M. Rajeswari et al.
/ (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 3, Issue No. 2, 115 - 121
Automatic Extraction of Road Networks based on
Normalized cuts and Mean Shift method for high
resolution Satellite Imagery
M. Rajeswari*
Department of Telecommunication Engineering
Bangalore Institute of Technology
Bangalore, 560 004, KA, India
E-mail: m.rajeswari@gmail.com
S.N. Omkar, J. Senthilnath
Department of Aerospace Engineering
Indian Institute of Science
Bangalore, 560 012, KA, India
E-mail: omkar@aero.iisc.ernet.in, snrj@aero.iisc.ernet.in
Abstract— To evaluate the speed of growth of an urban area road
is one of the fast information updating element during urban
development. Road information extraction based on high
resolution satellite images play an important role because roads
affect city land usage. In this paper, two approaches for road
network extraction for an urban are proposed. Most research in
computationally expensive to extract roads due to presences of
other road-like features with straight edges. In the proposed
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road extraction begins with an original image. It is difficult and
method firstly the image is preprocessed to improve the tolerance
by reducing the noise (the buildings, parking lots, vegetation
regions and other open spaces). Secondly roads are extracted
based on Normalized cuts method and Mean Shift Method.
Finally the accuracy for the road extracted images is evaluated
based on quality measures. The experimental results show that
these approaches are efficient in extracting road segments in
urban region from high resolution satellite images.
Keywords- Road extraction; Filtering; Mean shift; Normalized
A
cut; performance evaluation
I. INTRODUCTION
Analysis of high resolution satellite images has been an
important research topic for accurate and up-to-date road
network information essential for urban planning. Automated
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methods improve the speed and utility for road mapping and
are therefore highly desirable. Fully automatic extraction of
roads from satellite imagery does not require human
intervention to perform time consuming and expensive process
of mapping roads and has been an active research and
development topic for the last twenty years. Many approaches
for the automatic extraction of roads from satellite imagery are
found in the literature. Zhang, [1] have done database
verification and updating determining the region of interest for
roads by a multispectral classification and excluding high
regions using Digital Surface Models (DSM) then parallel
edges are extracted in the regions of interest. For rural areas
Mena et al., [2] have used three different classification methods
for color and texture and are combined to extract road regions.
Roads are only extracted in the regions around database roads.
ISSN: 2230-7818 @ 2011 http://www.ijaest.iserp.org. All rights Reserved.
K.S.Gurumurthy
Department of Electronics & Communication Engineering
University College of Engineering,
Bangalore, 560 001 KA, India
E-mail: drksgurumurthy@gmail.com
L. Pratap Reddy
Department of Electronics & Communication Engineering
JNTU College of Engineering, Kukatpally
Hyderabad-500 085 AP, India
T
E-mail: pratap.fsf@gmail.com
Road extraction is difficult in the presence of context
objects such as buildings or trees close to the road, disrupting
the appearance of the road or occluding it. Baumgartner et al.,
[3] have considered context objects. For urban areas Zhang et
al. [4] have developed their extraction based on multispectral
classification and filtering using shape criteria. DSM from
LIDAR is used as an additional data source by Hu, et al., [5] to
restrict the search space for the straight lines. This cannot
handle curved roads well. In region based extraction Doucette,
et al., [6] used hyper spectral data channels to extract road
regions and road pixels are grouped into a network with a k-
median classification. Hu, et al., [7] extracted road footprints
based on their shape and then track them. Junction footprints
are distinguished from ordinary road footprints. They have
used Post-processing to remove false extractions. Bacher, et al.
[8] calculated value for the road class pixel then road
hypotheses is determined using fuzzy logic. Road network is
generated using weighted graph and detour factor to close
small and large gaps respectively. Poullis et al., [9] have
extracted road using Gabor filter for image classification into
road and non-road pixels segmentation using graph cut and
Gabor filter for post processing
In literature on road extraction using mean shift Zhanfeng
et al., [10] extracted segments from the image based on
different scales, and are analyzed using transcendental
knowledge. In Sun [11], the user inputs a set of nodes of the
road and then the partitioning of the image is done using Mean
Shift Method and roads are extracted between the nodes using
Fast Marching Method. Yao-Yi [12] and Simler [13] applied
mean shift as a filter to reduce the number of colors in the input
image. Guo [14] applied mean shift to determine average
saturation to classify the object. Saturation image is noisy and
the road boundary is not recognizable. Hence post processing is
used to extract roads.
In literature on road extraction using Normalized cuts,
Qihui et al., [15] have used normalized cuts for initial
segmentation step also requires priori information like depth
and intensity measurements from the range sensor for LIDAR
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data and then extracts roads using hypothesis testing. Groth et
al. [16, 17] have applied Normalized Cuts algorithm for
dividing image into Segments with color and edge criteria.
Then, the initial segments are grouped to form larger segments
and are then evaluated using shape criteria to extract road parts.
In this paper, we propose an approach for road network
extraction in urban areas based on our previous work [18]
without the priori information about road. Main objective of
this work is to show the effectiveness of the approaches for
road extraction. Initially image is pre-processed to remove
small linear structures appearing as noise then the normalized
cuts and Mean shift methods are used to extract the roads. The
quality measures evaluated show that these approaches are
accurate and robust for the extraction of roads.
The proposed road network extraction process with
Normalized cut and mean shift algorithms is described in
section II. Section III describes the Performance evaluation.
Section IV describes the experimental results with comparison
and conclusions and future work are given in section V.
II. METHODOLOGY
The proposed road extraction methodology has been
broadly divided into two steps: the pre-processing and
segmentation for road extraction.
A. Pre-processing
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Pre-processing is required to improve the image quality and
to generate the elongated road network for further processing.
Firstly, the panchromatic image was grouped into 15 clusters in
an unsupervised classification. This was followed by a
grouping operation to reduce the noise and smoothening of the
image. This improves the tolerance as the noise is reduced and
hence minimizes the effects of using a high resolution imagery
(at such high-resolutions the road is susceptible to noise in the
form of vehicular traffic, road markings, structural shadows,
occlusions and many road surface contrast irregularities).
Filtering operation generate the elongated road regions.
A
1) Classification
The images used are Quick-bird high resolution (2.4m and
0.6m) satellite images of the Bangalore urban area, India. The
dimensions of the images are 1000X943 and 627X630 pixels.
By setting the threshold value of 0.6, the high resolution image
was grouped into 15 clusters in an unsupervised classification,
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five of which correspond to road networks. A level one
classification was carried out by dividing the image into two
classes: Roads and non-roads.
2) Grouping
A nearest neighborhood grouping (NNG) operation was
applied to the classified image for smoothening the spectral
response within the pixel‟s local neighborhood. In this process
the vehicular occlusions and small patches of road contrast
abnormalities were eliminated. In this method a pixel is chosen
to begin with and its surrounding eight neighbors are
considered for voting. If a class gets four or more votes, then
the chosen pixel is assigned to that class. Otherwise the pixel
retains its class. Road pixels in the neighborhood grow over
ISSN: 2230-7818 @ 2011 http://www.ijaest.iserp.org. All rights Reserved.
Vol No. 3, Issue No. 2, 115 - 121
such noise elements and homogeneous regions or segments are
generated.
3) Filtering
The method of road extraction in urban areas poses
challenge because the spectral reflectance of some of the old
buildings (or buildings with a type of construction that renders
a dark road like effect) resembles the road surface. Such
buildings form the clutter and these non-road structures need to
be removed. Median filtering technique is applied. Median
filtering is similar to using an averaging filter, in that each
output pixel is set to an average of the pixel values in the
neighborhood of the corresponding input pixel. However, with
median filtering, the value of an output pixel is determined by
the median of the neighborhood pixels, rather than the mean.
The median is much less sensitive than the mean to extreme
values (called outliers). Median filtering is therefore better able
to remove these outliers without reducing the sharpness of the
image.
B. Segmentation for Road Extraction
T
Image segmentation provides a powerful tool to extract
features such as texture and shape from objects. Image
segmentation is a process of partitioning the image into non-
intersecting homogeneous regions on neighboring pixels, and
no pairs of contiguous regions are homogeneous. In the
proposed method for road extraction Segmentation methods are
based on Normalized cuts and mean shift.
1) Normalized cuts Method
Normalized cuts given by Shi and Malik [19] is a graph
based method using grouping of pixels maximizing similarity
of pixels belonging to the same segment and minimizing
similarity of pixels belonging to different segments. In optimal
segmentation, an image is divided into two optimal segments
and then recursively segmented. Ncut (normalized cut)
measures the similarity between two segments. Nassoc
(normalized association) measures similarity between pixels
within a segment then maximizing Nassoc and minimizing
Ncut. Normalized cut is an NP-complete problem so it is
approximated using an Eigenvector equivalent problem.
In normalized cuts, only the boundaries are considered. The
advantage of this is that hard constraints are not needed to gain
information about roads. This makes normalized cuts more
conducive for automatic road extraction, but also limits the
potential extraction that this method can produce because a
user only has limited input in determining the extraction. The
normalized cuts algorithm defines the optimal extraction in
terms of an extraction that divides the image into two parts. To
achieve a full extraction, initially an optimal binary extraction
is performed and then recursively an optimal extraction within
each extraction is determined.
Given a measure of similarity between pairs of pixels,
optimal extraction is defined as maximizing the similarity
between pixels belonging to the same set, and minimizing the
similarity between pixels that belong to different set.
The optimization is defined as follows:
Let G = (V, E) be a graph, where V is the set of pixels P,
and E is the set of all edges {p, q} between every pair of pixels
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Vol No. 3, Issue No. 2, 115 - 121

p and q. Set the weight of an edge, denoted by w{p,q}, equal to

a similarity measure between the pixels p and q, whereas The minimum can be found by calculating the Eigenvectors of
higher weight corresponds to pixels that are more similar. The a matrix derived from the W-matrix using equation (1). The
similarity measure is: “generalized” Eigen system in (6) can be transformed into a
W  N  N symmetric matrix, where “standard” Eigen value problem as given below
1 1
 

e
 Fi  F j  F2
e
 X i  X j  X2
if j  N i  D 2 D  W D 2 Z  Z
 
W i, j   

 0 otherwise (1) 1
whereZ  D 2 y
where Xi is the spatial location of i and Fi is the vector Steps of normalized cut algorithm are summarized as
based on intensity information at i. This gives the similarity follows:
between two pixels to be proportional to the probability of
pixel i being generated by a Gaussian distribution centered at  Consider a similarity measure and compute matrices D
pixel j. For this a fully connected graph is not required, only and W.
edges between two pixels that have a positive weight. To  Solve the generalized Eigen value equation from
measure the similarity between sets, normalized cut is given Equation (6) for the eigenvector y associated with the
by second smallest Eigenvector.

T
 Find a splitting point of „y‟ such that the normalized
cut ( X , Y ) cut ( X , Y ) cut is minimized and use it to partition the graph.
Ncut(X,Y) =      Recursively partition each segment until some
assoc( X ,V ) assoc(Y ,V ) sufficient measure of similarity is reached inside the
segment.

assoc(X, V) =  w( p, q) 
pX ,qV
ES 
2) Mean shift method
Mean shift consists of two main steps [20], Filtering step
and Segmentation step
Filtering step:
 use a kernel density estimator (weighted average e.g.
assoc(Y, V)   w( p, q) 
pY ,qV
  Gaussian)
 to shift
 the means of pixels in the image
 stop when each mean sequence has converged
Segmentation step:
Where assoc(X,V) is the total connection from nodes in X  use the converged means to delineate sets
to all the nodes in the graph and assoc(Y,V) is the total  basically a pair of pixels belong to set if their
connection from nodes in Y to all the nodes in the graph. convergence color and spatial components are
A
within some given range
The advantage of using the normalized cut is that
minimizing Ncut(X,Y) maximizes a measure of similarity  for sets with fewer pixels than a given threshold,
within the sets X and Y resulting in optimal partition. Let W be place them into neighboring sets
the cost matrix, i.e. W(i,j) = ci,j; is the weight between the The mean shift technique [20] is based on unsupervised
nodes i and j in the graph and D be the diagonal matrix such clustering. Clustering is a technique used to classify a large
amount of data into different categories. It is unsupervised as
that D(i,i) =  W (i, j) is the sum of costs from node i and there is no information indicating the correct group, for
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j
D(i,j) =0. Based on this input, the optimal partition can be example, for most image extraction problems there are no
found by computing: pixels marked as being part of a specific object. It iteratively
shifts the mean of a pixel resulting in the pixel being drawn
 y T D  W  y 
to a local point of convergence
min Ncut ( X , Y )  min y Mean shift starts with a mean for each pixel. The means
y T Dy are shifted by taking a weighted average over all the pixels
such that yi   1,b, 0  b  1, and y D1  0
T
in the image. The weighted average is called a kernel density
If y is allowed to take real values then the minimization of estimator. Essentially, it is a function that, given a point x in
equation (10) can be done by solving the generalized eigen the domain, weights all the points in the domain based on
value system. their distance to x. Kernel density estimation is based on
Gaussian. By iteratively shifting the mean based on the

D  W y  Dy 
kernel, all the pixels get drawn to a number of local points of
     
convergence. Segments are defined by grouping together

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 M. Rajeswari et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 3, Issue No. 2, 115 - 121

pixels whose mean converges to similar intensities. The

xi  y j  xi 
2


n
movement of each mean to its point of convergence can be g
compared to a particle moving through a force field until it
i 1 h d  2  h 
y j 1 
i
  j  1, 2,... (12)
reaches an equilibrium state, or can be seen as the points  2

1  j y  x
 
n
moving toward peaks and valleys in a landscape. In this g i

process there is clustering where the number of sets is i 1 h d  2  h 

i
 
determined by the image itself and there is no artificial
The initial position of the kernel (starting point to calculate
initialization of sets.
y1) is chosen as one of the data point xi. Usually, the modes
Given n data points x i, i=1,…,n in the d-dimensional space
(local maxima) of the density are the convergence points of
Rd, the kernel density estimation at the location x can be
the iterative procedure.
calculated by
Steps of mean shift algorithm are summarized as follows:
 Initialize
1 n 1  
2
x  xi  Compute the mean shift vector until convergence.
fˆK x    d k     Look for the mode,  in which the mentioned
 pixel (p)
n i 1 h  hi  converges. This is carried out by using a uniform
i  
Gaussian kernel.
with the bandwidth parameter hi > 0. The kernel K is a  Assign in Zi(filtered image)the z component of the
spherically symmetric kernel with bounded support satisfying calculated value (intensity of the level grey).Run the

T
[17], mean shift filtering procedure for the image and
store all the information about the d-dimension

  0
K x   c k , d k x
2
x  1 
convergence point in Zi.
 Define  the regions
 that are in the
 spatial domain (hs)
and that its intensities are smaller or equal than hr/2
where the normalization constant ck,d assures that K(x) (range domain).
 For each of the defined regions in the previous step
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integrates to one. The function k(x) is called the profile of the
kernel. Assuming derivative of the kernel profile k(x) exists,
using g(x) = -k’(x) as the profile, the kernel G(x) is defined as
G(x) = cg,d g(||x||2). The following property can be proven by
look for all the pixels belonging to it and assign in Z
the mean of its intensity values.
 Build the region graph through an adjacent list of
taking the gradient of Equation (8) as follows, the following way: for each region, look for all
adjacent regions that are on the right hand side and
below.
ˆ f (x)
  While there exists nodes in the graph, which have
mG ( x )  C K
         
fˆ ( x )
G
been not visited, are given as parameter,
 Go to assigning intensity values step until no more
pixel value modifications.
where mG(x) is called mean shift vector. C is a positive
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constant and, it shows that, at location x, the mean shift vector III. PERFORMANCE E VALUATION
computed with kernel G is proportional to the normalized The automatically extracted roads are compared with
density gradient estimate obtained with kernel K. The mean manually traced reference roads using ERDAS to perform
shift vector is defined as follows accuracy assessment. Since roads have linear features, it is
possible to use all the data rather than just sample points to
 x  xi 2  conduct the accuracy assessment. In [21] several quality
i 1 xi g  h 
n
measures to evaluate the quality of extracted roads is proposed.
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The measures for accuracy assessment of road extraction are:

 
m h ,G ( x)   x       
 x  x
2

i 1 g  h i 
n
TP
Completene ss   
  TP  TN
The mean shift vector thus points toward the direction of
maximum increase in the density. The mean shift procedure is
TP
obtained by successive computation of the mean shift vector Correctnes s    
and translation of the kernel G(x) by the mean shift vector. TP  FN
Finally, it converges at a nearby point where the estimate has
zero gradients [20]. The iterative equation is given by

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 M. Rajeswari et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 3, Issue No. 2, 115 - 121

TP Quick-bird image. Figure 1 shows: (a) the input image

 Quality    
1000X943;  (b) Preprocessed
  image (c)
 The extracted
 road
TP  FP  FN network using normalized cuts with number of segments
set to 5 (d) segmentation produced by mean shift with
bandwidth =10 and minimum region=100.Figure 2 shows:
TP - [1 - FP  FN] (a) the input image 627X630; (b) Preprocessed image (c)
 Re dundancy    The extracted road network using normalized cuts with
TP number of segments set to 8 the segments (d)
segmentation produced by mean shift with bandwidth =10
and minimum region=400. The experiments were
N conducted on Intel core2 duo CPU T5550 with 1.83 GHz
 d (der i  ref ) 2 windows XP system using Matlab 7.4.
RMSE  i 1
  For mean  shift extraction
  since the
preprocessed image  
N is used post processing steps are not required like in other
works[12][14]. Mean Shift is a region-search method It
N=number of pieces of unmatched extraction filters the image by representing each pixel with a vector
that combines both image location and pixel values and
n assigns each pixel the values of the nearest maximum
Number of Gaps/km =  
density 
location for the combined
 vector. The maximum
Length of reference[ km]

n=number of gaps
 M ean gap length[m] =
T
density points are clustered and gradient ascent method is
used for finding the local maximum of a target kernel-
density. When the kernel function, k, is differentiable,
convergence is guaranteed.
n
Earlier approaches have used normalized cut [15, 16,
 g (li ) and 17] for initial segmentation and multiple processing
i 1    wereapplied on
steps  the segmented
 image to extract road  

g(li) = length of the ith gap(m)

n
ES
Completeness represents the percentage of reference data
being correctly extracted. Correctness indicates the
percentage of correctly extracted roads. Therefore,
completeness is producer‟s accuracy and Correctness is
users‟ accuracy. The quality represents the overall
accuracy Redundancy gives the percentage of correctly
extracted roads which overlap as they correspond to the
same ideal road RMSE (Root Mean Square error)
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expresses the geometrical accuracy of extracted roads, the
number of gaps per unit length and the mean gap length,
where a gap corresponds to a part of the ideal road that is
not found. To calculate these quality measures, buffer
zones are generated around the extracted roads and the
reference roads. The chosen buffer width is approximately
half of the actual road width. The direction difference is
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segments. In this paper the normalized cuts algorithm is
applied for the pre processed image to extract the road
segments. As Normalized Cuts algorithm takes both local
and global characteristics of the image are taken into
account. Local characteristics are incorporated into the
similarity matrix which considers the similarity of pixels
in a close neighborhood. Global characteristics come into
play when the best cut is computed: a global minimum
criterion must be met. The combination of local and
global aspects is a very important aspect of the
Normalized Cuts algorithm. With this the algorithm
ignores noise, small surface changes and weak edges. The
results show that the extraction is successful as most
segments cover only roads.
Normalized cut uses spectral method and Mean Shift
uses clustering method of tracking and both are iterative
methods. For straight and long roads the boundaries are
relatively easily obtained by both methods. Figure (2c) has

derived directly from the vector representations of both
networks. A true positive (TP) is where the derived result
coincides with the reference result. A false positive (FP) is
where there is a road pixel in the derived result that is not
in the reference data. A false negative (FN) is where there
is a road pixel in the reference data that is not present in
the derived result.
several road segments and also contains a non road
segment in the lower part of the left side of the image.
Since the segments are defined by the image content and
other objects have similar radiometric and geometric
properties as that of road resulting in false road. Figure
(1d) and (2d) show that mean shift results contain small,
random elements as part of the final extraction.

IV. EXPERIMENTAL RESULTS

The images used are high resolution Quick-bird (0.6m
and 2.4m) satellite images of the densely populated
Bangalore urban area, India. The dimensions of the
images are 1000X943 and 627X630 pixels. The
algorithms were successfully tested and compared on the

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 M. Rajeswari et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 3, Issue No. 2, 115 - 121

and the gap statistics. Manual extraction data was obtained

Figure 1: (a) Pan sharpened image 1000 X 943 (b) Preprocessed image (c)
Normalized cut Extracted image (d) Mean Shift Extracted image
using ERDAS tool. Table 1 shows the numeric results. The
average completeness are from 80.69% to 96.09%, the
average correctness are from 67.13% to 73.7%, the quality
from 57.84% to68.87%and the average redundancy are
from 1.432% to 1.728% for the satellite images . Figure
(1d) shows an example result, where the geometry of the
extracted road are close to the road in the original image.
Some lines are not connected causing lower completeness
(80.69%) and correctness (67.13%). Since parts of non-road
features are also extracted redundancy is more because
some of the road lines were extracted as shorter line
segments with small orientation variation(1.728%) for high
resolution image using mean shift .For low resolution
image figure (2d)the mean shift produces results better than
normalized cut results(96.09% completeness and 73.7%
correctness). The average RMS difference and Mean gap
length of mean shift are higher for low resolution images
using mean shift compared to high resolution images. On

T
the whole mean shift performs better than normalized cuts
for 2.4m resolution image and for 0.6m resolution image
normalized cut.

V. CONCLUSIONS
ES In this paper we have proposed two approaches to
accurately extract the road networks. Pre-processing is used
to eliminate the noise exploiting the structural information
in the image and then normalized cut method and mean
shift methods are applied leading to the extraction of
elongated road segments.
The main advantage of using normalized cut method is
that both intergroup and intragroup characteristics of the
image are taken into account. Intragroup characteristics are
incorporated into the similarity matrix which considers the
Figure 2: (a) Multispectral Image 627 X 630 (b) Preprocessed image (c) similarity of pixels in a close neighborhood. Intergroup
Normalized cut Extracted image (d) Mean Shift Extracted image characteristics come into play when the best cut is
A
computed Mean Shift is a region-search method which
filters the image by representing each pixel with a vector
TABLE 1: COMPARISON OF PERFORMANCE MEASURES ON 2 IMAGES
combines both image location and pixel values to assign
each pixel the values of the nearest maximum density
Quality Measure Image1(1000X943) Image 2(627X630)
0.6m Resolution 2.4m Resolution location for the combined vector. Then the maximum
Normalized Mean Normalized Mean density points are clustered.
Cut Shift Cut Shift The results obtained show robust modeling capability and
IJ

Completeness% 96.09 80.69 82.03 95.18 better quality measures compared to earlier methods and are
Correctness% 70.86 67.13 73.7 73.23 suited for automatic road extraction. Looking at the results
shown in Table 1 we conclude that normalized cuts
Quality% 68.87 57.84 63.46 72.19
algorithm produces the better extraction for high resolution
Redundancy 1.451 1.728 1.575 1.432 images and mean shift for low resolution images.
RMS (m) 3.978 18.8 56.84 32.58 There are few limitations in both the methods.
Number of gaps per (km) 0.763 5.34 0.1934 0.1934 Normalized cut divides the image into segments of equal
Mean gap length (m) 0.04467 0.0631 0.472 0.14 size. Hence the recursion is not stopped appropriately and
the numbers of segments have to be specified for each
For the extracted road network , the accuracy of the image. We are trying to estimate the appropriate number of
extraction results are based on the road extraction metrics segments from the given image. Normalized cut code
proposed in [21], which include the completeness, handles images that have about 1, 00,000 pixels. For this,
correctness, quality, redundancy, root-mean-square (RMS) the input images were down sampled before the

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 M. Rajeswari et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 3, Issue No. 2, 115 - 121

extraction. Also the images were converted to grayscale
before the extraction. The Mean Shift method has
radically symmetric kernels. Hence the change in the road
width requires an adjustment of the kernel bandwidth to
consistently track the road. Our future work includes
overcoming these limitations
ACKNOWLEDGMENT
This work was supported by the Space Technology Cell,
Indian Institute of Science and Indian Space Research
Organization grant.
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