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BE4M33DZO – Digital Image

Schedule BE4M33DZO Upload system for student tasks

Having the rationalization in mind, the lecture serves three subjects at the same time, i.e., BE4M33DZO Digital Image, B4M33DZO Digitální obraz (the same subject in Czech language). Students of the doctoral subject XP33ZVD Základy počítačového vidění (Fundamentals of Computer Vision) visit the lecture as well.

We lecture the subject in English most of the time following the FEE CTU rule stating that if there is a single student in the audience who does not understand Czech, the lecture is in English. If there are only Czech speaking students at the lecture, we will lecture in Czech (Václav Hlaváč) or Slovak (Radoslav Škoviera).

Course objective

The course teaches how to represent, process, and interpret the 2D images on a computer. The first part of the course will be focused on image processing taken similarly as in signal processing, i.e. without interpretation. We will explain image acquisition, linear and non-linear pre-processing, and image compression. In the second part, we will teach students the segmentation and registration methods for 2D images. The gained knowledge will be applied to practical examples in exercises so that students will gain practical experience with the topic.

Required prior knowledge

It is assumed that students of this course have a working knowledge of mathematical analysis, linear algebra, probability theory and statistics. In addition, basic programming skills, mainly in MATLAB, are expected. This master subject should not repeat the knowledge, which was taught in the Open informatics study program in bachelor studies. The subject would be too shallow otherwise.

It could happen that some students did not study the topics, which are considered a prerequisite of the subject Autonomous robotics. They have to study or refresh their knowledge on their own. Some other knowledge/skills might be useful in the subject labs.

I offer students the aid to refresh their knowledge by providing them presentations related to the topic.

Author Presentation and the link to it
V. Hlaváč Probability and statistics, rehearsal
V. Hlaváč Least squares

Lectures: Wednesdays 9:15-10:45, lecture theatre KN:E-301

Lecturer: Václav Hlaváč, Torsten Sattler, Radoslav Škoviera (will lecture in an extraordinary case or if Václav Hlaváč is travelling or sick.

For the case of a COVID lockdown, the Microsoft Teams channel is ready for all three subjects. All students enrolled in these three subjects have access to the channel.

Workload: 2 h lecture + 2 h exercises/labs + 5 h homework per week. Slides for lectures are available in English on http://people.ciirc.cvut.cz/~hlavac/TeachPresEn/ and in Czech on http://people.ciirc.cvut.cz/~hlavac/TeachPresCz/. I usually improve the slides, when I am preparing for a particular lecture.

Week Date Topic Notes
1. 22.09.2021 Computer vision. Objects in image. Interpretation. Digital image, concepts. Brightness transforms.
2. 29.09.2021 Physical image formation and acquisition and radiometric point of view. Optical view. Radiometric view. Lab 1, Brightness trans.
3. 06.10.2021 Geometric transforms. Interpolation. Dynamic programming.
4. 13.10.2021 Spatial domain image processing. Convolution, correlation. Noise filtration. Lab 2, seam carving, dynamic programming
5. 20.10.2021 Fourier transform. Sampling theorem. Frequency filtering. Hommomorphic filter. Image restoration.
6. 27.10.2021 Edge detection. Scale space. Canny detector. Interest points/regions detection. Lab 3, HDR
7. 03.11.2021 (Torsten Sattler) Image segmentation - slides 2021, slides from previous years: thresholding, k-means, EM algorithm
8. 10.11.2021 (Torsten Sattler) Image segmentation - slides 2021, slides from previous years: Graphs, graph algorithms. Segmentation by maximal cut in a graph. Lab 4, segmentation
9. 17.11.2021 Public holiday. No lecture.
10. 24.11.2021 Principal component analysis. Wavelets.
11. 01.12.2021 Image and object registration. Lab 5, Registration
12. 08.12.2020 Mathematical morphology- for binary images. - for grayscale images. Lab 6, Image restoration
13. 15.12.2021 Color images and their processing.
14. 05.01.2020 Image compression, video compression.

Recorded lectures from the winter semester 2019/2020.


Instructors: Vojtěch Pánek, Maxime Pitrantoni, Jiří Sedlář, Radoslav Škoviera (head of the lab/seminars).

Details about laboratory and seminars could be found in section labs.

Warning: According to the CTU Study and Examination Regulations, attending lectures is optional. To attend the exercises, however, we require theoretical knowledge of the practised issues (according to the exercise program), which will be taught in previous lectures. If the student wants, he/she can supplement the material from the recommended literature before the exercise.

Labs for doctoral students, subject XP33ZVD:

Doctoral students have two options. The first option, students are invited to attend the standard labs of the subject BE4M33DZO. They will get the credit for their work similarly to master students do. The second option, students can choose to write a scientific paper as described below. Students can choose either the first or second option.

The second option either replacing labs or adding to labs is writing a (dummy or useful) scientific paper related to the subject. This part is taught by the lecturer Václav Hlaváč personally in most cases. The student usually finds a topic related to her/his own research, which has a link to the subject and uses its methods. The student consults the topic and writing of the paper with the teacher regularly. The credit is obtained when the paper reaches a certain level of maturity to be, e.g., ready for a conference submission. Two aims are followed: (a) use methods of the subject in practice; (b) improve student's craft in paper writing.

Examination and its evaluation

  • Only students who obtained the credit for their lab activity are eligible for the examination.
  • The examination consists of two parts, written and oral exams. The written part checks the global orientation of the student in the subject matter. Students answer typically six questions, which are randomly selected from the list of questions Questions may be slightly changed till the end of December. The written exam lasts 30 minutes. The written part of the exam yields 30 points at maximum.
  • The oral part of the exam follows the written part after the written part is corrected by the teacher. The oral part is a discussion of a student and the teacher about a scientific paper of student's choice. The paper has to be from a respected scientific journal, which cannot be older than five years. The paper has to have a relation to the subject and be written in English. The privilege to choose the paper gives the student the opportunity to bring the discussion to the area he has a deeper knowledge. Students come to the exam with a printed version of the paper with her/his handwritten notes made while reading the paper.
  • The list of journals from which the paper can be selected: IEEE Transactions on Pattern Analysis and Machine Intelligence, IEEE Transaction on Medical Imaging, International Journal on Computer Vision, Medical Image Analysis. The Czech Government pays to its universities the electronic access to papers. Use CVUT Library or directly at portál. The student has to know the bibliographic information and should write it on the paper front page.
  • Oral part of the exam follows after correcting tests (written part).
  • The examination mark is given by the sum of points. Labs (max. 40 points), written part (max. 30 points), and oral exam (max. 30 points).
  • The maximal number of points is 100. Examination results: A 100-90 points, B 89-80 points, C 79-70 points, D 69-60 points, E 59-50 points, F < 50 points.


  • Šonka M., Hlaváč V., Boyle R.: Image Processing, Analysis and Machine vision, 3rd edition, Thomson Learning, Toronto, Canada, 2007. Asi deset kopií je k dispozici v knihovně Centra strojového vnímání, katedry kybernetiky FEL. Zájemci nechť kontaktují sekretářku Ing. Hanu Pokornou.
  • Svoboda T., Kybic J., Hlaváč V.: Image Processing, Analysis and Machine Vision – A MATLAB Companion. Thomson, Toronto, Canada, 1 edition, 2007. About ten copies are available in the library of the Center for Machine Perception, contact Mrs. Hana Pokorná if needed.
  • Szeliski R.: Computer Vision: Algorithms and Application, Springer, Berlin, 2010. 812 p. The book draft is freely available for download
  • Karu Z.Z.: Signals and Systems Made Ridiculously Easy, ZiZi Press, Cambridge, MA, USA, 2001, (You can download the scanned copy). We recommend this very tiny book not only to all those who did not study the signal theory but also to others who like to reinforce basic knowledge by reading a rather informal book.
  • Doxiadēs, A. K., Papadimitriou, C. H., Papadatos, A., & Di, D. A. (2009). Logicomix. An Epic Search for Truth. New York: Bloomsbury. You can download a free copy from https://archive.org/details/Logicomix-Comic-EarlyLifeOfBertrandRussell/mode/2up
  • Doxiadēs, A. K., Papadimitriou, C. H., Papadatos, A., & Di, D. A. Logikomiks, Hledání absolutní pravdy, český překlad Dokořán 2012, ISBN: 978-80-7363-401-8 / 336 stran, přeložil Jaroslav Peregrin
courses/be4m33dzo/start.txt · Last modified: 2021/12/15 05:36 by hlavac