Retinex Algorithm PDF

Retinex Theory and Algorithm • David Stutz https://davidstutz.
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Retinex Theory and Algorithm
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The Retinex theory, as originally developed by Land and McCann [1], can be
seen as fundamental theory for several state-of-the-art intrinsic image
algorithms. This article discusses a mathematical formulation of the Retinex
algorithm and also presents experimental results.
The problem of estimating intrinsic images, that is reflectance and shading, from a single
image has already been addressed in 1971 by Land and McCann [1] as well as in 1978 by
Barrow and Tenenbaum [4]. Researchers within the computer vision and image processing
communities agree that solving this problem would be beneficial for many problems in vision
and graphics. After discussing some related work and important datasets in the article
Intrinsic Images – Introduction and Reading List , this article will introduce a mathematical
1 of 15 Friday 25 October 2019 10:31 AM

Retinex Theory and Algorithm • David Stutz https://davidstutz.de/retinex-theory-and-algorithm/
formulation of the Retinex theory as originally developed by Land and McCann [1]. Further, we
introduce the partial differential equation formalization given by Morel et al. [28] which can
easily be implemented in practice.
Instead of discussing related work in detail, we simply point out some recent literature on
intrinsic images [7,9-12,14-19,20] and intrinsic video (or image sequences) [21-27] as well as
appropriate datasets [7,8,25,29,30].
Problem Formulation
Formally, we define the problem of intrinsic images as follows:
Problem. Given an input image
I : ⎯H
⎯⎯ = {1, … , H} × ⎯W ↦ 2553, with N = HW ,
⎯⎯⎯ ⎯⎯⎯⎯⎯⎯
a set of images I1 , … , IT or a video
3
V : ⎯H × W ×
⎯⎯ ⎯⎯⎯⎯ ⎯⎯⎯T ↦ 255 , with, N = HWT ,
⎯⎯⎯⎯⎯⎯
estimate the corresponding reflectance image R and shading image S for each input image.
Note that the problem of intrinsic images as originally stated by Barrow and Tenenbaum [4]
also includes other intrinsic characteristics as for example depth, surface orientation,
occlusion and motion boundaries or optical flow.
Retinex Theory and Algorithm

The Retinex theory was introduced by Land and McCann [1] in 1971 and is based on the
assumption of a Mondrian world. This refers to the paintings by the dutch painter Piet
Mondrian which, for example, look as depicted in figure 1. Land and McCann argue that
human color sensation appears to be independent of the amount of light, that is the
measured intensity, coming from observed surfaces [1]. Therefore, Land and McCann suspect
an underlying characteristic guiding human color sensation [1]. Note that this characteristic is
not directly related to the intrinsic images described by Barrow and Tenenbaum [4], however,
as stated by Land and McCann, this characteristic has to be related to reflectance.

(https://davidstutz.de/wordpress/wp-content
/uploads/2015/05/mondrian.jpg)
(https://davidstutz.de/wordpress/wp-content/uploads/2015/05/retinex.png)
Figure 1 (click to enlarge): An illustration of the intuition behind the Retinex theory. Left: An example of the
typical style of Mondrian's paintings. Right: The path-based reflectance computation as proposed by Land
and McCann [1].
The intuition behind the Retinex theory, illustrated on the example of a Mondrian image with
artificial, smooth shading, can be described as follows. The reflectance ratio of two selected
patches within the Mondrian image can be determined by following a path between them.
Along the path, we multiply the measured intensity ratios. At the border of patches, the
intensity ratios will correspond to reflectance changes, while within the patches, the intensity
ratios will be close to one. Land and McCann [1] propose to threshold these ratios to suppress
intensity changes due to shading, which is assumed to be smooth. The final ratio will be equal
to the actual reflectance ratio between the two patches.
The formalization of the described algorithm, as well as its extension to color images, is due to
Horn [3] and Blake [5], however, we follow Morel et al. [28]. The reflectance for each pixel in
Kj
channel Ic is computed by considering a family {xk }k=1 ⊆ H × W of J paths. For a given
⎯⎯⎯ ⎯⎯⎯⎯
pxel xn ∈ H × W , all of these paths start at xn and end at an arbitrary pixel within the
⎯⎯⎯ ⎯⎯⎯⎯
image. Then the reflectance Rc (xn ) of pixel xn in channel c is computed as

K
Rc (xn ) = 1
J
∑Jj=1 ∑k=1
j
λ (Ic (xk ) − Ic (xk+1 )). (1)
where
{0
|x| if |x| > τ (2)
λ(x) = .
else
Kj
The main problem of this approach is the problem of choosing the paths {xk }k=1 such that
equation (1) both can be computed efficiently and calculates the proper reflectance (that is, a
good approximations thereof).
Partial Differential Equation Formalization

Morel et al. [28] propose a partial differential equation formalization of the Retinex theory. We
follow [28] and discuss both the basic framework and the practical implementation.
Kj
We consider a family of J random paths {xk }k=1 ⊆ H × W , each of which starts at pixel xn
⎯⎯⎯ ⎯⎯⎯⎯
and ends at a randomly chosen pixel. The random paths are defined on the plane ℤ2 ,
however, are reflected on the image borders, resulting in well-defined paths within the image
plane. Then, the lightness of pixel xn in channel Ic , in analogy to equation (1), can be written
as
K
Rc (xn ) = 1
N
∑Jj ∑k=1
j
λ (Ic (xk ) − Ic (xk+1 )).
Note that, in contrast to equation (1), this can be interpreted as expectation of the relative
reflectance defined by one such random path [28].
Utilizing the random path framework, Morel et al. [28] show that the reflectance Rc is the
solution of the Poisson equation
−ΔRc (xn ) = Fc (xn ) xn ∈ ⎯H

⎯⎯ × ⎯W
{
(4)
⎯⎯⎯
∂Rc
=0 x ∈ ∂(⎯H
⎯⎯ × ⎯W )
∂n ⎯⎯⎯
∂R
with Neumann boundary condition where ∂nc denotes the normal derivative and ∂(H × W )
⎯⎯⎯ ⎯⎯⎯⎯
denotes the boundary of H × W . Here, Fc (x) is defined as
⎯⎯⎯ ⎯⎯⎯⎯
Fc (xn ) = λ (Ic (xn ) − Ic (xn,1 + 1, xn,2 )) + λ (Ic (xn ) − Ic (xn,1 − 1, xn,2 ))
+λ (Ic (xn ) − Ic (xn,1 , xn,2 + 1)) + λ (Ic (xn ) − Ic (xn,1 , xn,2 − 1)).

The Poisson equation (4) can be solved efficiently using discrete Fourier transform [28,31]. We
follow [31] and briefly derive the necessary equations. The discrete, two-dimensional Fourier
transform of the function Fc is given as
F̂ r,s = ∑H v=1 Fu,=v exp( H ) exp( W ),

1 W 2πiru 2πsv
N u=1 ∑ (5)
while the inverse, discrete, two-dimensional Fourier transform of the image channel Ic can be
written as
∑H ( H ) ( W )
̂ exp −2πiur exp −2πvs .
1 W
Iu,v = N r=1 ∑s=1 I r,s (6)
Transforming both sides of equation (4) by the discrete, two-dimensional Fourier transform
yields the following relationship:
̂ = F̂ r,s
I r,s .
2(cos( 2πr
H )
+cos( 2πs
W )
−2)
Applying the inverse, discrete, two-dimensional Fourier transform to retrieve Ic solves the
Poisson equation (4) in the case of periodic boundary conditions. However, replacing equations
(5) and (6) with the discrete, two-dimensional cosine transform, see [31], serves the
constraints of Neumann boundary conditions as in equation (4).
Generalization to Video
The Retinex algorithm as implemented by Morelet al. [28] can easily be generalized to video.
The Poisson equation, as formualted for the image I in equation (4), equally holds for the
video V and equations (5) and (6) may easily be generalized to three dimensions. Only the
right hand side Fc (xn ), Xn ∈ H × W × T , of equation (4) needs to be adapted as follows:
⎯⎯⎯ ⎯⎯⎯⎯ ⎯⎯⎯
Fc (xn ) = λ (Ic (xn ) − Ic (xn,1 + 1, xn,2 , xn,3 )) + λ (Ic (xn ) − Ic (xn,1 − 1, xn,2 , xn,3 ))
+λ (Ic (xn ) − Ic (xn,1 , xn,2 + 1, xn,3 )) + λ (Ic (xn ) − Ic (xn,1 , xn,2 − 1, xn,3 ))
+λ (Ic (xn ) − Ic (xn,1 , xn,2 , xn,3 + 1)) + λ (Ic (xn ) − Ic (xn,1 , xn,2 , xn,3 − 1)).
Implementation
An implementation is provided by Limare et al. [32], available on GitHub , and uses FFTW3 
[33] to compute the discrete cosine transform in two or three dimensions. Each image channel
Ic is processed independently. An OpenCV [34] wrapper can also be found on GitHub .
The main limitation when generalizing to video is the temporal segmentation needed due to
memory limitations. However, the algorithm can be applied on short, overlapping
subsequences which are fused afterwards. In the best case, these overlapping regions could be

encoded as constant boundary condition for the Poisson equation (4).
Results
Figure 2 shows the influence of the threshold τ on two images, one taken from the dataset by
Bell et al. [7] and another one taken from the dataset by Beigpour et al. [29]. Further, figure 3
compares the Retinex algorithm to the approach by Bell et al. [7], available on GitHub . Note
that shading can, theoretically, not be recovered without knowing illumination. However, Bell
et al. [7] assume white illumination to approximate shading and their algorithm, therefore,
also returns shading which is excluded for comparison.
(https://davidstutz.de/wordpress/wp-content/uploads/2015/05
/8982_reflectance_5.png) (https://davidstutz.de/wordpress/wp-content
/uploads/2015/05/8982_reflectance_10.png) (https://davidstutz.de
/wordpress/wp-content/uploads/2015/05/8982_reflectance_15.png)
/uploads/2015/05/8982_reflectance_25.png)

/bed1_dl_reflectance_5.png) (https://davidstutz.de/wordpress/wp-content
/uploads/2015/05/bed1_dl_reflectance_10.png) (https://davidstutz.de
/wordpress/wp-content/uploads/2015/05/bed1_dl_reflectance_15.png)
/bed1_dl_reflectance_20.png) (https://davidstutz.de/wordpress/wp-content
/uploads/2015/05/bed1_dl_reflectance_25.png)
Figure 2 (click to enlarge): The influence of the threshold τ on an example image from the dataset by Bell et
al. [7] (top) and the dataset by Beigpour et al. [29] (bottom). From left to right: τ = 5 , τ = 10 , τ = 15 ,
τ = 20 , τ = 25 . As can be seen, more and more artifacts occur while increasing the threshold. Therefore,
we can deduce that global thresholding of gradients can only be seen as first step towards intrinsic images
as is also illustrated by figure 3.
/uploads/2015/05/9438_reflectance_15.png) (https://davidstutz.de

/wordpress/wp-content/uploads/2015/05/11601_reflectance_5.png)
/uploads/2015/05/55855_reflectance_10.png)
/bell_8982_reflectance.png) (https://davidstutz.de/wordpress/wp-content
/uploads/2015/05/bell_9438_reflectance.png) (https://davidstutz.de
/wordpress/wp-content/uploads/2015/05/bell_11601_reflectance.png)
/bell_24564_reflectance.png) (https://davidstutz.de/wordpress/wp-content
/uploads/2015/05/bell_55855_reflectance.png)
Figure 3 (click to enlarge): Comparison of the Retinex algorithm and the algorithm by Bell et al. [7] using
several images from the dataset by Bell et al. [7].
Discussion
The Retinex algorithm can be seen as the first approach to intrinsic images. Therefore, as seen
in figure 3, the results are not comparable to state-of-the-art approaches as for example
provided by Bell et al. [7]. However, the assumptions made by the Retinex theory, in particular
smooth shading and piece-wise constant reflectance, are still used in many recent approaches.
State-of-the-art approaches even add additional assumptions as for example sparsity of
reflectance [9,13] or use additional information as for example depth [10,21] or video [21,25].
Overall, the problem is inherently global such that local decisions as made by the Retinex
algorithm give poor results. It would be interesting to investigate whether the global problem,
especially regarding complex scenes, can be decomposed into simpler local problems which
are easier to solve. Further, for several applications, we need to ask whether true reflectance is
actually necessary to improve performance of subsequent tasks. For example in image
segmentation, reflectance and shading provided by a state-of-the-art algorithm can also be
seen as additional feature without the requirement of begin true reflectance and shading.
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Alex Soltesz • a year ago

Thanks David,
excellent detailed article, no questions I managed to use it for my task.
It was a great help.
Domonkos
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davidstutz Mod > Alex Soltesz • a year ago

Nice to hear that the article was useful for you!
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Retinex Theory and Algorithm • David Stutz https://davidstutz.

READING NOTES (https://davidstutz.de/category/reading/)

1 of 15 Friday 25 October 2019 10:31 AM

Problem. Given an input image

Retinex Theory and Algorithm

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image. Then the reflectance Rc (xn ) of pixel xn in channel c is computed as

Partial Differential Equation Formalization

−ΔRc (xn ) = Fc (xn ) xn ∈ ⎯H

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F̂ r,s = ∑H v=1 Fu,=v exp( H ) exp( W ),

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encoded as constant boundary condition for the Poisson equation (4).

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Image Processing On Line, 1, 2011.

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