the obtained noise curve compared to the ground-truth noise curve, we simulated signal-dependent noise with varianceσ2= 1 + 2U on a set of noise-free images (Figure 1) of1080×808pixels each.
Then, the mean RMSE along all the images in the set was computed depending on the number of bins used. The number of bins that minimizes the RMSE depends on the method. For the Ponomarenko et al. and Percentile methods, the required number of samples/bin is42000. Figure 2 shows the RMSE depending on the number of bins for the PCA method. The minimum for the PCA method is attained when using 5 bins. However, since the error committed when using 8 bins is not much worse than the error using5bins and a noise curve with8control points is more informative that the noise curve with 5 bins, we decided to use 8 bins for images of 1080×808 pixels. Therefore, the number of samples/bin is 1080×8088 = 109080. Experimental results with other noise-free natural images rened the minimum to112000samples/bin for the PCA method.
Therefore, it is possible to apply the generic noise estimator to each set of blocks associated with a given bin. In this way, an estimation of the noise for the intensities inside the limits of the bin is obtained. Because the set of bins is disjoint and there is no gap between bins, is it possible to deduce by interpolation a curve that relates the means of the blocks with their standard deviation, hence obtaining a signal-dependent noise curve. The intensity associated to each bin is given by the mean of the block at the percentile. The algorithmic description of the function building this histogram of block means can be found in Algorithm 21. This algorithm works as follows:
(1) It takes as input the number of bins that will be used (bins variable), the input data (the variances of the blocks, data variable), the associated intensities of the input data (the means of the blocks, datal variable) and the total number of samples (N variable).
The algorithm stores at the variable samples_per_bin the integer value of N/bins.
In general, samples_per_bin = 112000 samples/bin. Since the last bin contain the remaining samples, it may contain less than samples_per_bin samples.
Figure 1. Set of noise-free images used to determine empirically the optimal number of bins that the algorithm should use, as a function of the size of the image. Each image is1080×808pixels.
0 5 10 15 20
Number of bins 0
2 4 6 8 10
Mean RMSE
Mean RMSE vs. number of bins (σN2 = 1.00 + 2.00 U)
Figure 2. Mean RMSE of the estimation of the signal-dependent noise with varianceσ2= 1 + 2U along all the noise-free test images in Figure 1, for the PCA method.
(2) It returns for each binb its intensity bounds (limits_begin[b] and limits_end[b] vari-ables), the list of variances that belong to binb (data_bins[b] variable) and the list of intensities (block means) that belong to binb (datal_bins[b] variable).
(3) For each bin b, the algorithm lls the data_bins[b] and datal_bins[b] buers with the variances and intensities of the blocks, sorted by their mean.
(4) The lower and upper intensity bounds of the current binb are stored into the variables limits_begin[b] and limits_end[b]. Then, the next bin is processed.
1.2. Filtering the noise curve. Optionally, the noise curve obtained on real images can be ltered. Indeed, it may present peaks when some given gray level interval contains mostly means of blocks belonging to a highly textured region. In this case, the measured block variance would be caused by the signal itself and not by the noise and the noise variance would be overestimated.
Given the i-th control point of the noise curve(ˆµi,σˆi)a closed intensity interval centered at this bin is considered, that is,[ˆµi−D,µˆi+D]. For each intensityµinside the interval (assuming thatµstarts atµˆi−D and it is incremented with a step of0.05while it is less or equal toµˆi+D), it is obtained the interpolated standard deviation that corresponds to each intensity µ. In order to avoid an excessive interpolation, ifµˆi−D <µˆ0for thei-th bin, then the diameterDis changed to the valueµˆb−µˆ0. In the same way, ifµˆi+D >µˆB−1 (beingB the number of bins), then the diameter D is changed to the valueµˆB−1−µˆb. Since each µˆi can be seen as an oscillation (given by the RMSE) around the ideal value, averaging the noise curve inside the interval[ˆµi−D,µˆi+D]
for each control point attenuates the oscillations and puts them closer to the ground-truth. Once the oscillations have been attenuated, it might happen that a control point corresponds to a peak caused by a texture. In that case, the action taken is to compute the average inside the interval [ˆµi−D,µˆi+D]and to substitute the standard deviationµˆiof thei-th control point by the average only if it is lower than the average of the intensities in the interval. The ltering procedure is iterated ve times. In the rst three iterations the control points are allowed to go up and down, thus canceling the oscillations around the ideal value. In the next two iterations the points are only allowed to go down, to attenuate the overestimation of the noise because of textures. The simple strategy presented here performs properly for most natural images and in general not more than ve ltering iterations are needed to get a reliable estimation of the noise. Applying more than ve iterations does not improve the results signicantly and for certain images it could produce noise curves that are excessively smooth. A diameterD = 7 is recommended. The pseudo-code of the ltering is detailed in Algorithm 24. It uses Algorithm 23 to interpolate the standard deviation corresponding to a given intensity. Algorithm 23 uses Algorithm 22 to get the corresponding standard deviation by a simple ane transformation.
Figure 3 shows the noise curve for the test image Lena. The non-ltered curve is drawn with solid lines and the ltered curve (ve iterations) with dashed lines, usingD= 7,p= 0.5%,w= 8 and6 bins. Note that the peak in the blue channel has decreased.
1.3. Discarding saturated pixels. When the number of photons measured by the CCD or CMOS detector during the exposure time is too high, its output may get saturated, and therefore underestimated. When the signal saturates the output of the CCD or CMOS detector, the mea-sured variance in the saturated areas of the image is zero. Figure 4 shows an image with some saturated pixels. If the saturated pixels are taken into account when measuring the noise, the noise curve is no more reliable. Since the intensity of the saturated pixels is much higher than the intensity of most of the pixels in the image, there is usually a large gap between the values of normal non saturated pixels and the saturated ones and the noise curve will interpolate the standard deviation values. Of course, the information given by the noise curve inside this gap is
(a)
0 50 100 150 200 250 300
Intensity 1.0
1.5 2.0 2.5 3.0 3.5 4.0
Standard deviation
Noise curve, image "Lena"
(b)
Figure 3. (a): test image Lena used to compare the noise curves with and with-out ltering; (b): noise curve for Lena. The non-ltered curve is drawn with solid lines and the ltered curve (ve iterations) with dashed lines, usingD= 7, p= 0.5%,w= 8and6 bins. Note that the peak in the blue channel is corrected after the ltering.
Figure 4. Image with saturated pixels.
not correct at all. In general, the strategy used to discard saturated pixels is to avoid the blocks that contain a group of four connected exactly equal pixels, in any of the channels. This is useful not only to discard saturated pixels, but also to avoid processing blocks whose pixels have suered other types of alterations that can be detected by nding these special blocks. For example, JPEG encoding with a high compression factor sets to zero the value of the high-frequency coecients in many of the8×8blocks. Among other undesired eects like lower frequency artifacts and blocking patterns, it can also create smooth zones, since high-frequency coecients of the DCT of the block were set to zero by the JPEG encoder. In natural images that have not been highly compressed, the probability of nding a set of four connected pixels sharing exactly the same value is very low, because of noise and texture. Nevertheless, we were unable to reproduce this problem using the PCA algorithm, which does not seem to be aected by saturated pixels in raw images. However, the option is left available to the user in the demo. The pseudo-code can be found in Algorithm
25. This algorithm checks if a pixel belong to a group of 2×2pixels whose intensity is the same (in practice, with a dierence between them belowε= 10−3). The blocks that contain at least one invalid pixels are not taken into account by the algorithm.
Algorithm 21 Algorithm classifying blocks by their means.
1: CLASSIFY_BY_MEAN - Splits the input elements into disjoint bins according to the mean of the elements trying that each bin has the same cardinality. Input bins: number of bins. Input data: list of input data elements. Input N: number of elements/bin. Input datal: list of means of the input elements. Output limits_begin[b]: the lower intensity bound for binb. Output limits_end[b]:
the upper intensity bound for bin b. Output data_bins[b]: list of elements at bin b. Output datal_bins[b]: list of means of the elements at binb.
2: samples_per_bin=bN/binsc 3: limits_begin = zeros(bins) 4: limits_end = zeros(bins) 5: num_elements = zeros(bins) 6: data_bins = array(bins) 7: datal_bins = zeros(bins) 8: buer = array(N) 9: buerl = zeros(N)
.Sort data by datal 10: indices = argsort(datal, N)
.Min and max 11: min_datal = datal[indices[0]]
12: max_datal = datal[indices[N-1]]
13: lim0 = min_datal 14: elements_count = 0 15: bin = 0
16: for idx = 0 . . . N do 17: if idx == N then
18: nished_loading = true 19: else
20: lim1 = datal[indices[idx]]
21: nished_loading =¬(bin == bins - 1)∧(elements_count≥samples_per_bin) 22: end if
23: end for
24: if nished_loading then 25: data_bins[bin]←buer 26: datal_bins[bin]←buerl
.Update limits and number of elements of the bin 27: limits_begin[bin] = lim0
28: limits_end[bin] = lim1
29: num_elements[bin] = elements_count
.Prepare for the next element 30: lim0 = lim1
31: bin = bin + 1 32: elements_count = 0
33: else .Keep loading...
34: buer[elements_count] = data[indices[idx]]
35: buerl[elements_count] = datal[indices[idx]]
36: elements_count = elements_count + 1 37: end if
38: limits_end[bins-1] = max_datal
Algorithm 22 Obtain a corresponding standard deviation by an ane transformation.
1: AFFINE. Input(µc, σc): current control point. Input (µe, σe): endpoint control point. Inputµ: intensity of the control points whose standard deviation is wanted. Outputσ: standard deviation attributed to the intensityµ.
2: ε= 10−6
3: if |µc−µe|< εthen .Avoid dividing by zero
4: s= 0 5: else
6: s=σµc−σe
c−µe
7: end if
8: σ= (µ−µe)s+σe
Algorithm 23 Interpolates an ane standard deviation from of the points of the given noise curve.
1: INTERPOLATION. Input (µc, σc): known control points. Input µ: the intensity of the point whose interpolated standard deviation is wanted. Outputσ: the interpolated standard deviation of the point whose intensity isµ.
.Find the nearest control point 2: i=argmini(µc[i]−µ|)
3: m=µc[i]
4: if µ < mthen .on the right ofµ
5: if i= 0 then .Treat boundary
6: i= 1
7: m=µc[i]
8: end if 9: m1=µc[i−1]
10: m2=m 11: s1=σc[i−1]
12: s2=σc[i]
13: else .on the left ofµ
14: N =len(µc)
15: if i≥N−1then .Treat boundary
16: i=N−2
17: m=µc[i]
18: end if 19: m1=m 20: m2=µc[i+ 1]
21: s1=σc[i]
22: s2=σc[i+ 1]
23: end if
return AFFINE(m1, s1, m2, s2, µ)
Algorithm 24 Filters a noise curve.
1: FILTER_CURVE Input(µc, σc): list of control points to be ltered. InputD: diameter. Input allow_up: allow the points to go up and down. Otherwise, they are only allowed to go down. Output σoc: returned list ltered standard deviations
2: B = len(µc) 3: σoc← ∅
4: forb= 0. . . B−1do
5: mu_current,std_current=µc[b], σc[b]
6: left=mu_current−D 7: right=mu_current+D
.Adjust the diameter for the points near the boundary 8: if left< µc[0]then
9: dist=µc[b]−µc[0]
10: left = mu_current - dist 11: right = mu_current + dist 12: else
13: if right> µc[B−1]then 14: dist=µc[B−1]−µc[b]
15: left = mu_current - dist 16: right = mu_current + dist 17: end if
18: end if
.Add the interpolated control points inside the interval [left, right]
19: sum_window = 0 20: L = 0
21: forµ=left. . .right(with step∆ = 0.05)do 22: sum_window += INTERPOLATION(µc, σc, µ)
23: L += 1
24: end for 25: std_new /= L 26: if allow_up then
27: std_ltered = std_new 28: else
29: std_ltered = std_new if std_new<std_current else std_current 30: end if
31: σco←std_ltered 32: end for
returnσco
Algorithm 25 Algorithm for the detection of groups of four equal pixels.
1: DETECT_EQUAL_PIXELS - Creates a mask of valid pixels. Input I: input image. InputNx: width of I. InputNy: height of I. Inputw: block side. Input num_channels: number of channels of I. Output mask: mask of VALID/INVALID pixels.
2: ε= 10−3
3: fori= 0. . . Nx−1do
4: forj= 0. . . Ny−1do .Check if the pixel is not too close to the image boundary 5: if i < Nx−w+ 1∧j < N y−w+ 1then
6: for c = 0 . . . num_channels - 1 do
7: u = I.get_channel(c) .Look if the2×2block is constant
8: pixel_status = (INVALID if c == 0 else mask[x,y]) .Try to validate pixel 9: if |u[i, j]−u[i+ 1, j]|> ε∨ |u[i+ 1, j]−u[i, j+ 1]|> ε∨ |u[i, j+ 1]−u[i+ 1, j+ 1]|> ε
then
10: pixel_status = VALID
11: end if
12: mask[i, j] = pixel_status
13: end for
14: else
15: mask[i, j] = INVALID 16: end if
17: end for 18: end for