Scale-space theory is a framework for multi-scale signal representation developed by the computer vision, image processing and signal processing communities with complementary motivations from physics and biological vision. It is a formal theory for handling image structures at different scales, by representing an image as a one-parameter family of smoothed images, the scale-space representation, parametrized by the size of the smoothing kernel used for suppressing fine-scale structures. The parameter t {\displaystyle t} in this family is referred to as the scale parameter, with the interpretation that image structures of spatial size smaller than about t {\displaystyle {\sqrt {t}}} have largely been smoothed away in the scale-space level at scale t {\displaystyle t} . The main type of scale space is the linear (Gaussian) scale space, which has wide applicability as well as the attractive property of being possible to derive from a small set of scale-space axioms. The corresponding scale-space framework encompasses a theory for Gaussian derivative operators, which can be used as a basis for expressing a large class of visual operations for computerized systems that process visual information. This framework also allows visual operations to be made scale invariant, which is necessary for dealing with the size variations that may occur in image data, because real-world objects may be of different sizes and in addition the distance between the object and the camera may be unknown and may vary depending on the circumstances. == Definition == The notion of scale space applies to signals of arbitrary numbers of variables. The most common case in the literature applies to two-dimensional images, which is what is presented here. Consider a given image f {\displaystyle f} where f ( x , y ) {\displaystyle f(x,y)} is the greyscale value of the pixel at position ( x , y ) {\displaystyle (x,y)} . The linear (Gaussian) scale-space representation of f {\displaystyle f} is a family of derived signals L ( x , y ; t ) {\displaystyle L(x,y;t)} defined by the convolution of f ( x , y ) {\displaystyle f(x,y)} with the two-dimensional Gaussian kernel g ( x , y ; t ) = 1 2 π t e − ( x 2 + y 2 ) / 2 t {\displaystyle g(x,y;t)={\frac {1}{2\pi t}}e^{-(x^{2}+y^{2})/2t}\,} such that L ( ⋅ , ⋅ ; t ) = g ( ⋅ , ⋅ ; t ) ∗ f ( ⋅ , ⋅ ) , {\displaystyle L(\cdot ,\cdot ;t)\ =g(\cdot ,\cdot ;t)f(\cdot ,\cdot ),} where the semicolon in the argument of L {\displaystyle L} implies that the convolution is performed only over the variables x , y {\displaystyle x,y} , while the scale parameter t {\displaystyle t} after the semicolon just indicates which scale level is being defined. This definition of L {\displaystyle L} works for a continuum of scales t ≥ 0 {\displaystyle t\geq 0} , but typically only a finite discrete set of levels in the scale-space representation would be actually considered. The scale parameter t = σ 2 {\displaystyle t=\sigma ^{2}} is the variance of the Gaussian filter and as a limit for t = 0 {\displaystyle t=0} the filter g {\displaystyle g} becomes an impulse function such that L ( x , y ; 0 ) = f ( x , y ) , {\displaystyle L(x,y;0)=f(x,y),} that is, the scale-space representation at scale level t = 0 {\displaystyle t=0} is the image f {\displaystyle f} itself. As t {\displaystyle t} increases, L {\displaystyle L} is the result of smoothing f {\displaystyle f} with a larger and larger filter, thereby removing more and more of the details that the image contains. Since the standard deviation of the filter is σ = t {\displaystyle \sigma ={\sqrt {t}}} , details that are significantly smaller than this value are to a large extent removed from the image at scale parameter t {\displaystyle t} , see the following figures and for graphical illustrations. === Why a Gaussian filter? === When faced with the task of generating a multi-scale representation one may ask: could any filter g of low-pass type and with a parameter t which determines its width be used to generate a scale space? The answer is no, as it is of crucial importance that the smoothing filter does not introduce new spurious structures at coarse scales that do not correspond to simplifications of corresponding structures at finer scales. In the scale-space literature, a number of different ways have been expressed to formulate this criterion in precise mathematical terms. The conclusion from several different axiomatic derivations that have been presented is that the Gaussian scale space constitutes the canonical way to generate a linear scale space, based on the essential requirement that new structures must not be created when going from a fine scale to any coarser scale. Conditions, referred to as scale-space axioms, that have been used for deriving the uniqueness of the Gaussian kernel include linearity, shift invariance, semi-group structure, non-enhancement of local extrema, scale invariance and rotational invariance. In the works, the uniqueness claimed in the arguments based on scale invariance has been criticized, and alternative self-similar scale-space kernels have been proposed. The Gaussian kernel is, however, a unique choice according to the scale-space axiomatics based on causality or non-enhancement of local extrema. === Alternative definition === Equivalently, the scale-space family can be defined as the solution of the diffusion equation (for example in terms of the heat equation), ∂ t L = 1 2 ∇ 2 L , {\displaystyle \partial _{t}L={\frac {1}{2}}\nabla ^{2}L,} with initial condition L ( x , y ; 0 ) = f ( x , y ) {\displaystyle L(x,y;0)=f(x,y)} . This formulation of the scale-space representation L means that it is possible to interpret the intensity values of the image f as a "temperature distribution" in the image plane and that the process that generates the scale-space representation as a function of t corresponds to heat diffusion in the image plane over time t (assuming the thermal conductivity of the material equal to the arbitrarily chosen constant 1/2). Although this connection may appear superficial for a reader not familiar with differential equations, it is indeed the case that the main scale-space formulation in terms of non-enhancement of local extrema is expressed in terms of a sign condition on partial derivatives in the 2+1-D volume generated by the scale space, thus within the framework of partial differential equations. Furthermore, a detailed analysis of the discrete case shows that the diffusion equation provides a unifying link between continuous and discrete scale spaces, which also generalizes to nonlinear scale spaces, for example, using anisotropic diffusion. Hence, one may say that the primary way to generate a scale space is by the diffusion equation, and that the Gaussian kernel arises as the Green's function of this specific partial differential equation. == Motivations == The motivation for generating a scale-space representation of a given data set originates from the basic observation that real-world objects are composed of different structures at different scales. This implies that real-world objects, in contrast to idealized mathematical entities such as points or lines, may appear in different ways depending on the scale of observation. For example, the concept of a "tree" is appropriate at the scale of meters, while concepts such as leaves and molecules are more appropriate at finer scales. For a computer vision system analysing an unknown scene, there is no way to know a priori what scales are appropriate for describing the interesting structures in the image data. Hence, the only reasonable approach is to consider descriptions at multiple scales in order to be able to capture the unknown scale variations that may occur. Taken to the limit, a scale-space representation considers representations at all scales. Another motivation to the scale-space concept originates from the process of performing a physical measurement on real-world data. In order to extract any information from a measurement process, one has to apply operators of non-infinitesimal size to the data. In many branches of computer science and applied mathematics, the size of the measurement operator is disregarded in the theoretical modelling of a problem. The scale-space theory on the other hand explicitly incorporates the need for a non-infinitesimal size of the image operators as an integral part of any measurement as well as any other operation that depends on a real-world measurement. There is a close link between scale-space theory and biological vision. Many scale-space operations show a high degree of similarity with receptive field profiles recorded from the mammalian retina and the first stages in the visual cortex. In these respects, the scale-space framework can be seen as a theoretically well-founded paradigm for early vision, which in addition has been thoroughly tested by algorithms and experiments. == Gaussian derivatives == At any scale in scale space, we c
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