706 IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING, VOL. 49, NO.

2, FEBRUARY 2011
Multitemporal Image Change Detection Using
Undecimated Discrete Wavelet Transform
and Active Contours
Turgay Celik and Kai-Kuang Ma, Senior Member, IEEE
AbstractIn this paper, an unsupervised change detection
method for satellite images is proposed. Owing to its robustness
against noise, the undecimated discrete wavelet transform is ex-
ploited to obtain a multiresolution representation of the difference
image, which is obtained from two satellite images acquired from
the same geographical area but at different time instances. A
region-based active contour model is then applied to the multires-
olution representation of the difference image for segmenting the
difference image into the changed and unchanged regions.
The proposed change detection method has been conducted on two
types of image data sets, i.e., the synthetic aperture radar images
and the optical images. The change detection results are compared
with several state-of-the-art techniques. The extensive simulation
results clearly show that the proposed change detection method
consistently yields superior performance.
Index TermsActive contours, change detection, difference im-
age, environmental monitoring, level sets, multitemporal images,
optical images, remote sensing, satellite images, surveillance, syn-
thetic aperture radar (SAR), undecimated discrete wavelet trans-
form (UDWT).
I. INTRODUCTION
C
LIMATE change has been widely recognized as one of the
alarming environmental concerns. The global warming
has brought unpredictable changes in the weather patterns. This
leads to land changes (for example, due to a falling or rising
water level) that require a constant surveillance process. For
that, it is quite desirable to have an automatic or unsupervised
change detection method that is able to make a direct com-
parison of a pair of remote sensing images acquired from the
same geographical area but at different time instances in order
to identify and measure the changed areas.
Manuscript received October 3, 2009; revised February 1, 2010 and
March 6, 2010; accepted April 12, 2010. Date of publication October 7, 2010;
date of current version January 21, 2011.
T. Celik is with the Department of Chemistry, Faculty of Science, National
University of Singapore, Singapore 117543, and also with the Computer Vision
and Pattern Discovery Group, Bioinformatics Institute, Agency for Science,
Technology and Research, Singapore 138671 (e-mail: celikturgay@gmail.com;
chmcelik@nus.edu.sg).
K.-K. Ma is with the School of Electrical and Electronic Engineer-
ing, Nanyang Technological University, Singapore 639798 (e-mail: ekkma@
ntu.edu.sg).
Color versions of one or more of the gures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identier 10.1109/TGRS.2010.2066979
Remote sensing imagery generally requires certain pre-
processing corrections due to undesirable sensor characteristics
and other disturbing effects before performing any data analysis
on it. Typical corrections include noise reduction, radiometric
calibration, sensor calibration, atmospheric correction, solar
correction, topographic correction, and geometric correction
[1][3]. In this paper, we assume that the changes yielded
between the two images under comparison are only caused by
the physical changes on the geographical area, and those typical
corrections as mentioned previously either play no issue or have
been carried out on the images before applying any change
detection method.
Unsupervised change detection techniques can be cate-
gorized into two major classes according to the data do-
main to which they apply: 1) spatial-domain approach and
2) transform-domain approach. The spatial-domain techniques
[4][6] directly extract certain statistical quantities from the
input images while the transform-domain techniques [7][9]
apply a certain transformation, such as the undecimated discrete
wavelet transform (UDWT) [7], [9] or the dual-tree complex
wavelet transform (DT-CWT) [8], on the input images rst,
followed by conducting a statistical analysis to mitigate the
noise interference on the change detection accuracy.
In [4], two unsupervised techniques based on the Bayesian
inferencing for analyzing the difference image are proposed.
One exploits an adaptive decision threshold for minimizing the
overall change detection error under the assumption that the
pixels of the difference image are spatially independent.
The other, which is based on the Markov random elds (MRFs),
analyzes the difference image by considering the spatial contex-
tual information included in the neighborhood of each pixel. In
[5], the observed multitemporal images are modeled as MRFs
in order to generate a change image by using the maximum
a posteriori probability decision criterion and the simulated
annealing energy minimization method. These algorithms are
applied in the spatial domain and provide impressive change
detection results at the expense of high computational complex-
ity; thus, they are not suitable for real-time change detection
applications.
Recently, a computationally efcient and yet effective
method for conducting unsupervised change detection is pro-
posed in [6], where the difference image is analyzed by us-
ing the principal component analysis (PCA) and the k-means
clustering algorithm. The PCA is employed for the purpose of
conducting dimension reduction and feature extraction, which
0196-2892/$26.00 2010 IEEE
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is a canonical technique to nd the useful data representations
in a space with a much reduced dimensionality. The eigenvector
space is created by applying the PCA on nonoverlapping square
blocks collected from the entire difference image. The number
of eigenvectors determines the dimensionality of the feature
vector. The feature vector at each pixel position is computed
by projecting the local change of the pixel values onto the
eigenvector space. The binary k-means clustering (i.e., k = 2)
is then employed on the PCA-extracted feature vectors to com-
pute the nal change detection result. The algorithm produces
promising results with a low computational cost. Note that the
PCA can only separate pairwise linear dependencies between
data points and thus may fail in situations where the dependen-
cies between the data points are highly nonlinear. Therefore,
the PCA is prone to produce false detections due to noise
interference.
Transform techniques can be exploited to analyze the differ-
ence image and to reduce the effect of noise contamination even
through a multiresolution structure. In [8], the DT-CWT is used
to individually decompose each input image into one low-pass
subband and six directional high-pass subbands at each scale of
the decomposition. The DT-CWT coefcient differences which
resulted from the subbands of the two satellite images are
analyzed in order to decide whether each pixel position belongs
to the changed or unchanged class for each subband. The
binary change detection map is thus formed for each subband,
and all the produced subband maps are then merged by using
both the interscale fusion and the intrascale fusion to yield the
nal change detection map. This method is free of parameter
selection, except that the number of decomposition scales used
in the DT-CWT decomposition is required to be imposed
in advance. The attractive change detection performance and
robustness against noise contamination are accomplished at
the expense of high computational cost. In [7], the log-ratio
image is rst obtained by taking the logarithm of the pixel
ratio of the two satellite images, followed by the multiresolution
analysis by using the UDWT for generating different resolu-
tions of the representation of the difference image. The nal
change detection result is obtained according to an adaptive
scale-driven fusion algorithm. The method achieves a highly
accurate change detection result but has a major concern on
the selection of an appropriate detection threshold for each
resolution.
Recently, another UDWT-based multiresolution representa-
tion is exploited to decompose the difference image of the
multitemporal images [9]. A feature vector at each pixel is then
formed by locally sampling the data from the multiresolution
representation of the difference image. The nal change detec-
tion map is obtained by clustering the multiscale feature vectors
using binary k-means algorithm to obtain two disjoint classes:
changed and unchanged. Overall, this method performs quite
well, particularly on detecting adequate changes even under
strong noise interference. However, due to the spatial support
of the local sampling structure employed in the feature vector
computation, the boundary accuracy of the changed regions is
sacriced.
The multiresolution analysis of the difference image, to-
gether with the level set implementation of the scalar
MumfordShah segmentation [10], is employed in [11] to
perform the unsupervised change detection. The multireso-
lution representation of the difference image is achieved by
iteratively down sampling the difference image by a factor
of two in both directions [11]. First, the difference image is
segmented into changed and unchanged regions at the coarse
resolution using the scalar MumfordShah segmentation. The
segmentation result from the coarse resolution is upscaled by
a factor of two in both directions and then used as the initial
segmentation estimate for the change detection at the next ner
resolution. This aforementioned process is repeated on the next
ner resolution levels until the nal segmentation result reaches
to the same spatial support of the difference image. This method
achieves comparable change detection results compared with
several state-of-the-art change detection methods [11]; how-
ever, it mainly depends on the initial segmentation achieved
at the coarse resolution. The segmentation error yielded at the
coarser resolutions will be propagated inevitably to its ner
resolution and results in performance degradations. Because of
the down-sampling process used in the multiresolution repre-
sentation, this method is unable to detect the changes whose
spatial supports are lost through the multiresolution repre-
sentation of the difference image due to the down-sampling
operation.
In order to alleviate the aforementioned concerns, an un-
supervised change detection method should possess the fol-
lowing features: 1) high robustness against noise; 2) accurate
boundary of changed regions; 3) free of a priori assumptions
in modeling the data distribution of the difference image;
and 4) low computational complexity. In this paper, an unsu-
pervised change detection method for multitemporal satellite
images is proposed by exploiting an active contour method
on the multiresolution representation of the difference image.
The multiresolution representation is achieved by using the
UDWT to benet from its inherited robustness against the noise
interference on the representation. The UDWT is exploited,
instead of the discrete wavelet transform (DWT), because of
the following characteristics: 1) There is no down-sampling
operation involved, and thus, it is free from an aliasing prob-
lem; and 2) it is shift invariant. The active contour method
is employed on the multiresolution representation to segment
the difference image into the changed and unchanged regions
with accurate region boundaries. The active contour model used
in this paper was rst introduced in [10] which is free from
making any a priori assumption on the statistical modeling
of the input data. It is robust to noise interference and holds
good regularization properties. The model has been extended
for the vector-valued images (as the one proposed in [12]) and
used in this paper for segmenting the multiresolution repre-
sentation of the difference image into changed and unchanged
regions. Furthermore, a level set implementation of the active
contour model [10], [12] makes it possible to perform the seg-
mentation process with a moderate computational complexity
[10], [12].
This paper is organized as follows. Section II gives a brief
review of the UDWT-based multiresolution image analysis and
describes its use on the difference image to generate the vector-
valued difference image for conducting change detection.
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Fig. 1. One-level lter bank implementation of the UDWT. (a) Forward
transform. (b) Inverse transform.
Section III provides a necessary background on the level sets
and briey describes the general framework of the region-
based geometric active contour method. The ChanVese active
contour model for the vector-valued difference image is then
described. Section IV describes the proposed unsupervised
change detection algorithm. Section V describes the test data
sets, the quantitative measures employed for conducting the
change detection performance evaluation, the implementation
details of the different change detection techniques used in our
experiments, and the experiments. Section VI concludes this
paper.
II. MULTIRESOLUTION ANALYSIS USING UDWT
The multiresolution representation of the image X is ob-
tained by applying the forward and then inverse UDWTs with
further processing on the wavelet subbands to create X
MR
=
{X
0
, X
1
, . . . , X
s
, . . . , X
S
}, where the subscript s indicates the
resolution index and S is the maximum number of the resolu-
tion levels targeted to achieve. The resolution 0 corresponds to
the input image itself, i.e., X
0
= X. The images with a lower
value of resolution index s are more affected by noise; however,
they are inherited with a large amount of details of the image
content. On the other hand, the image with a higher value of
resolution index s contains much reduced noise interference
and less image content details.
The s-level UDWT decomposition of image X creates four
subbands at each level of decomposition; in symbols, for the kth
level, they are labeled as X
k,ll
, X
k,lh
, X
k,hl
, and X
k,hh
, where
k = 1, 2, . . . , s. The baseband X
k,ll
is generated by conducting
low-pass ltering (l) along the rows, followed by performing
the same operation along the columns. The remaining subbands
X
k,lh
, X
k,hl
, and X
k,hh
are the decomposed high-frequency
subbands that are produced by performing low-pass (l) (or
high-pass (h)) along the rows and then high-pass (h) (or
low-pass (l)) ltering along the columns. To obtain the next
level of subband decomposition, only the baseband generated
at level k will be decomposed into four subbands for level
k + 1. For example, as shown in Fig. 1(a), the subband X
k,ll
is further decomposed to produce X
k+1,ll
, X
k+1,lh
, X
k+1,hl
,
and X
k+1,hh
. This process will be recursively repeated to the
current baseband until the targeted nal level (i.e., k = s) is
reached.
In summary, the UDWT decomposition is realized by recur-
sively applying the aforementioned procedure to the baseband
X
k,ll
, where X
0,ll
= X, i.e.,
X
k+1,ll
(i, j)=
N
k,l
1

m=0
N
k,l
1

n=0
l
k
(m)l
k
(n)X
k,ll
(i+m, j+n),
X
k+1,lh
(i, j)=
N
k,l
1

m=0
N
k,h
1

n=0
l
k
(m)h
k
(n)X
k,ll
(i+m, j+n),
X
k+1,hl
(i, j)=
N
k,h
1

m=0
N
k,l
1

n=0
h
k
(m)l
k
(n)X
k,ll
(i+m, j+n),
X
k+1,hh
(i, j)=
N
k,h
1

m=0
N
k,h
1

n=0
h
k
(m)h
k
(n)X
k,ll
(i+m, j+n)
where N
k,l
and N
k,h
are the lengths of the low-pass lter l
k
and the high-pass lter h
k
, respectively. At each decompo-
sition level, the impulse response of the low-pass and high-
pass lters are upsampled by a factor of two. Thus, the lter
coefcients l
k+1
and h
k+1
for computing the subbands at
level k + 1 are obtained by applying an interpolation operation
to the lter coefcients (i.e., l
k
and h
k
) at level k. That is,
2
k1
zeros are inserted between the lter coefcients used
to compute the subbands at the lower resolution level [13],
i.e., l
k
(n) = h(n/2
k
), if n/2
k
is an integer and 0 otherwise.
For example, we have l
1
= [. . . , l(1), 0, l(0), 0, l(1), . . .], and
h
1
= [. . . , h(1), 0, h(0), 0, h(1), . . .].
The inverse UDWT (IUDWT) for the reconstruction of the
input image Xis obtained by applying the previously described
steps in the reverse order. That is, the subbands

X
k+1,ll
,
X
k+1,lh
, X
k+1,hl
, and X
k+1,hh
at level k + 1 are used to
reconstruct the approximation subband

X
k,ll
at the level k by
applying a low-pass lter

l
k
and a high-pass lter

h
k
along the
rows and the columns of the subbands alternatively as shown in
Fig. 1(b), i.e.,

X
k,ll
(i, j)=
N
k

l
1

m=0
N
k

l
1

n=0

l
k
(m)

l
k
(n)

X
k+1,ll
(i+m, j+n)
+
N
k

l
1

m=0
N
k

h
1

n=0

l
k
(m)

h
k
(n)X
k+1,lh
(i+m, j+n)
+
N
k

h
1

m=0
N
k

l
1

n=0

h
k
(m)

l
k
(n)X
k+1,hl
(i +m, j +n)
+
N
k

h
1

m=0
N
k

h
1

n=0

h
k
(m)

h
k
(n)X
k+1,hh
(i+m, j+n)
where N
k

l
and N
k

h
are the lengths of the low-pass lter

l
k
and
the high-pass lter

h
k
at level k, respectively. The reconstruc-
tion was iteratively applied starting from the last level (s) of the
decomposition, where

X
s,ll
= X
s,ll
.
The lter bank needs only to verify the perfect reconstruction
condition [13], i.e.,
l(n) =(1)
n1

h(1 n)

l(n) =(1)
n1
h(1 n)
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which means that the reconstructed signal

X =

X
0,ll
is exactly
the same as the decomposed signal X = X
0,ll
, i.e.,

X = X.
The IUDWT is then applied to the s-level UDWT decom-
posed input image to reconstruct a realization X
s
of the input
image X. In the reconstruction, the baseband, together with the
subbands containing the vertical and horizontal details at each
level, is kept, and the subbands with very high details are set to
zero, i.e., X
k,hh
(i, j) = 0, where k = 1, 2, . . . , s.
III. CHANVESE ACTIVE CONTOUR MODEL
FOR BINARY SEGMENTATION
The ChanVese algorithm [10] is a region-based segmenta-
tion algorithm which is based on the ideas of contour evolution,
the MumfordShah functional [14], and the level sets of Osher
and Sethian [15]. This algorithm has several advantages [10]:
1) Since the gradient-based information is replaced by a crite-
rion which is related to region homogeneity, it can detect the
region contours with and without strong gradient information;
2) it is able to detect interior contours; 3) the initial curve
does not necessarily have to start around the objects to be
detected and can be placed anywhere in the image instead;
4) it partitions the image into two regions, the detected objects
as the foreground and the rest as the background; and 5) it does
not need to have noise removal preprocessing in advance.
The ChanVese segmentation algorithm can be applied to the
scalar-valued images [10] as well as to the vector-valued images
[12], which is adopted in this paper.
A. ChanVese Model for Scalar-Valued Images
Let R
2
be a bounded open subset and X : R be a
difference image which consists of two homogenous regions

1
and
2
; i.e., =
1

2
. The ChanVese algorithm
nds a contour C that partitions the difference image into
two regions,
1
and
2
, that describe an optimal piecewise
constant approximation of the image.
The contour C is determined by minimizing the segmenta-
tion energy [10]
E(C, c
1
, c
2
) =
1
_

1
(X(x, y) c
1
)
2
dxdy
+
2
_

2
(X(x, y) c
2
)
2
dxdy +Length(C) (1)
where c
1
and c
2
represent the average intensities in the regions

1
and
2
, respectively, and
1
,
2
> 0 and > 0 are the
weighting parameters for the tting terms and regularization
term, respectively.
The ChanVese algorithm does not use any control points
or interpolation to represent the contour C; instead, it exploits
the level sets of Osher and Sethian [15]. The contour C is
represented as the zero level set of function over domain ,
which satises the following conditions:
_
< 0 in
1
= 0 on C
> 0 in
2
.
Using the Heaviside function H, which is dened by
H(z) =
_
1, if z 0
0, if z < 0
and its distributional derivative (z) = dH(z)/dz, one can
rewrite the energy function (1) as follows:
E(, c
1
, c
2
) =
_

1
(X(x, y) c
1
)
2
(1 H ((x, y)))
+
2
(X(x, y) c
2
)
2
H ((x, y))
+ ((x, y)) |H ((x, y))|
_
dxdy.
The energy functional E(, c
1
, c
2
) can be minimized with re-
spect to the constants c
1
and c
2
, for a xed , according to [10]
_
c
1
= (X), for 0
c
2
= (X), for < 0
where (X) computes the average of the pixel intensity values
of X for a given region of interest. Using the gradient descent
method, the EulerLagrange equation for can be established
by minimizing the energy functional E(, c
1
, c
2
) with respect
to , for xed c
1
and c
2
, which is governed by the mean
curvature and the error terms (see [10] for more details).
B. Extending the Model to the Vector-Valued Images
Let X
s
be the sth channel of a vector-valued image on
(where s = 0, 1, . . . , S) and C be the evolving curve. Let

c
1
= [c
0
1
, c
1
1
, . . . , c
S
1
] and

c
2
= [c
0
2
, c
1
2
, . . . , c
S
2
] be the unknown
constant vectors.
The extension of the ChanVese model to the vector-valued
image is [12]
E(C,

c
1
,

c
2
) =
1
S
S

s=0

s
1
_

1
(X
s
(x, y) c
s
1
)
2
dxdy
+
1
S
S

s=0

s
2
_

2
(X
s
(x, y) c
s
2
)
2
dxdy
+Length(C) (2)
where
s
1
,
s
2
> 0 and > 0 are the weighting parameters
and the active contour C becomes the boundary between the
two regions
1
and
2
[12]. The model looks for the best
approximation of vectors

c
1
and

c
2
[12]. However, note that
this model can only detect the edges presented in at least one of
the channels but not necessarily in all channels.
As presented in [12], the level set form of (2) is
E(C,

c
1
,

c
2
)=
_

_
((x, y)) |H((x, y))|
+
1
S
S

s=0

s
1
(X
s
(x, y)c
s
1
)
2
(1H((x, y)))
+
1
S
S

s=0

s
2
(X
s
(x, y)c
s
2
)
2
H((x, y))
_
dxdy
(3)
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where the parameter is the weight for adjusting the contri-
bution based on the length of the curve C and the coefcient
vector

= (
0
1
, . . . ,
S
1
,
0
2
, . . . ,
S
2
) denotes the weights for
the error terms. In order to lter the high-frequency noise, a
large and/or a small

are necessary for the model. On
the other hand, in order to detect the objects boundary more
accurately, larger coefcients

are necessary.
The energy functional E(C,

c
1
,

c
2
) can be minimized with
respect to the constants c
s
1
and c
s
2
, for s = 0, 1, . . . , S, for a
xed , according to
c
s
1
=
1

X
s
(x, y)H ((x, y)) dxdy
c
s
2
=
1

X
s
(x, y) (1 H ((x, y))) dxdy
where =
_

H((x, y))dx dy is a normalization term.

The minimization of E(C,

c
1
,

c
2
) with respect to , for
xed vectors

c
1
and

c
2
, yields the following EulerLagrange
equation for (parameterizing the descent direction by using
an articial time variable t) [12]

t
=

_
div
_

||
_

1
S
S

s=0

s
1
(X
s
c
s
1
)
2
+
1
S
S

s=0

s
2
(X
s
c
s
2
)
2
_
in , with the boundary condition [12]

()
||

n
= 0
on boundary , where

n denotes the unit normal vector at
the boundary of and

is the distributional derivative of the

regularized Heaviside function H

[12].
IV. PROPOSED CHANGE DETECTION ALGORITHM
Let us formulate the change detection problem by consider-
ing two images, X
1
= {x
1
(i, j)|1 i H, 1 j W} and
X
2
= {x
2
(i, j)|1 i H, 1 j W}, with a size of H
W pixels acquired at the same geographical area but at two
different time instances, respectively. Let us further assume
that such images have been registered with respect to each
other [2]. The main objective of the change detection is to
generate a binary change detection map CM= {cm(i, j)|1
i H, 1 j W}, where cm(i, j) {0, 1}, based on the
difference image X = {x(i, j)|1 i H, 1 j W} com-
puted from two input images, X
1
and X
2
. The pixel value at
the spatial location (i, j) of the change detection map is labeled
as 0 where the corresponding pixel position is identied as
changed (hence, 1 for unchanged).
The proposed change detection method consists of three
stages (as shown in Fig. 2). They are detailed as follows. The
difference image can be computed differently according to the
physical nature of the input image. For the optical images, X
can be computed pixelwise as the absolute-valued difference
Fig. 2. Proposed unsupervised change detection algorithm.
of the intensity values of the two images under comparison
[4], i.e.,
x(i, j) = |x
2
(i, j) x
1
(i, j)| .
On the other hand, when the input satellite images are the
synthetic aperture radar (SAR) images, X can be computed
likewise by using the logarithm operation to enhance the low-
intensity pixels [7], i.e.,
x(i, j) =

log
x
2
(i, j)
x
1
(i, j)

(4)
where log stands for the logarithm with the natural base. In this
paper, each pixel value of the difference image X is further
normalized according to
x(i, j) =
x(i, j) min(X)
max(X) min(X)
255 (5)
to ensure that they are in the range of [0, 255], i.e., x(i, j)
[0, 255], where the functions min() and max() nd the min-
imum and maximum values of the input difference image X,
respectively.
The second step of the proposed method aims at building
a multiresolution representation of the difference image X,
denoted as
X
MR
= {X
0
, . . . , X
s
, . . . , X
S
}
where the superscript s, for s = 0, 1, . . . , S, indicates the res-
olution level. The value of S provides a tradeoff between
the spatial detail preservation and the noise reduction. To be
specic, a higher value of S will yield more noise reduction
through low-pass ltering but at the expense of sacricing the
image details. Conversely, a lower value of S will be strongly
affected by the noise while preserving more image details. To
demonstrate, a multiresolution representation of the difference
image with S = 5 is shown in Fig. 3.
The multiresolution representation X
MR
of the difference
image X is used to generate the change detection map accord-
ing to the ChanVese segmentation algorithm for the vector-
valued image. The proposed method iteratively nds the nal
change detection map based on all the images in X
MR
. For this,
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Fig. 3. Multiresolution representation of the difference image X with ve
multiresolution levels (i.e., S = 5). (a) Difference image X (or X
0
). (b) X
1
.
(c) X
2
. (d) X
3
. (e) X
4
. (f) X
5
.
a proper initialization of the proposed method is needed, i.e.,
the weighting parameters

, the smoothness parameter , and
the number of multiresolution levels S. The stopping criterion
for the iterative algorithm is formulated as follows. If the zero-
level set of remains unchanged in the consecutive iterations,
then the algorithm is declared converged. Alternatively, the
convergence can also be monitored by calculating the energy of
(3); however, this approach is not used in this paper.
In (3), the parameters
s
1
and
s
2
determine the degree of
contributions from X
s
, where s = 0, 1, . . . , S, in the nal
result. In [12], the regularization parameters

are used to
lter the high-frequency noise from different channels. In our
case, we constantly set
s
1
= 1 and
s
2
= 1 to weight each
realization of the multiresolution equally. The parameter
controls the smoothness of the contour and, thus, the sharpness
of the boundaries of the segmented regions. The setting of
is somewhat empirical as it weights the contribution of the
smoothness term against the contribution of the data-driven
term. However, the simulation results do not seem to be very
sensitive to the value of which only needs to be adjusted
within the permissible operational range for a given type of
input satellite images. Because of the normalization operation
employed on the difference image according to (5), the type
of the input satellite images does not affect the value setting
of . The value of is set as = 5 10
4
255
2
for the
input images as suggested by Chan and Vese [10]. The number
of multiresolution levels is set to three (i.e., S = 3) and used
in all our simulation experiments. The Haar wavelet lters are
employed in the UDWT implementation.
The initialization of the algorithm is achieved with a set of
circles uniformly distributed over the entire image as shown
in Fig. 4(a). It can be observed from Fig. 4 that the proposed
method is able to iteratively ne tune the initial contour toward
the nal change detection map. The contour evolution is robust
to different initializations. However, initializing with an array of
circles uniformly distributed over the entire image effectively
speeds up the convergence compared to the conventional way
by initializing with a single large closed curve. Some interme-
Fig. 4. Contour evolution of the proposed change detection method on X
MR
as shown in Fig. 3 through different numbers of iterations. (a) Initialization.
(b) Iteration 100. (c) Iteration 200. (d) Iteration 300. (e) Iteration 400.
(f) Iteration 500.
diate results of the contour evolution are shown in Fig. 4(b)(f)
at different numbers of iterations.
V. EXPERIMENTAL RESULTS
A. Data Sets
In order to assess the effectiveness of exploiting the UDWT-
based multiresolution representation of the difference image
for change detection, we experimented on few multitemporal
satellite image data sets acquired from a geographical area of
Alaska and of the city of San Francisco in California.
The rst data set is available from [16], which contains a
very high resolution (7713 7749 pixels) set of SAR images
collected on the city of San Francisco, California. Two of them
are chosen for our simulation experiments which were acquired
on August 10, 2003 and May 16, 2004 by the ESA ERS-2
satellite. The instruments pixel resolution is 25 m [17]. A
small area with 512 512 pixels is selected from two very
high resolution images and presented in Fig. 5(a) and (b),
respectively. The ground truth of the change detection map
which is shown in Fig. 5(c) was manually created based on the
input images shown in Fig. 5(a) and (b).
The second data set is available from [18], which con-
tains a high resolution (1305 1520 pixels) set of multi-
spectral images collected on a geographical area of Alaska.
Two of them are chosen for our simulation experiments
which were acquired by Landsat-5 Thematic Mapper (TM) on
July 22, 1985 and July 13, 2005, respectively. A small area with
1024 1024 pixels is selected from two high resolution images
and presented in Fig. 5(d) and (e), respectively. The Landsat-5
TM provides optical imageries using seven spectral bands,
Bands 17. The instruments pixel resolution is 30 m for all
bands except in Band 6 which has a 120-m resolution. The
visible Band 1 is selected for our simulation experiments. The
ground truth of the change detection map which is shown in
Fig. 5(f) was created by the manual analysis of the input images
based on Fig. 5(d) and (e).
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Fig. 5. Data sets used in the experiments. (a) ESAERS-2 SARimage acquired
on August 10, 2003. (b) ESA ERS-2 SAR image acquired on May 16, 2004.
(c) Manually created ground truth of the change detection map yielded based
on (a) and (b). (d) Landsat-5 TM Band 1 optical image acquired on July 22,
1985. (e) Landsat-5 TM Band 1 optical image acquired on July 13, 2005.
(f) Manually created ground truth of the change detection map yielded based
on (d) and (e).
The histograms of the difference images computed from the
two SAR images [i.e., Fig. 5(a) and (b)] and the two optical
images [i.e., Fig. 5(d) and (e)] are shown in Fig. 6(a) and
(b), respectively. As can be seen from Fig. 6(a), the separation
between the changed and unchanged classes is not very clear.
This makes it difcult to partition the difference image into two
such classes. On the other hand, one can observe two peaks in
Fig. 6(b), and they are far apart from each other. This makes it
much easier to separate the difference image into two classes for
conducting the change detection by simply using an appropriate
threshold value.
B. Quantitative Measures
For performing the evaluation, both the quantitative and
qualitative measurements are conducted. For the former, once
the binary change detection map has been obtained by using a
change detection method, the following dened quantities are
computed for comparing the computed change detection map
against the ground truth change detection map.
1) False Alarm (FA): The number of actually unchanged
pixels that were incorrectly determined as changed ones.
The false alarm rate P
FA
is computed in percentage as
P
FA
= FA/N
1
100%, where N
1
is the total number
of unchanged pixels counted in the ground truth change
detection map.
2) Miss Detection (MD): The number of actually changed
pixels that were missed out on their detections and
mistakenly determined as unchanged ones. The missed
detection rate P
MD
is counted in percentage as P
MD
=
MD/N
0
100%, where N
0
is the total number of
changed pixels counted in the ground truth change de-
tection map.
3) Total Error (TE): The total number of incorrect deci-
sions made, which is the sum of the false alarms and
Fig. 6. Histograms of the difference images which resulted from two test
images obtained from two different data sets. (a) SAR image data set.
(b) Optical image data set.
the missed detections. Hence, the total error rate P
TE
in
percentage is computed as P
TE
= (FA+MD)/(N
0
+
N
1
) 100%.
C. Implementation of Change Detection Methods
There are two methods presented in [4] to produce the change
detection map based on the analysis of the difference im-
age: 1) the Expectation-Maximization (EM)-based thresholding
method and 2) the MRF-based thresholding method. The for-
mer is free from using any parameters while the latter depends
on a regularization parameter that inuences the spatial-
contextual information for the change detection process. In this
paper, = 1.67 is empirically determined for the experiments.
We implement the change detection techniques of Bovolo
and Bruzzone [7] using the same set of parameters as presented
in [7], which consists of three major steps: 1) obtaining a multi-
resolution representation of the log-ratio image as described in
[7]; 2) identifying the number of reliable scales; and 3) produc-
ing the nal change detection map according to a scale-driven
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CELIK AND MA: MULTITEMPORAL IMAGE CHANGE DETECTION USING 713
TABLE I
FALSE ALARMS, MISS DETECTIONS, AND TOTAL ERRORS (IN NUMBER
OF PIXELS AND IN PERCENTAGE) WHICH RESULTED FROM THE
PROPOSED CHANGE DETECTION METHOD WITH DIFFERENT
VALUES OF S EXPERIMENTED ON THE SAR TEST
IMAGES SHOWN IN FIG. 5(a) and (b)
fusion strategy. According to the scale-driven fusion strategy,
three fusion techniques are proposed in [7]: 1) the fusion at
the decision level by an optimal scale selection (FDL-OSS);
2) the fusion at the decision level on all reliable scales (FDL-
ARS); and 3) the fusion at the feature level on all reliable
scales (FFL-ARS). It is reported in [7] that the FFL-ARS
approach outperforms the other two methods. Because of this,
we only compare the performance of the FFL-ARS approach
[7]. The change detection using the FFL-ARS approach [7]
requires manual settings for the thresholds which are used for
thresholding the reconstructed images from the approximation
subbands of the UDWT decomposition of the log-ratio image,
from the number of scales used in the UDWT decompositions,
and from the local window size that is used for nding the
reliable scales for each pixel. All parameters are exhaustively
searched for the input SAR images shown in Fig. 5(a) and
(b) and for the optical images shown in Fig. 5(d) and (e) by
minimizing the total errors yielded by taking the difference
of the change detection results of the FFL-ARS approach and
the ground truth change detection maps shown in Fig. 5(c)
and (f). The optimum value of the maximum number of the
decomposition levels used in the UDWT decomposition of the
log-ratio image is found to be six.
We implement the change detection methods presented in
[6], [8], and [9], and the parameters required for the imple-
mentations are settled at the minimum error yielded between
the resultant change detection map (from the methods in [6],
[8], and [9], respectively) and the ground truth change de-
tection map.
D. Effect of the Maximum Number of Scales
The proposed method exploits a multiresolution representa-
tion of the difference image X; hence, the maximum number
of resolution levels S used will affect the change detection
performance result. The proposed change detection method
with different values of S is experimented on the input SAR
images and optical images shown in Fig. 5.
The input SAR images shown in Fig. 5(a) and (b) are noisy,
and the change detection performance of the proposed method
improves when the value of S gets larger. This can be seen from
the quantitative results tabulated in Table I as well as the qual-
itative results as shown in Fig. 7. When S = 0, the proposed
method performs only on the difference image itself, which can
be viewed as the performance of the scalar-valued ChanVese
Fig. 7. Change detection results by using the proposed change detection
method with different values of S experimented on the SAR test images shown
in Fig. 5(a) and (b). (a) S = 0. (b) S = 1. (c) S = 2. (d) S = 3. (e) S = 4.
(f) S = 5.
TABLE II
FALSE ALARMS, MISS DETECTIONS, AND TOTAL ERRORS (IN NUMBER
OF PIXELS AND IN PERCENTAGE) WHICH RESULTED FROM THE
PROPOSED CHANGE DETECTION METHOD WITH DIFFERENT
VALUES OF S EXPERIMENTED ON THE OPTICAL TEST
IMAGES SHOWN IN FIG. 5(d) and (e)
model. It is clear that the performance inproves for S > 0. That
is, the performance of the scalar-valued ChanVese model is
improved by using the vector-valued ChanVese model on a set
of images obtained from the multiresolution representation of
the difference image, at the expense of a higher computational
cost. The performance of the proposed system starts to degrade
when the difference image is oversmoothed which results in
high degradations on the image details. According to Table I,
S = 3 yields the best performance.
The test results using the optical images shown in Fig. 5(d)
and (e) are tabulated in Table II and shown in Fig. 8. Unlike
the test results based on the SAR images, the test results on
the optical images show that the performance of the proposed
method is less sensitive for different values of S. This is
mainly due to the fact that the difference image computed from
the optical images can be easily separated into two distinct
regions, as shown from the histogram of the difference image
in Fig. 6(b), which has two peaks that can be easily separated
from each other.
The test results show that the change detection performance
obtained by exploiting different values of S offers various
tradeoffs between the spatial-detail preservation and the noise
reduction. In particular, images with a lower value of S are
more subject to noise interference while preserving more details
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Fig. 8. Change detection results by using the proposed change detection
method with different values of S experimented on the optical test images
shown in Fig. 5(d) and (e). (a) S = 0. (b) S = 1. (c) S = 2. (d) S = 3.
(e) S = 4. (f) S = 5.
TABLE III
FALSE ALARMS, MISS DETECTIONS, AND TOTAL ERRORS
(IN NUMBER OF PIXELS AND IN PERCENTAGE) RESULTING FROM
DIFFERENT CHANGE DETECTION METHODS EXPERIMENTED
ON THE SAR TEST IMAGES SHOWN IN FIG. 5(a) and (b)
of the image content. On the contrary, images with a higher
value of S are less susceptible to noise interference but sacrice
more degradations on the image details.
E. Change Detection Performance Tests on Data Sets
The quantitative and qualitative change detection results
obtained from different methods for the SAR images shown
in Fig. 5(a) and (b) are tabulated in Table III and shown in
Fig. 9(a)(f), respectively. The proposed method only yields
a 1.29% total erroneous decision rate (i.e., a 98.71% correct
detection rate).
Based on Fig. 9, one can observe that the change detection
results obtained from the EM-based method [4] and the MRF-
based method [4] are far from satisfactory. This is mainly due
to the fact that the Gaussian model assumed in [4] fails to pro-
vide accurate data modeling for the difference image in these
methods. The performance improvement of Celik and Ma [8] is
apparent compared with that of Bruzzone and Prieto [4]. This is
mainly due to the transformation from the image domain to the
DT-CWT domain, resulting in the data distribution of wavelet
coefcients better modeled by the Gaussian model. On the
other hand, the change detection results provided by Celik [6],
Bovolo and Bruzzone [7], Celik [9], and these methods are all
quite accurate. This is mainly due to the fact that these methods
Fig. 9. Change detection maps which resulted by using different methods
experimented on the SAR test images shown in Fig. 5(a) and (b). (a) Ground
truth change detection map. (b) EM-based method [4]. (c) MRF-based method
[4]. (d) Method of Celik [6]. (e) Method of Bovolo and Bruzzone [7].
(f) Method of Celik and Ma [8]. (g) Method of Celik [9]. (h) Proposed method.
do not depend on any data modeling approach. That is, the
discrimination between the changed and unchanged regions of
the difference image is achieved by using the difference image
itself without incorporating any assumption. The performance
degradation of the change detection results from [6] and [9]
with respect to the proposed method is mainly caused by the
block processing employed in [6] and [9]. Such a process results
in incorrect detection around the region boundaries between the
changed and unchanged regions. It is worthwhile to mention
that the result provided by Bovolo and Bruzzone [7] is achieved
by nding an optimum threshold set with respect to the mini-
mum error between the change detection map of Bovolo and
Bruzzone [7] and the ground truth change detection map shown
in Fig. 5(c). In reality, such a process is infeasible since the
ground truth change detection map is generally not available.
Consequently, the performance will be degraded because of the
nonoptimal threshold used.
The change detection results on the optical image data set
are tabulated in Table IV and shown in Fig. 10. The method
of Bovolo and Bruzzone [7] is designed for the SAR images;
thus, the change detection performance on the optical images is
not reported in [7]. Meanwhile, the proposed method delivers
a very similar performance as that in [4], [6], and [9]. As
can be seen from the histogram in Fig. 6(b), the data dis-
tribution of the difference image computed from the optical
images consists of two peaks which can be easily modeled as
a mixture of two Gaussians. This validates the data modeling
of Bruzzone and Prieto [4] and Celik and Ma [8] which results
in attractive performance. The proposed method yields the best
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TABLE IV
FALSE ALARMS, MISS DETECTIONS, AND TOTAL ERRORS (IN NUMBER
OF PIXELS AND IN PERCENTAGE) RESULTING FROM DIFFERENT
CHANGE DETECTION METHODS EXPERIMENTED ON THE
OPTICAL TEST IMAGES SHOWN IN FIG. 5(d) and (e)
Fig. 10. Change detection results by using different methods experimented
on the optical test images shown in Fig. 5(d) and (e). (a) Ground truth
change detection map. (b) EM-based method [4]. (c) MRF-based method [4].
(d) Method of Celik [6]. (e) Method of Celik and Ma [8]. (f) Method of Celik
[9]. (g) Proposed method.
performance, i.e., only a 0.34% total erroneous decision rate
(i.e., a 99.66% correct detection rate). Furthermore, since the
proposed method does not make any assumption on the data
modeling, it becomes more applicable for general purpose
change detection applications.
F. Effect of Wavelet Filters
To study the change detection performance which resulted by
employing different lengths of wavelet lters, the Daubechies
wavelet lters with different lengths are tested on the opti-
cal images, and the change detection results are tabulated in
Table V. In Table V, the index i in dbi indicates half of the lter
length; for example, the actual lter lengths of lters db1 and
db4 are two and eight, respectively. The experimental simula-
tion results show that the proposed method delivers almost the
same performance regardless of the length of the Daubechies
TABLE V
FALSE ALARMS, MISS DETECTIONS, AND TOTAL ERRORS (IN NUMBER
OF PIXELS AND IN PERCENTAGE) RESULTING FROM THE PROPOSED
CHANGE DETECTION METHOD WITH DIFFERENT DAUBECHIES (DB)
WAVELET FILTERS EXPERIMENTED ON THE OPTICAL
TEST IMAGES SHOWN IN FIG. 5(d) and (e)
wavelet lter used, although the performance of the proposed
method slightly degrades when the lter length increases. This
is mainly due to the blurring effect which resulted from the use
of lters with a longer length. However, it is clear from Table V
that this performance degradation is negligibly small.
VI. CONCLUSION
In this paper, an unsupervised change detection method
is proposed and applied to multitemporal SAR and optical
images. It combines the multiresolution analysis of the differ-
ence image and an active contour model for the vector-valued
images. The UDWT is exploited to obtain a multiresolution
representation of the difference image. The proposed method
works without incorporating any a priori assumption on the dis-
tribution of the difference image data. This makes it applicable
for a wide range of change detection applications on different
types of input satellite images.
The number of representation scales used in the multiresolu-
tion representation of the difference image is the only parameter
that needs to be selected, without involving any data modeling.
The change detection results obtained by exploiting different
values of representation scales show various tradeoffs yielded
between the spatial-detail preservation and the noise reduction.
It is worth mentioning that the proposed method works quite
well on a large set of images based on three scales of the multi-
resolution representation. Furthermore, the proposed method
performs almost the same for different types of Daubechies
wavelet lters.
Because of the region-based active contour segmentation
employed in segmenting the multiresolution representation of
the difference image, the proposed method achieves accurate
decision on the boundary of the changed and unchanged re-
gions. Furthermore, the use of the level set on the active
contours with a novel initialization scheme makes the proposed
method require moderate computational time.
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Turgay Celik received the Ph.D. degree in elec-
trical and electronic engineering from Eastern
Mediterranean University, Gazimagusa, Turkey.
He is currently a Research Fellow with the
Department of Chemistry, National University of
Singapore, Singapore, and with the Computer Vi-
sion and Pattern Discovery Group, Bioinformatics
Institute, Agency for Science, Technology and Re-
search, Singapore, Singapore. He has produced ex-
tensive publications in various international journals
and conferences. His research interests include bio-
physics, digital signal, image and video processing, pattern recognition, and ar-
ticial intelligence. These include uorescent microscopy, digital image/video
coding, wavelets and lter banks, image/video processing, content-based image
indexing and retrieval, and scene analysis and recognition.
He has been a Reviewer for various international journals and conferences.
Kai-Kuang Ma (S80M84SM95) received the
B.E. degree in electronic engineering from Chung
Yuan Christian University, Chung Li, Taiwan, the
M.S. degree in electrical engineering from Duke
University, Durham, NC, and the Ph.D. degree in
electrical engineering from North Carolina State
University, Raleigh.
He is currently a Full Professor with the School
of Electrical and Electronic Engineering, Nanyang
Technological University, Singapore, Singapore.
From 1992 to 1995, he was a Member of the Tech-
nical Staff at the Institute of Microelectronics, Singapore, where he worked on
digital video coding and the MPEG standards. From 1984 to 1992, he was with
the IBM Corporation, Kingston, NY, and with Research Triangle Park, NC,
where he was engaged on various DSP and VLSI advanced product develop-
ment. He has produced extensive publications in various international journals,
conferences, and MPEG standardization meetings. He is the holder of one U.S.
patent on a fast motion estimation algorithm. His research interests include
digital signal and image and video processing. These include digital image/
video coding and standards, wavelets and lter banks, image/video processing,
denoising, superresolution, error resilience and concealment, content-based
image indexing and retrieval, and scene analysis and recognition.
Dr. Ma is a member of Eta Kappa Nu. He was the Chairman and the Head
of Delegation of the Singapore MPEG (19972001). He was the Chairman of
the IEEE Signal Processing Society Singapore Chapter (20002002). He has
been actively contributing various technical services for numerous international
conferences, particularly as the Technical ProgramCochair of the IEEE Interna-
tional Conference on Image Processing 2004 and the International Symposium
on Intelligent Signal Processing and Communication Systems 2007. He is
currently an (Associate) Editor or Editorial Board Member of six international
journals: the IEEE TRANSACTIONS ON IMAGE PROCESSING (since 2007),
the IEEE TRANSACTIONS ON COMMUNICATIONS (since 1997), the IEEE
TRANSACTIONS ON MULTIMEDIA (since 2002), the International Journal of
Image and Graphics (since 2002), the Journal of Visual Communication and
Image Representation (since 2005), and the Research Letters in Signal Process-
ing (since 2008). He is an elected member of three technical committees: the
Image and Multidimensional Signal Processing Committee of the IEEE Signal
Processing Society, the Multimedia Communications Committee of the IEEE
Communications Society, and the Digital Signal Processing Committee of the
IEEE Circuits and Systems Society. He is a Distinguished Lecturer in the IEEE
Circuits and Systems Society (20082009).
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