Constructive Approximation

on the Sphere
With Applications
to Geomathematics
W. FREEDEN
Geomathematics Group, University of Kaiserslautern
T. GERVENS
University ofOsnabriick (FH)
M. SCHREINER
Geomathematics Group, University of Kaiserslautern
CLARENDON PRESS OXFORD
1998
CONTENTS
List of Symbols xiii
Introduction 1
1 Notation 7
1.1 Basic Settings 7
1.2 Spherical Nomenclature 8
SCALARS
2 Polynomials 21
2.1 Homogeneous Polynomials 21
2.2 Homogeneous Harmonic Polynomials 25
2.3 Addition Theorem 29
3 Scalar Spherical Harmonics 35
3.1 Definition 35
3.2 Legendre Polynomials 38
3.3 Fundamental Systems 46
3.4" Closure and Completeness 52
3.5 Eigenfunctions of the Beltrami Operator 59
3.6 Funk-Hecke Formula 60
4 Green's Functions 67
4.1 'Definition 67
4.2 Integral Formulae 72
4.3 Beltrami Differential Equation 78
5 Spherical Radial Basis Functions 81
5.1 Sobolev Spaces and Pseudodifferential Operators 81
5.2 Reproducing Kernel Sobolev Spaces 88
viii CONTENTS
5.3 Integral Formulae 92
5.4 Peano's Theorem 97
5.5 Localization 99
5.6 Examples of Radial Basis Functions 105
5.6.1 Green's Kernels Corresponding to Iterated Bel-
trami Operators 105
5.6.2 Kernels Corresponding to Invertible Pseudo-
differential Operators 107
5.6.3 Abel-Poisson Kernel and Related Functions 108
5.6.4 Gaufi-WeierstraB Kernel and Related Func-
tions 112
5.7 Positive Definiteness 115
5.8 Further Examples of Radial Basis Functions 120
5.8.1 Kernels Related to Radial Basis Functions of
Euclidean Spaces 120
5.8.2 Locally Supported Kernels 123
5.9 Strict Positive Definiteness 135
6 Spherical Splines 139
6.1 Variational Characterization of Spline Interpolation 139
6.1.1 Spherical Spline Interpolation, m = 1 139
6.1.2 Spherical Spline Interpolation, m > 0 143
6.2 Error Estimates 149
6.3 Convergence 153
6.4 Complete Spline Bases 155
6.5 Combined Interpolation and Smoothing 157
7 Approximate Integration 165
7.1 Low Discrepancy Method 166
7.2 Interpolatory Polynomial Integration 177
7.3 Best Approximations 185
7.4 Interpolatory Spline Integration 188
8 Spherical Singular Integrals 193
8.1 Approximate Identities 193
8.2 Examples of Spherical Singular Integrals 197
8.2.1 Abel-Poisson Singular Integral 197
CONTENTS
8.2.2 Gaufi-Weierstrafi Singular Integral 199
8.2.3 __ Singular Integrals Corresponding to Locally
Supported Kernel Functions 201
8.2.4 Spherical Up Function 207
9 Gabor and Toeplitz Transforms 209
9.1 Gabor Transform 210
9.2 Combined Fourier and Gabor Transform 215
9.3 Toeplitz Transform 216
9.4 Combined Fourier and Toeplitz Transform 220
9.5 Combined Gabor and Toeplitz Transform 223
10 Continuous Wavelet Transform 227
10.1 Continuous Wavelet Transform (Linear Theory) 229
10.2 Continuous Wavelet Transform (Bilinear Theory) 234
10.2.1 Reconstruction Formula 234
10.2.2 Scaling Function 237
10.2.3 Examples 242
10.2.4 Least Squares Property 243
10.3 Scale Discretized Wavelet Transform 246
10.3.1 P-Scale Discretized Wavelets 246
10.3.2 M-scale Discretized Wavelets. 252
10.3.3 Multiresolution Analysis by Means of Scale
Discretized Wavelets. 255
10.3.4 >-scale Discretized Wavelet Transform 262
10.3.5 Least Squares Property 269
10.4 Fully Discretized Wavelet Transform 270
10.5 Combined Spherical Harmonic and Wavelet Expan-
sion 272
11 Discrete Wavelet Transform 275
11.1 Scale Discrete Scaling Function 276
11.1.1 Admissibility Condition 276
11.1.2 Scale Discrete Scaling Function 279
11.1.3 Discrete Approximate Identity 280
11.2 Scale Discrete Wavelet-Transform 282
11.3 Non-band-limited Wavelets 287
11.3.1 Rational Wavelets 287
11.3.2 Modified Rational Wavelet 288
x CONTENTS
11.3.3 Exponential Wavelets 289
11.4 Band-limited Wavelets 290
11.4.1 Shannon Wavelets 291
11.4.2 De la Valid Poussin Wavelets 294
11.4.3 Cubic Polynomial Wavelets 295
11.4.4 Exact Fully Discrete Wavelet Transform 296
11.4.5 A Pyramid Scheme 301
11.5 Scale Discrete Wavelet Transform of Positive Order 311
11.5.1 Fixed Order 312
11.5.2 Increasing Order 315
VECTORS
12 Vector Spherical Harmonics 321
12.1 Notation 322
12.2 Definition of Vector Spherical Harmonics 323
12.3 Homogeneous Harmonic Vector Polynomials 324
12.4 Decomposition of Spherical Vector Fields 329
12.5 Vectorial Beltrami Operator 331
12.6 Vectorial Addition Theorem 333
12.7 Vectorial Funk-Hecke Formulae 340
13 Vectorial Approximation Methods 345
13.1 Sobolev Spaces and Pseudodifferential Operators 345
13.2 Vectorial Splines 348
13.3 Vectorial Wavelets 350
13.4 Scale Continuous Spherical Wavelets 352
13.5 Scale Discrete Spherical Wavelets 352
TENSORS
14 Tensor Spherical Harmonics 357
14.1 Notation 358
14.2 Definition of Tensor Spherical Harmonics 370
14.3 Homogeneous Harmonic Tensor Polynomials 371
CONTENTS xi
14.4 Decomposition Theorem 376
14.5 Tensorial Beltrami Operator 380
14.6 Tensorial Addition Theorem 383
14.7 Terisorial Funk-Hecke Formula 392
15 Tensorial Approximation Methods 399
References 403
Index 421