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Abstract— Recent advances in imaging technology make it offs in which certain scientific returns are sacrificed for the
possible to obtain remotely sensed imagery data of the Earth sake of others. In this paper we model the radiometric version
at high spatial, spectral, and radiometric resolutions. The rate at of this form of lossy compression by truncating a specified
which the data is collected from these satellites can far exceed
the channel capacity of the data downlink. Reducing the data number of lower order bits followed by lossless compression
rate to within the channel capacity can often require painful of the remaining higher order bits. We call this approach
trade-offs in which certain scientific returns are sacrificed for Truncation followed by Lossless Compression (TLLC). Using
the sake of others. We focus here on the case where radiometric the TLLC approach, the data rate can be set to within the
resolution is sacrificed by dropping a specified number of lower channel capacity by selecting the appropriate number of lower
order bits (LOB) from each data pixel. To limit the number
LOB’s dropped, we also compress the remaining bits using order bits dropped. We have found that this method produces
lossless compression. We call this approach “truncation followed reasonable rate distortion performance for compression ratios
by lossless compression” or TLLC. We then demonstrate the less than 5 or 6. However, for larger compression ratios, the
suboptimality of this TLLC approach by comparing it with the distortion continues to increase exponentially as the amount
direct application of a more effective lossy compression technique of truncation increases.
based on the JPEG algorithm. This comparison demonstrates
that, for a given channel rate, the method based on JPEG lossy Much better rate distortion behavior can be obtained by
compression better preserves radiometric resolution than does using other lossy compression approaches. For the lossy
TLLC. compression approaches we have studied, the rate distortion
Index Terms—Data acquisition, data compression, image cod- performance is either linear or sublinear. We report here our
ing, image communication, satellite applications. results using a hybrid method based on the JPEG (Joint
Photographic Experts Group/Discrete Cosine Transform) [1]
lossy compression algorithm. These results are similar or
I. INTRODUCTION somewhat better than results we have obtained with other
Manuscript received March 7, 1995; revised March 12, 1996. This work II. TRUNCATION FOLLOWED BY
was supported by RTOP funding from the Office of Advanced Concepts and LOSSLESS COMPRESSION (TLLC)
Technology, NASA Headquarters, Washington, DC.
J. C. Tilton is with NASA Goddard Space Flight Center, Greenbelt, MD Truncation followed by Lossless Compression (TLLC) is a
20771 USA (e-mail: tilton @istbsun.gsfc.nasa.gov). compression approach that can be used to advantage under
M. Manohar is with the Department of Computer Science, Bowie State
University, Bowie, MD 20715 USA. certain special conditions (e.g., very noisy data, very low
Publisher Item Identifier S 0196-2892(97)05518-6. available computational power and very limited channel ca-
0196–2892/97$10.00 1997 IEEE
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1172 IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING, VOL. 35, NO. 5, SEPTEMBER 1997
pacity) [4]. However, TLLC is not normally used as a general coefficient quantization and lossless compression [1]. The
compression approach. As noted in the introduction, we use original image is first partitioned into nonoverlapping 8
it here as a model for the design practice of setting the 8 pixel blocks. Each block is then independently transformed
radiometric resolution to a lower value than sensor technology using the DCT. The DCT coefficients are then quantized using
would allow, so as to keep the data rate produced by the sensor a quantization table that is designed using the HVS (Human
within the limits of channel capacity for bringing the data from Visual System) contrast sensitivity function (quantization ta-
the sensor to Earth. We are not advocating TLLC as a general bles can be tailored to particular applications, see [9]). The
compression approach. first coefficient of DCT transformation is designated the DC
Let the radiometric resolution of the image data collected coefficient and is proportional to average brightness of the
at the instrument be bits/pixel and the channel capacity block. The quantized DC coefficients from each block are
be bits/pixel ( ). The TLLC approach reduces concatenated and are compressed using DPCM (Differential
the bit rate from to no more than by dropping a Pulse Code Modulation) using 1-D causal prediction. The
number of lower order bits, , and losslessly compressing the remaining 63 quantized coefficients from each block, called
result. Here is chosen such that the lossless compression the “AC coefficients,” are zig-zag scanned to convert the 2-
of remaining – bits results in an output bit rate of no D array into a 1-D array, and are then losslessly compressed
more than bits/pixel. The lossless compression approach using a Huffman table that is transmitted to the decoder as a
that consistently performed best in the cases we tested uti- part of the header information.
lizes the coding model for lossless encoding specified in the We used the sixth public release of the Independent JPEG
JPEG still image compression standard [1] combined with the Group’s free JPEG software, which we obtained from UUNET
Witten–Neal–Cleary version of arithmetic coding [8]. (The archive at ftp.uu.net:graphics/jpeg/jpegsrc.v6.tar.gz. The re-
implementation we used can be obtained from the anonymous lease date was August 2, 1995. Spectral correlations are
ftp location dftnic.gsfc.nasa.gov:software/unix/crushv3/*.) In not easy to exploit in JPEG, as there are no standards for
some cases prediction mode “1” (value of the previous pixel decorrelating the bands of multispectral image data (JPEG
in the same line) produced the best results in JPEG lossless does however, allow red, green and blue decorrelations by
coding, and in other cases prediction mode “7” (average of converting them to luminance and chrominance components.
the values of the previous pixel in the same line and the See [1, pp. 18–20, p. 503]. Therefore, we compressed each
previous pixel in the same column) produced the best results. band of the multispectral images independently in our tests.
The prediction mode used for each result is noted in the When we applied the JPEG algorithm directly to NASA
Experimental Results section. imagery data, we found that the maximum absolute error ob-
The image data is reconstructed following TLLC by loss- served was often larger than acceptable, even while the mean
lessly decompressing the data, scaling it up by a factor of ,
squared error was acceptable. We have devised a simple hybrid
and adding a bias term of [or ].
approach to limit the maximum absolute error, while achieving
For completeness we comment here on certain compression
nearly the same overall compression ratio. A side effect is a
approaches that are similar to, or appear to be similar to,
slightly improved mean squared error. For convenience, we
our TLLC model. We have already noted that, under certain
call this approach JPEG/hybrid.
special conditions, TLLC is used for lossy compression. In this
The JPEG/hybrid approach is as follows.
regard, the algorithm of Rice and Plaunt [4] employs the TLLC
approach as an option. Other lossy compression approaches 1) Apply the JPEG algorithm to the image data using
may at first glance appear similar to our TLLC approach, but quality factor .
are quite different on closer examination. The TLLC approach 2) Decompress the data and subtract the resulting image
splits each data point into higher order bits (HOB) and lower from the original image data.
order bits (LOB), losslessly compresses the HOB and discards 3) Divide the difference image by a quantization factor
the LOB. The approach described by Lo and Krasner [5] splits ( ).
each data point into HOB and LOB, losslessly compresses 4) Losslessly compress the quantized difference image
the HOB and keeps the LOB in its uncompressed state. The using the lossless JPEG compression algorithm used
approach describe by Zhang, Loew, and Pickholtz [6] splits in TLLC.
each data point into HOB and LOB, losslessly compresses the The coded data consists of the lossy JPEG compressed data
HOB and lossily compresses the LOB (with “conventional” file plus the lossless JPEG compressed quantized difference
block transform coding). Finally, the approach described by image (we include the quantization factor, , in the name of
Bassiouni, Tzannes, and Tzannes [7] splits each data point this file).
into HOB and LOB, losslessly compresses the HOB and To decompress the data, decompress the quantized differ-
lossily compresses the LOB (using an approach similar to ence image, multiply it by the quantization factor ( ) and add
the JPEG/DCT algorithm). None of these later three totally the result to the decompressed lossy JPEG image.
discards the LOB as does TLLC. We could have used any of a number of approaches to
losslessly compress the quantized difference images. We tried
III. JPEG/HYBRID “gzip” (version 1.2.4, release date August 18, 1993, from
The JPEG lossy compression algorithm consists of three ftp.uu.net) and the standard UNIX “compress” programs.
successive stages: Discrete Cosine Transformation (DCT), Both produced lower compression ratios than the lossless
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TILTON AND MANOHAR: PRESERVING RADIOMETRIC RESOLUTION 1173
MSE (1)
MSE (2)
(d)
(3)
We have observed that the uniform distribution assumption amount of compression. We use this approach as one method
holds best for lower values of . Equation (3) can be derived for calculating the effective radiometric resolution gain
from (2) using the Euler–Maclaurin summation formula [10] of the JPEG/hybrid method with respect to TLLC in the
with . From (3), we can obtain in terms of MSE by following section.
solving the quadratic equation in and taking giving We must note here that one would not expect that the
MSE (4) JPEG/hybrid method would produce error values with a uni-
form error distribution. In addition, for higher values of ,
Equation (4) can be used to compute the loss of radiometric the TLLC method also often produces error values that do
resolution due to the mean squared error distortion from lossy not follow a uniform error distribution. However, (5) is still
compression. We can thus compare performance of lossy useful in these cases as a convenient index for improvement
compression techniques in terms of radiometric efficiency. in MSE, since still does correlate with MSE. However,
Assuming two lossy compression approaches (method 1 and cannot be literally interpreted as the number of bits of gain in
method 2) give the same amount of compression, let the radiometric resolution in nonuniform error cases.
MSE distortions from the two lossy methods be and
, respectively. Let and be the corresponding loss of V. EXPERIMENTAL RESULTS
radiometric resolution computed from (4). Now if , Three different multispectral image data sets are used in our
there is gain in radiometric resolution, , by using method experiments. The first data set consists of a 2048-by-2048 pixel
2 instead method 1 which is given by subimage of a seven-band Landsat Thematic Mapper (TM)
scene collected in 1991 (path/row 46/28) from over the Gifford
Ponchot National Forest in the state of Washington in the
(5) United States of America. The radiometric (pixel) resolution
of this data is 8 bits.
Using (5) lossy compression techniques can be compared Table I(a) shows the compression ratio (CR), mean square
in terms effective radiometric gain by using one with lesser error (MSE) and maximum absolute error (MAE) results from
distortion than the other compression technique for a given the TLLC approach for the TM data set (prediction mode
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1174 IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING, VOL. 35, NO. 5, SEPTEMBER 1997
Fig. 1. The histograms of the error residual for each band for the Fig. 3. The histograms of the error residual for each band for the
3-bits-dropped case on the TM data. These histograms show that the closer Q = 77; qt = 16 case on the TM data. These histograms show that
the MSE error is to the value calculated via (3), viz. 5.50, the closer the the error distribution is more like a Gaussian or Laplacian distribution rather
histogram appears to be that of a uniform distribution. than a uniform distribution.
Fig. 2. The histograms of the error residual for each band for the Fig. 4. The histograms of the error residual for each band for the
4-bits-dropped case on the TM data. These histograms show that the closer Q = 55; qt = 16 case on the TM data. These histograms show that
the MSE error is to the value calculated via (3), viz. 21.5, the closer the the error distribution is more like a Gaussian or Laplacian distribution rather
histogram appears to be that of a uniform distribution. than a uniform distribution.
“1” was used). We also list the MSE calculated through (3). TABLE II
OFFSET AND RESULTING MSE MEASUREMENTS FOR THE CLIPPED
We have found that the amount of agreement between the AND TRUNCATED AVHRR DATA. THE AVERAGE MSE IS 25.79
measured MSE and calculated MSE is a good indicator of
how well the uniform distribution assumption holds. As a
demonstration of this relationship, Figs. 1 and 2 show the
histograms of the error residual for each band for the 3 and 4
bits dropped case, respectively.
The CR, MSE, and MAE results for various quality factor
( ) values are given in Table I(b) for our JPEG/hybrid method
higher than 8 bits. Statistical analysis of this data showed
for lossy compression (prediction mode “1” was also used in
that the main concentration of dynamic range is in a 9 bit
the compression of quantized residuals in JPEG/hybrid). The
range, so we offset each band by a certain amount and then
gain in radiometric resolution by using JPEG/hybrid rather
clipped it to the 9 bit range (0–511). Finally, we truncated
that TLLC, , is given in Table I(c) and (d). In Table
the resulting image pixels to 8-bits prior to JPEG/hybrid
I(c), is calculated from (5). In Table I(d), is linearly
compression by dividing by two. We choose the offsets to
interpolated from the TLLC “bits dropped” results with the
closest compression ratio. We see from Table I(c) and (d) that approximately minimize the MSE after reconstructing the
ranges from 0.6 to 2.4, with the higher values coming clipped data to the original range. The offsets and resulting
from the higher “bits dropped” cases. MSE are given in Table II. After we ran our JPEG/hybrid lossy
Figs. 3 and 4 show the histograms of the error residual for compression approach on the offset, clipped and truncated
each band for the case and the , data, we computed the MSE by decompressing the data,
case, respectively. These histograms look more like multiplying by two, adding back the offset, and comparing
Gaussian or Laplacian distributions than uniform distributions. it with the original data. This process reduced the value of our
This being the case, the in Table I(c) cannot be literally test somewhat, since we could not then compare JPEG/hybrid
interpreted as the number of bits gain in radiometric resolution. compression with TLLC for 1 or 2 bits dropped for this data.
However, the values in Table I(c) are very close to the values Table III(a)–(d) gives our results for the AVHRR data set in
in Table I(d), which were obtained by interpolation rather than a manner similar to that used to present our results for the TM
(5), indicating that a loose interpretation of the values data in Table I(a)–(d). (Prediction mode “7” was used in TLLC
in Table I(c) as the number of bits of radiometric gain is and the compression of quantized residuals in JPEG/hybrid.)
reasonable. We note in Table III(a) that the calculated MSE is within
The second data set is 2048 column by 1460 row portion 5% of the measured MSE for less than 6 bits dropped. The
of a five-band Local Area Coverage (LAC) data set from difference between the calculated and measured MSE goes up
the Advanced Very High Resolution Radiometer (AVHRR) substantially for 6 and more bits dropped, indicating that our
instrument, collected on June 14, 1991 from over Indonesia. uniform distribution assumption is violated in those cases (as
The pixel resolution of this data is 10 bits (stored as 16 corroborated by an inspection of the error image histograms).
bits/pixel). We see from Table III(c) and (d) that ranges from 0.1
We ran into a problem in performing the JPEG/hybrid to 1.7, with the higher values coming from the higher “bits
compression on this data set since the baseline JPEG im- dropped” cases. We note that our values calculated from (5)
plementation we employed does not handle pixel resolutions in Table III(c) for 6 and more bits dropped are suspect because
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TILTON AND MANOHAR: PRESERVING RADIOMETRIC RESOLUTION 1175
(c)
(a) (b)
(d)
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1176 IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING, VOL. 35, NO. 5, SEPTEMBER 1997
(5) in Table V(c) for four and more bits dropped are suspect [10] M. Abramowitz and I. A. Stegun, Handbook of Mathematical Functions
because of the noted violation of the uniform distribution with Formulas, Graphs, and Mathematical Tables. Washington, DC:
U.S. Gov’t Printing Office, Nov. 1970, p. 16.
assumption. However, the results from Table V(d), which are [11] D. R. Landis, D. E. Strebel, J. A. Newcomer, and B. W. Meeson,
not affected by this violation, show that the calculated results “Archiving the FIFE data on CD-ROM,” in Proc. 1992 Int. Geoscience
in Table V(c) are reasonable despite the violation. and Remote Sensing Symp., Houston, TX, May 26–29, 1992, pp. 65–67.
VI. CONCLUSIONS
James C. Tilton (S’79–M’81–SM’94) received the
We have demonstrated on three types of NASA imagery B.A. degree in electrical engineering, environmen-
data collected from spaceborne platforms that the JPEG/hybrid tal science and engineering, and anthropology, the
M.E.E. (electrical engineering) degree from Rice
lossy compression is more effective at preserving the radiomet- University, Houston, TX, the M. S. degree in optical
ric resolution of the data than the commonly used truncation sciences from the University of Arizona, Tucson,
approach. The truncation approach (which we call TLLC) is a and the Ph.D. degree in electrical engineering from
Purdue University, West Lafayette, IN, in 1976,
model for the engineering practice of reducing the radiometric 1976, 1978, and 1981, respectively.
resolution of a sensor so that the data rate from the sensor He is currently a Computer Engineer with the
falls below that of the channel capacity of the downlink. Our Applied Information Sciences Branch (AISB) of
the Earth and Space Data Computing Division, NASA Goddard Space
tests show that JPEG/hybrid lossy compression effectively Flight Center, Greenbelt, MD. He previously worked for Computer Sciences
preserves from about 0.5 bit to over 2 bits in radiometric Corporation, from 1982 to 1983, and Science Applications Research, from
resolution versus truncation followed by lossless compression, 1983 to 1985, on contracts with NASA Goddard. As a member of AISB, he
helps define future requirements for image analysis information extraction and
depending on the data characteristics and the amount of data compression in support of NASA programs. He is also responsible for
compression selected. We hope that this demonstration will designing and developing computer software tools for space and Earth science
inspire satellite sensor designers to explore lossy compression image analysis and compression algorithms, and encouraging the use of these
computer tools through close interactions with space and Earth scientists.
as an alternative method of reducing satellite sensor data Dr. Tilton is a member of the IEEE Geoscience and Remote Sensing,
output rates to match the available data downlink channel Computer, and Signal Processing Societies, as well as the Phi Beta Kappa,
capacity. Tau Beta Pi, and Sigma Xi honoraries. From 1992 through 1996, he served
as a member of the IEEE Geoscience and Remote Sensing Society Adminis-
trative Committee. He currently serves as an Associate Editor for the IEEE
REFERENCES TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING.
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