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TRANSACTIONS
ON ACOUSTICS, SPEECH, AND SIGNAL PROCESSING, VOL. ASSP-30, NO. 1 , FEBRUARY 1982
INTRODUCTION
HEN digital image processing became a viable area of
research in the early sixties, a lot of effort was directed
towards image restoration, image coding, and feature extraction (mainly edge detection). A basic tool in this context has
alwaysbeen image filtering. Theimplementation of two-dimensional(2-D)filters
using general-purposecomputers was
firstinvestigated.Fouriertechniques
using the fastFourier
transform algorithm were adapted to the 2-D case. Problems
related to image transposition and overlap-save techniques were
studied (see Ekstrom and Mitra [ 11). Recursive filters have
great potentiality in computational savings, thus a great amount
of work was done to solve problems related to the 2-D structure of 2-D recursive filters (see Huang [2], Abramatic et al.
[3]). Recent developments in hardware technology suggest a
study of 2-D filters that can be adapted to real-time image convolution. More precisely, modern
image display systems (see
Pratt[4])
are able to performccsmall size convolutions
at TV rates. Herewe study various classes of 2-D finite impulse response (FIR) filters that have large size impulse responses but can be implemented by sequentially using small
size operators. Mecklenbraiiker and Mersereau [ 5 ] first studied
the implementation of 2-D finite impulse response (FLR) filters designed by means of the McClellan transformation. They
showed howonecouldimplementthesefilters
by using se-quentialconvolutiontechniques.Startingfromimplementation rather than design issues, we will define various classes of
2-D FIR filters that will be larger than the classes of FIR filters designed by the generalized McClellan transformation. We
will propose design algorithms for these classes of filters based
upon the minimization of L 2 and 1;criteria. We will assess
implementation schemes of these frlters in animage processing
context.
1. h ,K FILTERS:DEFINITIONS
AND PROPERTIES
The SGK Concept
Implementation schemes for I-D FIR f$ rers have been widely
investigated (Oppenheim-Schafer [ 6 ] ) , 3abiner-Gold[7]).
When fixed-pointarithmetic is used, tl , m a d e structure is
recommended as it allows tuning of the ,.:plementation, prevents overflow errors, and minimizes roundoff errors. IfH(z)
denotes &kez-transformofthe real taluedimpulseresponse
h(k) of ! .D filter
c1
Q,
H(z) =
h(k) Z-k
(11)
k=-Q,
n
Q
Pi(Z)
(12)
i= 1
where
Pi@) = a!,z-l
t a; t afz.
(13)
polynomials with real or complex conjugate coefficients. Gathering conjugate complex coefficients
and pairs of real coefficients leads to (12). The cascade implementation of I-D FIR
filters can then be described as in Fig. 1
When fixed-point arithmetic is used, one can take advantage
of this implementation scheme. Carefully ordering
the Pi(z)
can reduce the overall roundoff error. Scaling the Pi(z) while
preserving the overall gain may avoid overflow errors. Finally,
we want to emphasize that the number of arithmetic
operations required is 3Q, while the direct implementation requires
2 Q t 1 operations. The use of such a schemewill thus be interesting when fixed-point arithmetic implementation is enforced.
Another reason for using the cascade structure may be that the
scheduling of the implementation allows one to perform, say,
three operations at a time rather than 2Q t 1.
In the 2-D case, the problem is quite different. The decomposition of (12) is not available in general for 2-D z-transform
H(z, ,zz). This is related to the fact that 2-D polynomials of
degree n have, in general, an infinite noncountable number of
Manuscript received October 29, 1980;
revised June 22, 1981.
J.-F. Abramatic is withtheInstitutNationaldeRecherche,en
In- zeros. We are thus led t o consider the 2-D FIR filters whose
formatique et en Automatique, Domaine
deVoluceau-Rocquencourt,
transferfunctionsaredecomposable.
We thus define various
2
INPUT
INPUT
O(ITPVT
+-=*-p
OUTPUT
INPUT
__
- -
4
-
+-:-=-+j
__
Fig. 3. Implementationofan
OUTPUT
~
SGK filterderived
transformation.
from a McClellan
classes of 2-D FIR filters that we call small generating kernels (SGK) filters. Referring to (I2), the first class called basic
SGK filters is defined as follows.
A 2-D FIR filter belongs to the class of basic SGK filters if
its transfer function can be writtenas
where
AND ABRAMATIC
WrPUT
h
i
&=+ I
Comparing (113) and (16) indicates that 2-D FIR filters derived by McClellan transformations have the sequentialconvolution property (for more details see [5]). The use of such
transformationsleadstoefficient
design algorithmsfor2-D
FIR filtersespeciallyinthe
case where the shape of the
transferfunctions is nottoo complicated. As anexample,
circular symmetric filters will use a transformation where
P=1
= t(1, I > =
3.
The design of such filters only requiresdesigning the 1-D filter defining the radial characteristics of the 2-D filter. When
the shapegets more complicated, optimization algorithms
are needed to determine t(m, n), and the design procedure becomes more tedious. More details are given in Mersereau et d .
[ l o ] . Ourapproach is somewhatdifferent. We start from a
prototypeand
use approximationtechniques
to findthe
member of the class of SGK filters which minimizes an error
criterion.
MCCLELLAN TRANSFORMATIONS
McClellan transformations are used to design 2-D zero-phase Approximation Techniques for SGK Filters Design
FIR filters from 1-D zero-phase, FIR filters. The basic idea is
Our approach to designing SGK filters consists in solving the
to define a transformation of the 1-D frequency domain into
following approximation problem,
the 2-D frequency domain. If h(n) and H ( e J W )denote the imGiven P and (2,two integers defining the order of the SGK
pulse response and the transfer function of a zero-phase 1-D
filter H ( z , , z 2 ) , thetransferfunction
of aprototype filter
filter, respectively, they are related by
whose impulse response is of size (2PQ t 1) X (2PQ + l), find
Q
H(eiw) = h(0) t
2h(k) cos ok.
(111 1
k= 1
cos o =
t(m,n)
cos m o l cos n o 2.
m = o n=o
and
P(z1 ,z 2 ) =
+P +P
piiz;iz;j.
(116)
-P-P
IEEE TRANSACTIONS
ON
ACOUSTICS,
SPEECH,
I?,
m=o n=o
with
a
apR ( m> n )
H ( N - 1 , N - 1)
. PQ(0,O)
* *
?=
(1110)
and
1,N- 1))
E=(%-H)~@(~A-H)
(I11 1 )
11
(I11 5)
= Re {e(m, n)}
ae
= -1m {e(m, n)}.
apz ( m n )
(1116)
P ( N - 1 , N - l ) * . * P Q ( N -1 , N -
@=diag{W(O,O);..,W(N-
k h : P k - ' ( m , n>
- {?
"-1 i
3 F(m, n ) will
Defining
e ( m ,n ) = 2
Matrix Formulation
Stacking H(m, n), P(m, hk
n),in columns we define
P(0,O)
(1114)
x.
(1117)
Gradient Algorithm
At each iteration,we need to calculate (ae/apii),that is
1) calculate P(m, n). We will not use an FFT algorithm because { pii} is a "small" kernel.
2) Calculate A* using (1112).
3) Calculate e(m, n).
4) Calculate (&lapii). Again we will not use an FFT algorithm.
L m Norm-In the 1-D case, the L" norm is often used in filter design. The approximation problem is then refered to as a
Chebyshevapproximationproblem.Experimentspresented
1s
6PR(m,n ) and Pz(rn, n ) are the real and imaginary parts of P(m, n ) ,
respectively.
{hk};
k = 0,
such that
(1117)
m,n
is minimum, where
(1119)
(I11 8)
where
k=0
(1120)
(1121)
. k = O kXiP,!-(m, n ) W,- ( m i + n i )
i.
(1122)
Design Problem
Designing a general SGK filter consists of solving the following discretized approximation problem.
Given
H(m, nj, the transfer function of the prototype filter,
P, Q two integers defining the order of the SGK filter.
Find
{pp};
1<k<Q
-P<i<tP;
-P<j<tP
such that
f
= / / A ( m n, ) - W m ,
411
(I11 1)
is minimum, where
(1112)
(1116)
with
and
+P
p q m , n) =
+P
(1117)
p;;)W$"+in).
i=-p j=-P
Q.
2 ) k + 1.
3) For L 2 criterion, solve a linear system in (2Q t 1)2 unknown variables p $ ) ; - P < i , j < tP.
For L" criterion, solve alinearChebyshev approximation
problem in thesame unknowns.
4) k k t 1. If k < Q, then go to 3) otherwise.
5) If optimum, then stop. Otherwise, go to 2.
Clearly step 3) is the key step of this approach. More details
are required at this point.
f
L' Criterion
Let
x P(S)(m, n )
(1119)
where
e(k)(m,n ) = -E(k)(m,n) ~ ( ~ ) n( )m ,
IK(k)(m,n)/ZP(k)(m,n )
(I111 0 )
Criterion
As for the Chebyshev approximation, we again used nondifferentiable optimization techniques that
allowus to approximate complex prototypes and do not suffer from degeneracies
that causenumericaldifficulties
as exchangealgorithmsdo.
Again,wehave
to compute (aE(m,n)/ap$) to provide the
optimization algorithmwiththe
"subgradients"of ournondifferentiable function. We get
(1113)
and
L (k)(m,n ) =
k-1
2 P(')(m, n ) x . . . x P(Y)(m,n )
Y=l
with
L q m , n ) = ql
K(*)(m,n) = 1 t
V=2
We thus have
A ( m , n ) = L(k)(m,n ) t P(k)(m,n ) K(k)(m,n )
for
and, also
k = 1, . . . , Q (1115)
IV. EXPERIMENTAL
RESULTS
Our basicaim when dealing withsuchtechniques was to
assess the possibilities of performing large convolution in an
image display terminal. The experiments we present now are
thus in the image processing area.
We first approximate a low-pass filter whose transfer function is shown in Fig. 9. It was approximated with an SGK filter belonging to the McClellan class. The size of the kernel is
3 X 3 and 12 of them are used. The mean-square error
is 4.5
percent.
PROTOTYPE
FILTER
PROTOTYPE
FILTER
Lab
SYNTHESIZED
3 x
a=
12
FILTER
KERNEL
d = 4.5 %
SGK
FILTER
SGK
3 x 3 {ERNEL
FILTER
a=5
(Chebyshev)
&
BLUR
Turbulence)
PROTOTYPE
FILTER
PROTOTYPE
GK
FILTER
(mse
FILTER
approximation)
S G K FILTER
P,I
a=7
SG K
FILTER
(Chebyshev
approximation)
(C)
(d)
Fig. 15. Deconvolutionexamples: images. (a)Original image. (b) Filtered by the prototype. (c) Filtered by
the L z SGK filter. (d) Filtered by the L SGK filter.
very fast multipliers, one can use 3 X 3 convolutions. Furthermore. the results displayed on the screen can be frozen in
__.
sum ofseparable FIR filters using the singular value deQ
aE(m
n)
=
Re
khkPk ( m ,n)
composition (SVD), theorem.
Each
separable
filter
can
then
api?@,
{k= 0
be SGK expanded since it is built out of 1-D filters that always have the SGK property.
The
design procedure is thus
Q
very simplebetter
has
and
characteristicsoptimizaour
than
H(m,n)h;Pk(m,
n)
k=O
tion techniques. The drawback however is the implementation
scheme which requires a scratch memory to store intermediate similarly,
results. Againwe arefaced with a tradeoff (implementation
versus design) thatneedsmoredataaboutthe
relative econoaE(m,n, = - 2 Im Q
khkPL-(m, n)
mies to be resolved.
apI(m,n)
{k=0
To motivate further work, let us pose two questions related
to our filters.
H(m, n) - k = O hx.pkf(m,n))} (A1o)
1) How does one set up fixed-point implementation of SGK
filters?
2) How doesone design SGK filters starting from a small whichcompletesthederivation.
set of parameters (cutoff frequency of a
low-pass fiter, for
APPENDIXB
example)?
CHEBYSHEV APPROXIMATION
ON A REFERENCE
APPENDIXA
The most costly step in the exchange algorithm consists in
GRADIENT O F THE L z CRITERION
solving the
approximation
problem
reference
on
a
R which
Q
t
2
sample
subset
(mi,
ni;
i
=
1
7
*
,
Q
+
2)
o
f t h e fiewith
respect
to
is
a
Theproblemconsists in differentiating
quency
grid.
Following
the
approach
described
in
Kamp
and
PR(m,n) and P;(m,n )
Thiran [ 1 11,the algorithm goesas follows.
e2 =
w(m, n) E(m, n)
1) Solve the following(Q t i)X (Q t 1) linear system
fl>
mrn
= W(m,n)
(A4)
(A5)
BQP = B1
032)
This is a Vandermonde system as row j of the matrix is composed of the elements of the first row
raised to the power j
and the right-hand vector also has this property. One can then
solve this system by using Cramers formula, Vandermondes
determinant being easy to calculate.
2) Solve the second (Q + 1) X (Q t 1) linear system
10
IEEE
TXANSACTIONS
ON ACOUSTICS,
SPEECH,
Thissecondsystemhas
no particularpropertyandrequires
standard routines to be solved.
REFERENCES
S . K. Mitraand M. P. Ekstrom, Two-dimensional digital signal
processing,BenchmarkPapers
in ElectricalEngineeringand
Computer Science , vol. 20. Dowden, Hutchinson and Ross Inc.,
1978.
T. S . Huang, Picture processing and digital filtering, Topics
in
Applied Physics, vol. 6. New York: Springer-Verlag, 1975.
J. F. Abramatic, F. Germain, and E. Rosencher, D e s i ~ nof twodimensional separable denominatorrecursive filters, ZEEE Trans.
Acoust., Speech, Signal Processing, vol. ASSP-27, pp.
445-453,
Oct. 1979.
W. K. Pratt, An intelligent image processing display terminal,
infroc. SPIE Tech. Symp., vol. 27, SanDiego, CA, Aug. 1979.
W. F. G. Mecklenbraiiker and R. M. Mersereau, McClellan transformationsfortwo-dimensional
digitalfiltering:PartII-implementation, ZEEE Trans. Circuits Syst., vol. CAS-23,pp. 414422, July 1976.
A.V. Oppenheim and R. W. Schafer, Digital Signal Processing.
Englewood Cliffs, NJ: Prentice-Hall, 1975.
L. R. Rabiner and B. Gold, Theory and Application of Digital
Signal Processing. Englewood Cliffs, NJ: Prentice-Hall,
1975.
J. H. McClellan and D. S . K. Chan, A 2-D FIR filter structure
derived fromthe Chebyshevrecursion, ZEEE Trans.Circuits
Syst., V O ~ .CAS-29, July 1977.
arbitrary 2-D zero-phase FIR
R. M. Mersereau,Thedesignof
filtersusingtransformations,
ZEEE Trans. CircuitsSyst.,vol.
CAS-27, pp. 142-144, Feb. 1980.
R. M. Mersereau, W. F. G. Mecklenbrauker, and T. F. Quatieri,
McClellan transformations for two-dimensional digital filtering:
I-design, ZEEE Trans. Circuits Syst., vol. CAS-23, pp. 405-414,
July 1976.
Y. Kamp and J . P. Thiran, Chebyshev approximation for twodimensionalnonrecursivedigitalfilters,
ZEEE Trans. Circuits
Syst., V O ~ .CAS-22, pp. 208-218, 1975.
C. Lemarechal, Non-Smooth Optimization, R. Mifflin, Ed.New
York: Pergamon, 1979.
AND SIGNAL
PROCESSING,
Abstract-The main thrust of this paper is directed towards an analy- period are derived. Arrays with a maximum of three levels in the autocorrelation function are identified and explicit expressions for these
sis of the structure and propertiesof the impulse response arrayof twolevels are given.
byrational
dimensional (2-D) discrete-spacesystems,characterizable
Zq. It is shown that suchan
functions having coefficients in a field
array exhibits a row (column) type of periodicity. Expressions for the
Manuscript received December 5, 1980; revised August 3, 1981. This
workwassupported
by the U.S. Air ForceOfficeofScientific
Research under Grant AFOSR-78-3542 and the National Science Foundation under Grant ENG.78-23141.
K. A. Prabhu is with the Visual Communications Research Department, Bell Laboratories, Holmdel, NJ 07733.
N.K. Bose is withtheDepartments ofElectricalEngineeringand
Mathematics, University of Pittsburgh, Pittsburgh,PA 15261.
I. INTRODUCTION
HILE a significant amount of literature on systems that
are linear with respect to the field of real numbers is
available, the area of systems that are linear over a finite field
has,by no means,beenoverlooked.
A reasonablycomprehensive list of papershasbeenreferencedin
[l], [ 2 ] . As
substantiated in [ 2 ] ,while binary sequences with special auto-