Documente Academic
Documente Profesional
Documente Cultură
Communicated by P. P. Vaidyanathan
reader who is not familiar with this subject matter to more the sequence of coefficients {hk |k} or as the 2π-periodic
detailed treatments such as [7, 18, 33, 34, 42, 46, 66, 67]. function h(ω). We consider only the case where the scal-
In Section 3 we state the basic result, which is illustrated ing function, the wavelet, and their duals are compactly
with examples in Section 4. Section 5 contains a discus- supported. Consequently, only a finite number of the coef-
sion, while in Section 6 we show how the lifting scheme ficients in the refinement relations are nonzero while h(ω)
can speed up the implementation of the fast wavelet trans- and g(ω) are trigonometric polynomials. In this setting, we
form. In Section 7 we review some properties of interpolat- refer to h and g as finite filters (also known as FIR—finite
ing scaling functions. We use the lifting scheme to build a impulse response—filters).
family of wavelets from interpolating scaling functions in A necessary condition for the biorthogonality (3) is
Section 8. Finally, we conclude by showing how this result
fits in a broader line of research. ∀ω ∈ R : m̃(ω) mt (ω) = 1, (4)
The results in this paper are inspired by [23, 39]. Donoho
[23] suggests the idea of wavelets built from interpolat- where
" #
ing scaling functions, while the wavelets of Lounsbery et h(ω) h(ω + π)
al. [39] can be seen as a particular instance of the lift- m(ω) = ,
g(ω) g(ω + π)
ing scheme in case one wants to construct semiorthogonal
wavelets. and similarly for m̃(ω). In the signal processing literature
these matrices are called modulation matrices. In the case
2. MULTIRESOLUTION ANALYSIS of finite filters, det m(ω) is a monomial. We choose the de-
A multiresolution analysis of L2 (R) is built using two terminant as
basis functions: a scaling function ϕ and a wavelet ψ. The det m(ω) = −e−iω ,
scaling function ϕ ∈ L2 satisfies a refinement relation in
the sense that so that
X
ϕ(x) = 2 hk ϕ(2x − k). (1) g̃(ω) = e−iω h(ω + π) and g(ω) = e−iω h̃(ω + π). (5)
k
Then (4) is equivalent to
The integer translates of the scaling function {ϕ(x − k)|k ∈
Z} form a Riesz basis for the closure of their span. They h(ω)h̃(ω) + h(ω + π)h̃(ω + π) = 1. (6)
also partition the unity as
X This condition in the orthogonal case (h = h̃) is called the
ϕ(x − k) = 1. Smith–Barnwell condition, as those authors used it to design
k the first orthogonal filter banks [50].
Let N be the number of vanishing moments of the dual
The wavelet function ψ ∈ L2 is given by the refinement wavelet,
relation
X Z +∞
ψ(x) = 2 gk ϕ(2x − k). (2) xp ψ̃(x) dx = 0 for 0 à p < N.
k −∞
√
The functions ψj,l (x) = 2j ϕ(2j x − l), with j, l ∈ Z, form It is also the multiplicity of the origin as a root of g̃(ω).
a Riesz basis of L2 . Similarly, let Ñ be the number of vanishing moments of
The dual scaling function ϕ̃ and wavelet ψ̃ also generate a the wavelet. In a multiresolution analysis, Ñ and N are at
multiresolution analysis. They satisfy refinement relations least 1. The scaling function and its integer translates can
like (1) and (2) with coefficients h̃k and g̃k , respectively. reproduce any polynomial of degree strictly less than N. We
They are biorthogonal to ϕ and ψ in the sense that therefore say that the order of the multiresolution analysis
is N.
hϕ̃, ψ(· − l)i = hψ̃, ϕ(· − l)i = 0 and Define the Fourier transform of a function f as
Z +∞
hϕ̃, ϕ(· − l)i = hψ̃, ψ(· − l)i = δl . (3)
f̂(ω) = f(x)e−iωx dx.
−∞
Define the 2π-periodic functions
X X By iterating the refinement relation, we can write the
h(ω) = hk e−kω and g(w) = gk e−ikω , Fourier transform of a scaling function as
k k
Y
∞
and similarly for the dual functions. We refer to h as the ϕ̂(ω) = h(2−j ω), (7)
filter associated with ϕ, where we can think of h either as j=1
188 WIM SWELDENS
where the product converges absolutely and uniformly on 3. THE LIFTING SCHEME
compact sets. A similar statement holds for the dual scaling We start with the following observation.
function ϕ̃.
Lemma 5. Fix a compactly supported scaling function
Definition 1. The set of functions {ϕ, ϕ̃, ψ, ψ̃} is a set ϕ, and let h be the finite filter associated with it. Consider
of biorthogonal functions if conditions (3) are satisfied. two finite dual filters h̃ and h̃0 , both of them biorthogonal to
Definition 2. The set of filters {h, h̃, g, g̃} is a set of h in the sense of (6) and satisfying the conditions of Theorem
finite biorthogonal filters if condition (4) is satisfied and 3. Then they are related to each other by
det m(ω) = −e−iω . h̃(ω) = h̃0 (ω) + e−iω h(ω + π) s(2ω), (8)
Given a set of finite biorthogonal filters, it is not guaran-
where s(ω) is a trigonometric polynomial. Conversely, if one
teed that an associated set of biorthogonal functions exists.
of the dual filters is biorthogonal to h, and they are related
The following theorem from [14], see also [18, Theorem
through (8), the other one is biorthogonal to h as well.
8.3.1], gives a necessary and sufficient condition. We first
define the operator P acting on 2π-periodic functions as Proof. The converse statement follows immediately
from combining (6) and (8) and using the fact that s(ω)
is 2π-periodic.
(Pa)(ω) = |h(ω/2)|2 a(ω/2) + |h(ω/2 + π)|2 a(ω/2 + π),
The proof of the first statement follows the reasoning in
[18, p. 133]. Theorem 3 implies that two positive constants
and similarly for P̃. A and B exist so that
h. The associated dual scaling function, wavelet, and dual change after lifting, while in (12) the functions on the right-
wavelet do change. We write the wavelet as hand side did change after lifting. Equation (12) does not
really give much insight into how the dual scaling function
ψ̂(ω) = g(ω/2)ϕ̂(ω/2) changes and therefore is not much help in the choice of the
= g0 (ω/2)ϕ̂(ω/2) − s(ω)h(ω/2)ϕ̂(ω/2) sk . On the other hand, (11) tells us precisely what happens
to the wavelet after lifting and will be the key to finding
= g0 (ω/2)ϕ̂(ω/2) − s(ω)ϕ̂(ω). the sk coefficients. The dual wavelet (13) also changes, but
in a much less fundamental way than the wavelet and dual
This means that scaling function. More precisely, the dual wavelet change
X X because the dual scaling functions from which it is built
ψ(x) = 2 gk0 ϕ(2x − k) − sk ϕ(x − k).
k k
change, while the coefficients of the linear combination (g̃k )
remain exactly the same.
Similarly we obtain The power behind the lifting scheme is that through s we
ˆ = h̃(ω/2)ϕ̃
ϕ̃ ˆ (ω/2) have full control over all wavelets and dual functions that
can be built from a particular scaling function. This means
ˆ (ω/2) + s(ω)g̃(ω/2)ϕ̃
= h̃0 (ω/2)ϕ̃ ˆ (ω/2) we can start from a simple or trivial set of biorthogonal
functions and use (11) to choose s so that the wavelet after
= h̃0 (ω/2)ϕ̃ ˆ (ω).
ˆ (ω/2) + s(ω)ψ̃ lifting has some desirable properties. This allows custom
design of the wavelet and it is the motivation behind the
Thus, name “lifting scheme.” Since the scaling functions on the
X X
ϕ̃(x) = 2 h̃k0 ϕ̃(2x − k) + s−k ψ̃(x − k). right-hand side of (11) do not change after lifting, condi-
k k tions on ψ immediately translate into conditions on s. For
example, we can choose s to increase the number of van-
We can summarize these observations in the following the- ishing moments of the wavelet, or choose s such that ψ
orem. resembles a particular shape.
Theorem 7 (Lifting Scheme). Take an initial set of The advantage of using (11) as opposed to (2) for the con-
biorthogonal scaling functions and wavelets {ϕ, ϕ̃0 , ψ0 , ψ̃0 }. struction of ψ is that in the former we have total freedom
Then a new set {ϕ, ϕ̃, ψ, ψ̃}, which is formally biorthogonal, in the choice of s. Once s fixed, the lifting scheme assures
can be found as that all filters are finite and biorthogonal. If we used (2)
X to construct ψ, we would have to check the biorthogonal-
ψ(x) = ψ0 (x) − sk ϕ(x − k) (11) ity separately. The lifting scheme thus allows us to isolate
k into s, the degrees of freedom that are left after fixing the
X X biorthogonality conditions.
ϕ̃(x) = 2 h̃k0 ϕ̃(2x − k) + s−k ψ̃(x − k) (12)
k k
Evidently, the lifting scheme is useful only if we have
X an initial set of biorthogonal filters. The following section
ψ̃(x) = 2 g̃k ϕ̃(2x − k), (13) gives two examples of initial sets.
k
4. EXAMPLES
where the coefficients sk can be freely chosen.
4.1. Lifting the Haar wavelet. We start from the Haar
Note that the resulting functions are only formally bior- wavelet and try to use the lifting scheme to increase the
thogonal. Indeed, it is not guaranteed that the new dual number of vanishing moments of the wavelet from one to
wavelets belong to L2 or that the new wavelets form a Riesz two. We have
basis. For each choice of s, the conditions of Theorem 3
have to be verified in order to assure that an associated h̃0 (ω) = h(ω) = 1/2 + 1/2 e−iω ,
set of biorthogonal functions exists. The only conditions to
verify are the nondegeneracy of 1 as an eigenvalue of P̃ and
and the sign of the invariant trigonometric polynomial. If s
and the initial filters are finite, all associated basis and dual g̃(ω) = g0 (ω) = −1/2 + 1/2 e−iω .
functions are compactly supported. An interesting question
is that of whether the conditions of Theorem 3 can be trans- Note that because of (5), we have that g0 (π) = −1, while
lated into a simple condition on s. most authors prefer to have g0 (π) = 1.
Although formally similar, the expressions in (11) and After lifting {h, h̃0 , g0 , g̃} to {h, h̃, g, g̃} we obtain
(12) are quite different. The difference lies in the fact that
in (11) the scaling functions on the right-hand side did not g(ω) = g0 (ω) − h(ω)s(2ω).
190 WIM SWELDENS
6. The idea of custom designing a wavelet was also sug- filters h̃0 and g̃ and (II) an update of the low subband {λj,l }
gested by Aldroubi and Unser [2], Abry and Aldroubi [1], using the s filter on the high subband {γj,k }. For the inverse
and Chui and Wang [12]. They introduce several schemes transform we obtain by using (10) that
to control the shape, support, regularity, and interpolating !
properties of the wavelet. The difference with our approach √ X X
λj+1,k = 2 hk−2l λj,l − sl−m γj,m
is that we work in the fully biorthogonal case, while they l m
work in the semiorthogonal case. The latter has the advan- √ X 0
tage that the wavelet and scaling function are orthogonal to + 2 gk−2l γj,l .
each other. The disadvantage is that the dual filters are not l
guaranteed to be finite. Here stage I is simply undoing stage II of the forward trans-
7. One can also use the lifting scheme to construct semi- form, while stage II is a classical subband merging using the
orthogonal wavelets. One then needs to choose the sk in simple filters h and g0 . This leads to the following algorithm
(11) so that ϕ(· − l) and ψ are orthogonal. This in general for the fast lifted wavelet transform. A block scheme is de-
leads to infinite filters. picted in Fig. 1. Implementation of dual lifting or cakewalk
(alternating lifting and dual lifting) is now straightforward.
6. THE FAST WAVELET TRANSFORM
Forward transform:
For a function f ∈ L2 , define —Stage I: (Calculate the unlifted coefficients)
λj,l = hf, ϕ̃j,l i and γj,l = hf, ψ̃j,l i, √ X 0
λj,l := 2 h̃k−2l λj+1,k
k
where ψ̃j,l and ϕ̃j,l are defined similarly to ψj,l . Consider
√ X
the following problem: given the λn,l for a fixed n, calculate γj,l := 2 g̃k−2l λj+1,k .
the wavelet coefficients γj,l for j < n. This is classically k
done through recursive applications of the formulae
—Stage II: (Calculate the lifted coefficients)
√ X
λj,l = 2 h̃k−2l λj+1,k and X
k
λj,l := λj,l + sl−k γj,k .
k
√ X
γj,l = 2 g̃k−2l λj+1,k . (14) Inverse transform:
k
—Stage I:
The inverse transform recursively uses the formula X
λj,l := λj,l − sl−k γj,k .
√ X √ X k
λj+1,k = 2 hk−2l λj,l + 2 gk−2l γj,l .
l l —Stage II:
√ X √ X 0
The resulting algorithm is linear and is known as the fast λj+1,k := 2 hk−2l λj,l + 2 gk−2l γj,l .
wavelet transform. It is exactly the same as subband filter- l l
ing. We use this algorithm, which need not be optimal, as a Assume that we are in the situation where the filters h and
comparison basis and refer to it as the standard algorithm. h̃ are given. Is there a way to speed up the wavelet transform
It is the same as what is called the basic algorithm in [45, associated with these filters? Remember that the Vetterli–
Section III.B] in the sense that it avoids calculating filtered Herley lemma tells us that any filter h̃0 that is biorthogonal
coefficients that will be immediately subsampled. to h is related to h̃ through the lifting scheme. We thus get a
If the filters are constructed with lifting, we can take ad- faster implementation (again compared to the standard case)
vantage of this in the fast wavelet transform. Essentially, of the wavelet transform if we let h̃0 to be the shortest filter
we never need to explicitly construct the filters h̃ and g, but that is biorthogonal to h, and think of the given h̃ as a lifting
instead we can always work with h, h̃0 , g0 , g̃, and s. This can from h̃0 .
reduce the number of operations as compared to the stan- Consider the example of Section 4.1. The low-pass step
dard algorithm. Using (12), we can write the first equation of the fast wavelet transform in the standard case is
of (14) as √
√ X 0 X λj,l = 2(−1/16 λj+1,2l−2 + 1/16 λj+1,2l−1 + 1/2 λj+1,2l
λj,l = 2 h̃k−2l λj+1,k + sl−k γj,k .
k k + 1/2 λj+1,2l+1 + 1/16 λj+1,2l+2 − 1/16 λj+1,2l+3 ).
This assumes that we calculate the γj,l coefficients before Given that s1 = −s−1 = 1/8, this now becomes
the λj,l . Each step of the forward transform thus splits into √
two stages: (I) a classical subband splitting using the simple λj,l = 2(1/2 λj+1,2l +1/2 λj+1,2l+1 )+1/8 γj,l−1 −1/8 γj,l+1 ,
192 WIM SWELDENS
FIG. 1. The fast lifted wavelet transform: The basic idea is to first perform a classical subband filter with simple filters and later “lifting” the lower
subband with the help of the higher subband. In the case of dual lifting the higher subband would be lifted with the help of the lower one.
g(ω) = e−iω − h(ω)s(2ω). (19) If d(0) = 1 then g(0) = 0 since h(0) = 1. If d(p) (0) = 0
for 1 à p < Ñ, then g(p) (0) = 0 because h(p) (0) = 0. The
Note that shortest filter that satisfies these constraints is d = 2d̃Ñ .
X
ψ(x) = 2ϕ(2x − 1) − sk ϕ(x − k), (20) The case Ñ > N. This case, which is less interesting,
k is more involved. We give only the basic outline of the
construction. We use the same definition for d as in the
where the first term on the right is precisely the Donoho
proof above. Since N is even we also let Ñ be even. The
wavelet. We can now choose the sk coefficients to assure
fact that g has a root of multiplicity Ñ at the origin leads
that ψ has Ñ vanishing moments. In our construction we
to
fix h to be the Deslauriers–Dubuc filter hN , which can be
p
X
written as p
0 = δp,0 − h(k) (0)d(p−k) (0) for 0 à p < Ñ. (22)
k
hN (ω) = 1/2 + eiω s̃N (2ω). (21) k=0
which we can use to start the lifting scheme. For more eration multiresolution analysis. The details of the second
information on shift interpolation, see [32, 54; 51, Chap- generation lifting scheme are described in [52]. One recent
ter 3]. application is the construction of wavelets on a sphere [48].
4. The idea of shift interpolation was also used by Chen In [55] several practical one-dimensional examples, such as
[6] to construct extended families of semiorthogonal spline irregular samples, weights, and intervals, are worked out.
functions. In case τ ≠ 0 the dual functions in this family are The basic motivation for the work in this paper was to
no longer spline functions. As typical for the semiorthogo- gain a better understanding of the properties of the lifting
nal case, the dual functions are not compactly supported. scheme in the more familiar setting of classical wavelets in
order to facilitate the generalization to the second-genera-
tion case.
9. CONCLUSION
As we mentioned before, in a regular setting the lifting Remark. After finishing this work, the author learned
scheme never leads to a wavelet that somehow could not be that related results were obtained independently by Wolf-
constructed before. The new features are the custom-design gang Dahmen and collaborators. Their results are stated in a
property and the speedup of the fast wavelet transform. An- setting similar to the second general wavelet case described
other nice feature of lifting is that it allows fully in-place above and lead to wavelets defined on manifolds and trian-
calculation of the wavelet transform. In other words, the gulations. We refer the reader to the original papers [5, 16]
memory locations of the original data can be overwritten for details.
by the wavelet coefficients without having to allocate new
memory. In fact, the FFT has a similar feature which can be ACKNOWLEDGMENTS
obtained by bit reversing the addresses of the memory lo- The work presented here benefited greatly from stimulating and in-
cations. In order to calculate the wavelet transform in place spiring discussions with Ingrid Daubechies, Anca Deliu, Maria Girardi,
using lifting, a partial bit reversal is needed. More details Björn Jawerth, Jelena Kovačević, and Peter Schröder. Peter and Jelena also
can be found in [53]. helped improving the exposition. Special thanks to Thomas Bueschgens
for interesting e-mail discussions and for pointing out several typos in an
The original motivation behind lifting, however, lies else-
earlier version. Part of this work was done while the author was at the
where, namely in the construction of second generation Department of Mathematics at the University of South Carolina. He was
wavelets. The basic idea of second generation wavelets is to at that time partially supported by NSF EPSCoR Grant EHR 9108772 and
abandon translation and dilation to construct wavelets. The DARPA Grant AFOSR F49620-93-1-003. The author is also Senior Re-
goal is to construct wavelets for spaces much more general search Assistant (on leave) of the National Fund of Scientific Research Bel-
gium (NFWO) at the Department of Computer Science of the Katholieke
than L2 (R, dx). Typical examples are Universiteit Leuven Belgium.
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