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S. Grace Chang, Zoran Cvetković, Senior Member, IEEE, and Martin Vetterli, Fellow, IEEE

Abstract—We describe a spatially adaptive algorithm for image edge detection methods developed in the computer vision

interpolation. The algorithm uses a wavelet transform to extract community [17]–[20]. The multiscale edge detection can be

information about sharp variations in the low-resolution image formulated in the wavelet framework (e.g., as the Canny edge

and then implicitly applies interpolation which adapts to the

image local smoothness/singularity characteristics. The proposed detector [20] is equivalent to finding the local maxima in

algorithm yields images that are sharper compared to several the wavelet transform). This multiscale edge characterization

other methods that we have considered in this paper. Better framework will be used here, as it allows both a convenient

performance comes at the expense of higher complexity. analysis of edges and a model for the interpolation algorithm

Index Terms—Image interpolation, locally adaptive, nonlinear introduced in this paper.

interpolation, wavelet. For a family of wavelets, the wavelet-transform modulus

maxima capture the sharp variation points of a signal, and

I. INTRODUCTION their evolution across scales characterizes the local Lipschitz

regularity of the signal [21]–[23]. For example, Fig. 1 shows

tracting information from the given image to fill in the un-

known pixels values. It is used for magnification and zooming

a one-dimensional (1-D) signal and its wavelet transform at

several scales. This signal includes singularities, such as a step

and an impulse, and other sharply varying regions. Each of

purposes, which are the applications we have in mind. The chal-

these sharp variations induces peaks in the wavelet transform

lenge is to process the image in such a way as to keep the mag-

across scales, and the values of the peaks corresponding to

nified image sharp. Traditional methods, such as bilinear inter-

the same singularity change across the scales according to an

polation or spline approximation, inherently assume smooth-

exponential function, the exponent of which depends on the

ness constraints on the signal and, as a result, they typically

singularity.

generate blurred images. The subjective quality of the interpo-

lated images can be improved by employing more sophisticated The proposed interpolation algorithm will first capture and

image models as has been explored in many different directions characterize sharp variation points based on the multiscale

in the signal processing literature, including edge-directed in- wavelet analysis. This characterization is then used to estimate

terpolation, various methods that use projections onto convex the high-frequency information necessary to preserve sharpness

constraints, morphological filtering, etc [1]–[14]. The problem of the edges. From the model of the problem, one can iden-

of image interpolation has been also studied within the com- tify constraints on the estimate and, thus, refine the estimate

puter vision framework where it is normally approached using iteratively. The major difference between the proposed method

probabilistic modeling that relies on extensive training [15], and other nonlinear or locally adaptive schemes is that by

[16]. In this paper, we study a wavelet-based method which at- means of wavelet analysis, it adapts to singularities of different

tempts to extract information about local regularity and sharp kinds (e.g., step-like edges, relatively smooth edges, Dirac-like

variations in a low-resolution image and use that information behavior, variations which are continuous but not continuously

to apply different interpolation functions that adapt locally to differentiable, etc.).

image smoothness/singularity characteristics. The outline of the proposed method has been previously de-

Points of sharp variations, or singularities, are among the scribed in a conference paper [24] where many important prac-

most meaningful features of a signal. For images, these points tical issues and investigations could not be addressed either be-

typically correspond to edges, or boundaries between regions. cause of the required brevity or the lack of their complete under-

Information about singularities can be obtained by multiscale standing at that time. However, the ideas presented in [24] have

led several interesting developments on the topic of wavelet-

based image enhancement and interpolation [25]–[30]; hence,

Manuscript received November 5, 2004; revised February 8, 2005. This work

was supported in part by the National Science Foundation under the Alan T. we felt that this more in-depth treatment of the proposed algo-

Waterman Award Grant CCR-0139398. The associate editor coordinating the rithm would be in place.

review of this manuscript and approving it for publication was Prof. Yucel Al- The paper is organized as follows. Section II introduces the

tunbasak.

S. G. Chang is with Hewlett-Packard Taiwan Ltd., Taipei 110, Taiwan, R.O.C. wavelet-transform framework, and relates the multiscale edge

Z. Cvetković was with the Division of Engineering and Applied Sciences, detection to the wavelet analysis. The discussion starts in con-

Harvard University, Cambridge, MA 02138 USA. He is now with the Depart- tinuous time, followed by issues due to discretization. In Sec-

ment of Electronic Engineering, King’s College London, London WC2R 2LS,

U.K. (e-mail: zoran.cvetkovic@kcl.ac.uk). tion III-A, details of the interpolation problem model and algo-

M. Vetterli is with the School of Computer and Communications Sciences, rithm are discussed in the 1-D case for clarity. This algorithm is

École Polytechnique Fédérale de Lausanne (EPFL), Lausanne 1015, Switzer- extended to reconstruct two-dimensional (2-D) images in Sec-

land, and also with the Department of Electrical Engineering and Computer

Sciences, University of California, Berkeley, CA 94720 USA. tion III-C. Results and comparisons with traditional interpola-

Digital Object Identifier 10.1109/TIP.2006.871162 tion methods are presented in Section IV.

1057-7149/$20.00 © 2006 IEEE

1472 IEEE TRANSACTIONS ON IMAGE PROCESSING, VOL. 15, NO. 6, JUNE 2006

Fig. 1. A 1-D waveform and its wavelet transform for three scales, showing the propagation of extrema points across the scales.

II. MULTISCALE EDGES AND THE WAVELET TRANSFORM Hence, the wavelet transform of the signal at scale is equiva-

In this section, we review work by Mallat [22], [23] and lent (up to a constant) to taking the first derivative of , the

Meyer [21] which relates edge detection algorithms to the signal smoothed at scale .

wavelet transform. As elucidated in [31], the notion of viewing an image at dif-

Most traditional edge detectors extract sharp variation points ferent scales is very natural for its understanding and analysis.

by examining the first derivatives of the signal or its smoothed The role of the scale determines how global or local the signal

version. This is because an inflection point indicates a neigh- features are that we want to capture. At a given scale, an ex-

borhood of signal variation, and an inflection point in the signal tremum point in of large magnitude has the physical

domain corresponds to the local extremum of its first deriva- meaning of locating a sharp transition region in , while

tive. Furthermore, a local extremum of the first derivative with an extremum of small magnitude indicates a region of relatively

large magnitude corresponds to a region of sharp variation in the slow variation. In the case that is Gaussian, the detection

of extrema points corresponds to the Canny edge detector [20].

signal domain, while one with small magnitude corresponds to

Note that a Gaussian is the unique function with the prop-

a region of slow transition. This edge detection strategy can be

erty of not creating additional spurious extrema points at larger

formulated in the wavelet framework as follows.

scales [31]. Therefore, for edge characterization, it is important

Let be a smoothing function which satisfies

and . Assume that is to choose a filter which is Gaussian or approximately Gaussian.

differentiable and define a function : .A The extension of the multiscale edge detection to two dimen-

wavelet is defined to be any function which integrates to zero. sions is straightforward. Let be a smoothing function

Hence, can be considered as a wavelet. Now let which integrates to 1 and converges to zero at infinity, and let

denote the dilated version of the wavelet function denote the dilation of

where is the scale. The wavelet transform of at scale and The image is smoothed by , and its gradient

position , denoted by , is given by the convolution is computed. The direction of the gradient vector

. From the linearity of convolution and at is the direction at which has the sharpest vari-

differentiation, it is easy to verify that ation. An edge point is defined to be a point at which

is the maximum along the direction of the gra-

(1) dient vector, and it is an inflection point of .

To relate multiscale edges to the two-dimensional (2-D)

where wavelet transform, first define and

, respectively. The wavelet trans-

form of consists of two components

CHANG et al.: LOCALLY ADAPTIVE WAVELET-BASED IMAGE INTERPOLATION 1473

and , and it is related Let the finest scale be , and the coarsest scale computed

to the gradient vector by to be . Define a smoothing operator at scale to be

, , where

The singularities in images occur at points where the modulus and is a function which satisfies certain properties such that

the difference, or details, between and is ,

as defined in (1). Now let be a discrete se-

quence such that there exists a (non-unique) continuous function

is maximum in the direction of the gradient vector. Modulus

satisfying for all . Hence,

maxima form contours in the two-dimensional wavelet trans-

we assume that the underlying signal is the continuous func-

form domain and an extension of the 1-D edge detector would

tion , but only the discretized version is available

require tracking the propagation of those contours across the

for processing. For a particular class of wavelets, one can com-

scales. That process would add considerable complexity to the

pute from the discrete sequence the uni-

proposed interpolation algorithm; hence, we will consider a sep-

form sampling of the wavelet transform of at dyadic scales

arable 2-D algorithm. That is, and will

. Let the following notations denote these discrete samples

be treated separately, row by row and column by column, as in

and

the 1-D case.

where is the shift due to convolution with and . The

From the previous discussion, it is clear that the value of the

set of signals forms the discrete dyadic

wavelet transform at scale measures the smoothness of the

wavelet transform of . Henceforth, the dis-

signal smoothed at scale . Furthermore, a sharp variation in-

cussion will concern discrete sequences; thus, to simplify nota-

duces a local extremum in the wavelet transform which prop-

tion, the discrete sequence will denote the samples ,

agates across scales. To illustrate, we return to Fig. 1 which

and will denote the discrete dyadic transform of

shows a waveform and its wavelet transform at the dyadic scales

(note the omittance of the superscript ).

, for . Each isolated singularity produces ex-

The forward discrete dyadic wavelet transform is character-

trema points which propagate across scales, and the power law

ized by two filters: a lowpass filter and a highpass filter

according to which the values these extrema evolve across the

. Let and be the filters obtained by upsam-

scales characterizes the local Lipschitz regularity of the func-

pling and , respectively, by a factor of (i.e., in-

tion. In particular, a function is uniformly Lipschitz over

serting zeros between the coefficients). The wavelet trans-

an interval if and only if there exists a constant

form of a signal can be computed through the con-

such that for all , the wavelet transform of satis-

fies [21] volution with and in a recursive manner

(3)

(2)

If is differentiable but not continuously differentiable at where , , and . Let the wavelet

, then it is Lipschitz 1 at and the corresponding wavelet transform operator denote the linear operator mapping to

transform maxima behave as around . The larger the , . The operator can be imple-

the more regular or smooth the function is. If is discon- mented by the octave-band nonsubsampled filter bank, provided

tinuous but bounded in the neighborhood of , then the multiplication with coefficients is incorporated appropri-

at , and the corresponding maxima remain constant across ately. The multiplicative coefficients are needed to compen-

the scales. On the other hand, the Dirac function has a negative sate for the deviation in the estimation of the Lipschitz regularity

Lipschitz exponent , and it produces wavelet transform introduced by discretization. More specifically, the constants

modulus maxima which evolve as . are found empirically so as to make the discrete time step func-

tion have Lipschitz regularity . Obviously, the values of

A. Discretization Issues are dependent on the chosen wavelet. The quadratic spline

filters are used for our work because they approximate coarsely

For discrete processing, any continuous-time signal must also the Gaussian function and its first derivative and they also can

be sampled before being processed. Thus, a signal is measured be used in fast implementation of the discrete dyadic wavelet

at a finite resolution. Its wavelet transform can only be computed transform [23]. These filters are shown in Fig. 2. Their coeffi-

over a countable and finite range of scales. In many applica- cients and the associated constants are in Table I. For perfect

tions, it suffices to compute the wavelet transform at the dyadic reconstruction to be possible, it is necessary and sufficient that

scale with , which also allows a fast dis- there exist a synthesis pair and which satisfy the

crete computation. The fast computation algorithm, the design perfect reconstruction condition

of the discrete filters, and their relations with underlying contin-

(4)

uous filters are well explained in [23], to which the readers are

referred for more details. Here, only the necessary results and where , , , and are the -transform of

notations will be introduced. the filters , , , and , respectively. The in-

1474 IEEE TRANSACTIONS ON IMAGE PROCESSING, VOL. 15, NO. 6, JUNE 2006

struction in the 2-D case, an additional filter is needed, which

satisfies . Readers interested in

more detail about this synthesis 2-D filter bank are referred to

[23] and [32].

The interpolation algorithm is first explained in one dimen-

sion for clarity. The discussion concentrates on magnification

by a factor of two. Magnifications for other factors which are

powers of two can be achieved by iteratively performing this

Fig. 2. Quadratic spline wavelet and smoothing function used in this work. algorithm. First, the main concepts will be introduced in Sec-

The continuous-time smoothing function (x) in (a), and wavelet (x) in (b).

The corresponding FIR coefficients of the smoothing function (lowpass filter tion III-A, and the details will be given in Section III-B. The

h [n]) in (c), and of the wavelet (highpass filter h [n]) in (d). 2-D algorithm will be developed in Section III-C.

FILTER COEFFICIENTS OF THE QUADRATIC SPLINE WAVELETS

AND ASSOCIATED FACTORS The model of the interpolation problem is shown in

Fig. 4. The available signal

is modeled to be obtained from the high resolution signal

, which we wish to recover, by

lowpass filtering using the filter of our wavelet filter

bank followed by downsampling by a factor of two. Naturally,

one does not assume the exact knowledge of the lowpass filter

used in the sampling process. We conjecture that as long as

it is reasonable, the result of our algorithm will not depend

strongly on the choice of filters, and that has been confirmed

verse wavelet transform reconstructs the original signal by pro- by the experimental results reported in Section IV. Further, we

gressively adding finer and finer details onto the coarse residual have at our disposal the highpass filter such that

signal . It can be calculated recursively as and together with a synthesis pair and ,

constitute a perfect reconstruction nonsubsampled filter bank.

(5) With this model, the goal of the interpolation algorithm is to

where and . The inverse wavelet transform estimate the signals and at the output of and

operator can be implemented as a nonsubsampled syn- , and then reconstruct an estimate of via the synthesis

thesis octave band filter bank. Note again that the constants filters. The algorithm consists of two stages: initial estimation

are needed to offset the scaling in the wavelet transform (3). and refinement.

The discrete dyadic wavelet transform is a redundant 1) Initial Estimation: An initial estimate of the low-fre-

representation of a function. An arbitrary set of sequences quency component can be obtained by simply interpolating

is not necessarily the wavelet transform of using, for instance, linear or spline interpolation. To find an

some function in . It is the wavelet transform of some initial estimate of the high-frequency component , first notice

function if and only if that it contains information that would add sharpness to . That

is, if there were a sharp edge in the length signal , then the

(6)

length component would contain a smoothed edge in this

If the set of sequences satisfies (6), then we say region. The reconstruction based solely on would not be as

that it belongs to the range of the wavelet transform operator sharp as the original edge in . The information about the ad-

. The operator is thus the projection operator onto ditional sharpness resides in , whose essence is well captured

the range of the wavelet transform. by local extrema points, assuming that the filters used are ap-

In practice, there are only finitely many, , available sam- propriate for multiscale edge characterization. Thus, the central

ples of , which creates a problem at the boundary in the part of the initial estimation is to find the values and positions of

computation of the wavelet transform. To mitigate this problem, the local extrema in . The detailed procedures are illustrated

the signal is extended with mirror symmetry. This periodiza- in Fig. 5.

tion avoids creating a spurious first-order discontinuity at the The first step in estimating is to identify the edge regions

boundaries. via analysis of the available signal . This identification is based

The 2-D forward and inverse wavelet transforms can be com- on extracting local extrema of the wavelet transform of which

puted in a recursive manner similar to the 1-D case, imple- propagate across scales, and estimating the parameters in (2)

mented with the nonsubsampled filter banks shown in Fig. 3. which characterize this propagation. The knowledge of an edge

For the 2-D wavelet transform, we choose separable filters, as location in conveys knowledge about the edge location in

shown in Fig. 3, where the 1-D filters , , , and are as well, up to a possible ambiguity of in location, since the

CHANG et al.: LOCALLY ADAPTIVE WAVELET-BASED IMAGE INTERPOLATION 1475

Fig. 3. The 2-D discrete dyadic wavelet transform. (a) Forward transform. (b) Inverse transform.

by linearly interpolating between the extrema points.

2) Refinement by Alternating Projection: The initial es-

timates of and can be further refined by identifying

constraints which they should obey. These constraints define

convex sets and one can use the projection onto convex sets

Fig. 4. Interpolation problem model for 1-D. The available signal f is modeled

as the subsampled lowpass component of a higher resolution signal f , which (POCS) method to find a solution existing in the intersection

is the desired signal. of these sets, called the reconstruction set. The POCS method

alternately projects the signal onto the various convex sets until

it converges to a solution in the reconstruction set (provided that

wavelet transform of is the decimated version, by a factor

it is nonempty). We identify three convex sets of constraints ,

of two, of the wavelet transform of starting from the scale

, and , with the following meaning.

(Fig. 6)

1) : The waveforms must belong to the range of

(7) the wavelet transform; we denote this subspace by .

2) : must belong to a set , which comprises of length

An edge information at extracted from the analysis of signals whose downsampled version is consistent

and characterized in the parameters and with , the available signal.

of (2) translates to an edge at . That is, an extremum in 3) : The edge points of (estimated from the analysis of )

can be estimated to be . should be reflected in local extrema of . is comprised

Naturally, the downsampling operation in (7) introduces of signals whose structure is consistent with the edge in-

some ambiguity which needs to be addressed in the esti- formation, and should reside in .

mation process. More specifically, the true extrema points The first two items are hard constraints in that they follow from

of may not have been sampled in the the consistency of the problem model in Fig. 4. The third con-

downsampling process. Thus, the edge identified at may straint is based on the estimation of how the signal should be

actually be at one of . In at finer scales, and its purpose is to enhance the resolution of

Section III-B, we will discuss constraints which allow possible the reconstructed signal beyond that achieved by the first two

corrections of this ambiguity. constraints.

The edge characterization allows the estimation of significant The projection operator onto the subspace is the oper-

extrema points of . To obtain an initial estimate of that may ator in (6) and is pictorially illustrated in Fig. 7: it puts the pair

1476 IEEE TRANSACTIONS ON IMAGE PROCESSING, VOL. 15, NO. 6, JUNE 2006

.

B. Implementation Details

The association of extrema points across scales and the char-

acterization of Lipschitz regularities are not so simple when we

deal with real data. Wavelet transform extrema points due to

closely spaced sharp variations may interfere with each other

and make association difficult. This interference also compli-

cates the estimation of the parameters in (2), and these compli-

cations will be discussed below. The estimation of will be

elaborated, as well as the the exact structure of the sets and

and their respective projection operators.

1) Associating Extrema Across Scales: To extrapolate the

extrema points, we need to first select important singularities

and associate the corresponding extrema points across scales.

Fig. 6. Illustrating the equivalence between the wavelet transform of f and the Since contains an abundance of extrema which are not

decimated version of the wavelet transform of f starting from scale s = 2 . necessarily due to global structures, the extrema selection is, in-

stead, done at a coarser scale . For each extremum at

scale , the algorithm searches in the other scales for ex-

trema associated with it.

Due to various reasons, not all extrema are observed to prop-

agate from scale to . Extrema points at fine scales in-

duced by closely spaced singularities may merge into one ex-

tremum point at coarse scales. Also, because the wavelet trans-

form is discretized in both scale and space, one may not always

Fig. 7. Projection operator P onto the subspace V , the range of the wavelet observe the extrema points evolving across scales. For these rea-

transform.

sons, it is sometimes difficult to associate the extrema points

and, thus, some empirical rules are used. Suppose we are an-

through the synthesis filter bank, followed by the anal- alyzing the th singularity which induces extrema points at

ysis filter bank, where the filters obey the perfect reconstruction a location in scale . The values of are un-

property in (4). known except for , since the association starts from

The projection operator for the convex set needs to en- in scale . We search in other scales in a small neigh-

sure that is consistent with the available signal . At the very borhood around to find extrema points which obey the

least, must hold. In practice, better performance following rules. These extrema must be of the same sign and

could be achieved by placing restrictions, such as smoothness must all be maxima (or minima). Furthermore, it is reasonable

constraints, on the odd samples as well, especially to assume that the extrema values should not differ too much

in regions of sharp variation. The details of this operator will be from scale to scale and that not all types of singularities are

discussed in the implementation section. important for image quality; thus, we restrict the ratio between

The high-frequency component must reside in the set , two extrema points of consecutive scales to be within a range

which consists of signals that are consistent with the estimated . In this way

edge information. However, only the estimated edge informa- we focus on singularities which correspond to Lipschitz regu-

tion is available and, thus, one must allow some error tolerances. larity [as defined in (2)]) in the range

In Section III-B, we discuss the structure of the set which al- and allow some margin to account for possible merging of local

lows varying degrees of leniency on the values and locations of extrema as well as for possibly missing an actual extremum due

the wavelet transform extrema, and finding a corresponding op- to downsampling. The choice of the range of is not critical

erator which projects onto . as long as it is not too large. In [25], the authors report results

The enhancement algorithm iteratively improves the esti- obtained by focusing only on step edges, that is, singularities

mates with the three projection operators , , and . which correspond to , which simplifies the described al-

Let denote the initial estimates of and . At gorithm and still exhibits good performance.

CHANG et al.: LOCALLY ADAPTIVE WAVELET-BASED IMAGE INTERPOLATION 1477

2) Estimating High-Frequency Component : Let us first just isolated singularities. The downsampling process intro-

rewrite the relationship in (2) in discrete-time and explicitly duces errors as well. Knowing that a certain set of points are

show the dependence of the local Lipschitz parameters on the edge points implies that the other points are not. Thus, one

different singularities. This results in needs to prevent additional spurious edges being created during

the reconstruction. With this in mind, there are various degrees

(8) of leniency that can be employed when constructing the cost

function. We can either 1) constrain to retain the initial

where is the location of the local extremum at scale cor- estimates throughout the reconstruction; 2) allow the values

responding to the th singularity, is the Lipschitz regularity to be within an allowable range; or 3) have no constraints at

of at the singular point, and is a nonzero constant. The all on the values. Approaches 1) and 3) are extreme cases,

objective is to estimate and , and then extrapolate to assigning either infinite cost for wrong values or no cost at all.

an extremum point at scale through estimating its lo- The allowed interval of approach 2) serves as a moderation,

cation and value . Recall that the relation be- and yields better results. In the following, we will not construct

tween , , and is and explicitly an analytical cost function, but rather describe how

. Thus, this extrapolation pro- modifies the input to conform to the edge information.

vides the first step in obtaining an estimate of the high-frequency Extrema Location: Because the initial estimate of is

component (or ) by first estimating . obtained by interpolating from the estimate of the subsampled

For those singularities whose sequence of extrema, waveform , the sampling may be such that we miss the true ex-

is available, the parameters trema and obtain instead the adjacent points. Thus, for each ex-

and in (8) can be estimated via linear regression on tremum of , the points immediately next to it are also allowed

to be extrema points to account for this ambiguity. More specif-

ically, if we initially determine to be an extremum point

in the length- signal (which translates to location in

An initial estimate of the extremum point of the wavelet trans-

), then after the projection , may not be an ex-

form of at scale is then given by

tremum point of any longer. If the point of interest is a max-

. The extrema location in scales and is

imum (minimum) point, then the abscissa corresponding to the

assumed to be the same, that is, we let . greatest (smallest) of

The extrema extrapolation yields an estimate of the extrema is assigned as the new local maximum (minimum).

positions and values in . An initial estimate of the re- Between Extrema Points: The points between adjacent

maining points are obtained by linearly interpolating between extrema need also to be constrained to prevent spurious “edges.”

consecutive extrema points.

For example, by definition, the points between a pair of adjacent

3) Projection Operator for : From the problem model

maximum and minimum points should have values bounded

in Fig. 4, it follows that must, at the very least, assign

by these extrema values and, furthermore, the slopes of these

. In practice, this constraint alone does not

in-between points should be monotonic so that there is no

prevent the spurious oscillations which often occur in sharp

other extrema among them. Such a consistent reconstruction

variation regions. To avoid this artifact, each odd sample

can be achieved by a simple algorithm proposed in [32] which

is bounded within an interval determined by the

reconstructs a signal from only its wavelet extrema points. For

smoothness of in that vicinity.

Let be a length bicubic spline interpolated version the interpolation problem, it has been found experimentally that

of . Also, let the discrete Laplacian gradient of be de- these constraints are too restrictive for reconstructing , since

fined as . The upper the extrema information is estimated and more leniency should

bound on the odd samples of is made to be be allowed. Therefore, “softer” constraints will be described.

. The value of In predicting the extrema points of , only a subset of

was used. Similarly, the lower bound is calculated them could be extrapolated from the coarser scales due to the

as . fact that coarser scales typically have fewer extrema than finer

To summarize, the operator modifies by assigning scales. Thus, for each extremum predicted in , we only

to the even samples and bounding the odd samples to within the assume that it is valid locally. For each maximum (minimum)

interval . examined, the points in a small neighborhood around it (a

4) Projection Operator for : Being the highpass com- seven-point-centered window is used) are clipped to be less

ponent, the waveform should reflect sharp variations in . (greater) than or equal to this maximum (minimum) point. Since

From the analysis of the wavelet transform of , we have some we are working with gray-scale images, another optimization

knowledge of the extrema values and positions in . Hence, is to clip all of the pixel values to be within [0,255]. These

the set can be thought of as the set of waveforms minimizing a constraints are very lenient, and we prefer them over the

specified cost function which penalizes when the extrema values more restrictive ones when analyzing real data, where it is

do not conform to this knowledge. The operator modifies difficult to ensure the robustness of capturing all of the extrema

in a way such that the result has a lower cost. points. In our previous work in [24], we used strict constraints,

This edge information, however, is estimated and, thus, prone such as bounding extrema values, to be within an estimated

to inaccuracy especially when using data containing more than range, and enforcing monotonicity between consecutive extrema

1478 IEEE TRANSACTIONS ON IMAGE PROCESSING, VOL. 15, NO. 6, JUNE 2006

points. This sometimes resulted in images with some unpleasant analysis is also done on the columns of to

artifacts, such as overly pronounced edges or small streaks. obtain an estimate of .

Here, we find that the softer constraints yield much more 2) Alternating Projections: The estimates , , and

pleasant-looking results. are iteratively refined using constraints analogous to those pro-

posed in the 1-D case. The 2-D version of , , and will

C. Enhancement Algorithm for 2-D Images be described.

The projection operator is simply a one-level 2-D in-

In general, analyzing a 2-D problem by treating the two coor-

verse wavelet transform followed by a one-level 2-D forward

dinates independently is not an optimal approach. However, for

wavelet transform. The operator first makes the assignment

computational reasons, we propose here to treat the two coordi-

for the even samples. To constrain

nates separately. The problem model for the 2-D case is analo-

the odd samples, we define to be a bicubic

gous to the 1-D case, and is illustrated in Fig. 8 for clarity. To

spline interpolated version of , and the discrete Lapla-

reiterate, the goal is to extrapolate from information about ,

cian gradient of to be

, and , which are the necessary

components of .

1) Initial Estimates: In the wavelet transform, the data

are filtered by the separable 2-D filter bank as discussed ear-

lier. The wavelet transform generates the row components (9)

, the column components ,

and the low resolution component , all of which are . The upperbound on the samples of is taken to be

Bicubic spline interpolation is used to obtain the initial estimate

of the size signal . We observed that a better per-

formance is achieved if bicubic spline interpolation is used for Upsample (10)

the initial estimate of compared to pixel replication, bilinear

where the second term is the convolution between a weighting

interpolation, or interpolation by zeros. That is because the

function depicted by the matrix

intersection of the convex constraints imposed by our algorithm

consists of more than one image, so the alternating projections

converge to different images depending on the starting point.

Therefore, the initial estimate should be a more natural image.

The th row of is used to estimate the 2 th

row of the scale row component as in the 1-D case.

After interpolating this row to length , we have an initial

and the upsampled version of (upsampled by a

estimate of the th row of . Having only extrema

factor of 2 in each direction). The lower bound

constraints on the even lines may result in jagged edges during

is defined similarly, but with a subtraction substituting the ad-

the reconstruction process. To mitigate this artifact, we estimate

dition in (10). The operator then bounds to be

the extrema of an odd row based on its two neighboring even

within .

rows. Typical images have smooth contours which traverse

Each of the available rows of and the available

numerous rows or columns. Thus, for a given extremum on the

columns of are treated as a separate 1-D problem, and are

th row, if there is an extremum on the th row which

projected onto using the 1-D operator described in Sec-

is of the same type (i.e., both maxima or both minima) and

tion III-A.

same sign, and is in a close proximity (within ), then

we assume there is an extremum of the same type and sign on

the th row. The location and value are taken to be the IV. EXPERIMENTAL RESULTS

average of the corresponding extrema on the neighboring rows. The performance of the algorithm will be compared with sev-

For simplicity, averaging is used rather than fitting a smoothed eral standard methods, such as bilinear interpolation, bicubic-

curve across these lines since the considered neighborhood is spline interpolation, and bicubic-spline interpolation followed

small, and the difference in location is not significant. A similar by unsharp masking and also with the edge-directed interpola-

CHANG et al.: LOCALLY ADAPTIVE WAVELET-BASED IMAGE INTERPOLATION 1479

2 2

Fig. 9. Interpolation of the Barbara image, with the even-length low-pass filter ' [n]. (a) Original 256 256 image. (b) Lowpass, available image 128 128. (c)

Wavelet-based interpolation. (d) Bicubic spline interpolation with unsharp masking and prefiltering. (e) Edge-directed interpolation. (f) Bicubic spline interpolation.

1480 IEEE TRANSACTIONS ON IMAGE PROCESSING, VOL. 15, NO. 6, JUNE 2006

2

Fig. 10. Interpolation of the Lena image with the odd-length low-pass filter ' [n]. (a) Original 256 256 image. (b) Lowpass, available image 128 128. (c) 2

Wavelet-based interpolation. (d) Bicubic spline interpolation with unsharp masking and prefiltering. (e) Edge-directed interpolation. (f) Bicubic spline interpolation.

CHANG et al.: LOCALLY ADAPTIVE WAVELET-BASED IMAGE INTERPOLATION 1481

2 2

Fig. 11. Interpolation of the Baboon-A image, with the odd-length lowpass filter ' [n]. (a) Original 256 256 image. (b) Lowpass, available image 128 128. (c)

Wavelet-based interpolation. (d) Bicubic spline interpolation with unsharp masking and prefiltering. (e) Edge-directed interpolation. (f) Bicubic spline interpolation.

1482 IEEE TRANSACTIONS ON IMAGE PROCESSING, VOL. 15, NO. 6, JUNE 2006

Fig. 12. Interpolation of the Baboon-B image, with the lowpass filter ' n [ ]= [ ] 2

h n . (a) Original 256 256 image. (b) Lowpass, available image 128 128. (c) 2

Wavelet-based interpolation. (d) Bicubic spline interpolation with unsharp masking and prefiltering. (e) Edge-directed interpolation. (f) Bicubic spline interpolation.

CHANG et al.: LOCALLY ADAPTIVE WAVELET-BASED IMAGE INTERPOLATION 1483

+000+), ' ( 0 1 0 ), and ' (31 1 1 3). (a) Barbara. (b) Lena. (c) Baboon-A.

Fig. 13. PSNR as a function of iterations. The curves are for images with ' (

(d) Baboon-B.

tion proposed in [14]. Unsharp masking is a commonly used separable filter . The three choices of

method for boosting the high-frequency portion of a signal. are – 12-tap symmetric lowpass filter generated by

The general operation is to take the input and yield the MATLAB fir1(11, 0.5) function, – 11-tap symmetric

where , and lowpass filter generated by the MATLAB fir1(10, 0.5) function,

is a defined gradient at location . A commonly used gra- and – the same filter used in the wavelet analysis.

dient is the discrete Laplacian defined in (9), and a commonly The even-length filter has a delay of 1/2, while the odd-length

used value for is 1. We consider two types of bicubic-spline filter has a delay of zero. The reason for choosing is to

interpolation: the method which involves a prefiltering step, obtain a benchmark to see how well the algorithm can perform

as described in [33], so that the known pixels are reproduced when we “cheat” by knowing the nature of degradation from

exactly, and the traditional spline “interpolation” which consists to .

of applying just the bicubic-spline filter. The filters used in the The reconstructed images generally attain most of their

wavelet decomposition are given in Table I, and three levels of quality in few iterations and practically do not change after 7–8

decomposition are computed. iterations, both in visual quality and in PSNR measurements.

In order to obtain peak signal-to-noise ratio (PSNR) mea- The measurements listed and images displayed are obtained

surements in addition to the visual judgement, we take a after 15 iterations. The results obtained using only the initial

image, , filter it with some lowpass filter estimate of the proposed algorithm and focusing only on

, and downsample it to obtain the available step-edge singularities, as reported in [25], also demonstrate

image . The choice of the filter is a param- good performance compared to bilinear interpolation and

eter which we wish to test to see how sensitive the algorithm bicubic spline interpolation without prefiltering and unsharp

is with this choice. Each 2-D lowpass filter is a masking.

1484 IEEE TRANSACTIONS ON IMAGE PROCESSING, VOL. 15, NO. 6, JUNE 2006

COMPARING PSNR OF DIFFERENT METHODS WHEN THE GIVEN IMAGE IS approach yields the highest PSNR.

DOWNSAMPLED AFTER LOW-PASS FILTERING USING: (a) THE

[] []

EVEN-LENGTH FILTER ' n , (b) THE ODD-LENGTH FILTER ' n , Fig. 13 shows the PSNR as a function of the iteration number

[ ]= [ ]

(c) THE FILTER ' n h n for the images Barbara, Lena, Baboon-A, and Baboon-B. Each

plot shows three curves, for the three choices of lowpass filter

. As mentioned previously, the reconstructed image re-

mains visually indistinguishable after 7–8 iterations. The PSNR

also shows quick convergence, though it is not always mono-

tonically increasing. For filters and , the PSNR ac-

tually decreases after the third or fourth iteration, but for ,

it is monotonically increasing. The reason for the monotonic in-

crease of PSNR when is because, in that case,

our model for the process in which the low-resolution image

is obtained is correct, so the iterative procedure in every step

decreases the distance between the interpolated image and the

original, or an image which is very close to the original. On the

other hand, when filters other than are used to generate

the low-resolution image, there is a discrepancy between the

assumed model and the actual process, so the alternating pro-

jections may converge to images which are not as close to the

original as they would have been had the model been accurate.

Each set of experiments consists of taking one of the four Nevertheless, our experimental results demonstrate that the vi-

test images and one of the three lowpass filters, and inter- sual quality of the images which the algorithm converges to is

polating the images using four different interpolation methods. not sensitive to the accuracy of the model and, therefore, the per-

Here, only one set of experiments for each test image will be ceptual quality of interpolated images steadily improves toward

shown for wavelet interpolation, edge-directed interpolation, a saturation level, despite the fact that the PSNR may decrease.

traditional bicubic-spline interpolation, and bicubic-spline

interpolation preceded by the prefiltering step and followed V. SUMMARY

by unsharp masking. The Barbara experiment with filter

We have proposed a wavelet-based method for image inter-

is shown in Fig. 9, Lena with in Fig. 10, Baboon-A

polation which attempts to capture and preserve sharp varia-

with in Fig. 11, and Baboon-B with in Fig. 12.

tions of different kinds. By characterizing edge points via the

The images are also posted at www.kcl.ac.uk/cdspr/zc/im-

wavelet transform, we extrapolate the extrema needed at a finer

ages/name.tiff, where name is Barbara, Lena, BaboonA, or

scale for reconstruction of a higher-resolution image. The re-

BaboonB. Note that in the Barbara experiments, the interpolated

sults show that the enhanced image is significantly sharper than

images show aliasing on the scarfs. This is through no fault of

simple schemes, such as linear and bicubic-spline interpolation,

the interpolation algorithms, but rather that the downsampling

or edge-directed interpolation, and sharper, but less markedly,

operation, used to obtain the test image , already introduced

than bicubic-spline interpolation used in conjunction with un-

aliasing. In all of the experiments, the wavelet interpolation

sharp masking. The better performance comes at the expense of

approach yields images considerably sharper than those from

significantly higher complexity. We believe, however, that the

linear, bicubic spline, or edge-directed interpolation, and also

method leaves space for many modifications that can further

improves, but less markedly, over the bicubic-spline method

improve its performance and reduce computational complexity,

used in combination with unsharp masking. We observed a

and that the ideas and concepts presented in this paper indicate

barely noticeable effect of the prefiltering step on the visual

a promising path for further research of image interpolation in

quality of the interpolated images in the case of bicubic-spline

the direction of wavelet-based locally adaptive schemes.

interpolation. Unsharp masking, on the other hand, did make a

difference.

Visually, experiments from the three different filters ACKNOWLEDGMENT

yield very similar results and conclusions, but the PSNR tells The authors would like to thank anonymous reviewers for

quite a different story. Although the PSNR is not a good indi- their constructive criticism which improved the presentation of

cation of image quality, it is nevertheless frequently used, and the paper.

the results are tabulated in Table II for the wavelet method,

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