Multidim Syst Sign Process (2013) 24:199–218

DOI 10.1007/s11045-011-0165-0

The analysis and design of two-dimensional

nearly-orthogonal symmetric wavelet filter banks

Yong Zhao · M. N. S. Swamy

Received: 9 October 2010 / Revised: 22 September 2011 / Accepted: 18 October 2011 /

Published online: 3 November 2011
© Springer Science+Business Media, LLC 2011

Abstract The design and analysis of two-channel two-dimensional (2D) nonseparable

nearly-orthogonal symmetric wavelet filter banks with quincunx decimation is studied. The
basic idea is to impose multiple zeros at the aliasing frequency to a symmetric filter and min-
imize the deviation of the filter satisfying the orthogonal condition to obtain a nearly-orthog-
onal FIR filter bank. Since multiple zeros are imposed, a scaling function may be generated
from the minimized filter. With this filter, a semi-orthogonal filter bank is constructed. Meth-
ods for analyzing the correlation of the semi-orthogonal filter banks are proposed. The integer
translates of the wavelet and scaling function are nearly-orthogonal. The integer translates
of the wavelet at different scale are completely orthogonal. The semi-orthogonal filter bank
can be efficiently implemented using the corresponding nearly-orthogonal FIR filter bank.

Keywords Wavelet · Filter Bank · Symmetric · Orthogonality · Multidimensional wavelet

1 Introduction

Sub-band transforms have been successfully used in many areas of signal processing, espe-
cially in the compression of still image and video signals. This technique normally employs
analysis/synthesis multirate digital filter banks for the decomposition and reconstruction of a
signal (Vetterli and Kovacevic 1995; Vaidyanathan 1993). It has been shown that filter banks
are closely connected with the wavelet transform which is a decomposition of a function
(signal) into a set of basis functions consisting of contractions, expansions, and translations

Y. Zhao (B)
The Key Lab of Integrated Microsystems, Shenzhen Graduate School, Peking University, Xili,
518055 Shenzhen, China
e-mail: zhaoyong@szpku.edu.cn
URL: www.szpku.edu.cn

M. N. S. Swamy
Centre for Signal Processing and Communications, Department of Electrical and Computer Engineering,
Concordia University, 1455 de Maisonneuve Blvd. West, Montreal, QC H3G 1M8, Canada

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200 Multidim Syst Sign Process (2013) 24:199–218

of a mother function, called wavelet (Vetterli and Kovacevic 1995). Lots of wavelet transform
decompositions of functions can be implemented as filter banks, and on the other hand, filter
banks can be used to generate wavelet base if they satisfy some basic conditions such as the
perfect reconstruction and regularity. For two-channel filter banks, no matter whether they
are one-dimensional or two-dimensional, there is not a single wavelet, which can be simulta-
neously symmetric (linear phase), compactly supported (FIR) and orthogonal, except for the
Harr wavelet which is not continuous (Vetterli and Kovacevic 1995). However, linear phase
(symmetry), FIR (compactly-supported), and orthogonality are all often desired in signal
processing (Vaidyanathan 1993; Antonini et al. 1992; Shapiro 1993; Villasenor et al. 1995).
The use of wavelet filter banks for image processing has been studied widely and it
has been shown to have potential for image coding (Antonini et al. 1992; Shapiro 1993;
Villasenor et al. 1995; da Silva and Ghanbari 1996; Sriram and Maicellin 1995). While most
of these developments have dealt with one dimensional signals and the multidimensional
case was handled via the tensor product, some of the more recent efforts have concentrated
on the “true” multidimensional case, from the filter bank aspect as well as the wavelet aspect
(Kovacevic and Vetterli 1997; Bamberger and Smith 1992; Chen and Vaidyanathan 1993;
Cohen and Daubechies 1993; Karlsson and Vetterli 1990; Kovacevic and Vetterli 1992; Tay
and Kingsbury 1993; Venkataraman and Levy 1994; Viscito and Allebach 1991). The main
difference, compared to the one dimensional treatment, is that multidimensional sampling
requires the use of lattices. A lattice is the set of all vectors generated by Dk, k ∈ Z2 , where
D is the matrix characterizing the sampling process and Z is the set of all integers. With non-
rectangular subsampling, more general subband shapes can be achieved. These may exhibit
directional properties. The quincunx subsampling in a 2-channel filter bank is a particularly
important nonrectangular subsampling scheme. It results in ideal subbands that are in a dia-
mond shape. The diamond subband contains significant amounts of horizontal and vertical
frequencies, but rejects most of the diagonal high frequencies. Psychophysics experiments
have shown that the human visual system is less sensitive to diagonal high spatial frequencies.
Regularity is a crucial distinction between an ordinary filter bank and a wavelet filter bank
and it has been shown in Vetterli and Kovacevic (1995), Vaidyanathan (1993), Antonini et
al. (1992), Shapiro (1993), Villasenor et al. (1995), da Silva and Ghanbari (1996) that the
vanishing moments and regularity are relevant to denoising, subband coding, etc, although
it is not necessary to maximize the regularity of a filter bank in all applications (Villasenor
et al. 1995; da Silva and Ghanbari 1996). In Basu (1998), multidimensional filter banks and
wavelets have been studied from a system theoretic perspective. A number of techniques
have been proposed to design quincunx decimation wavelet filter banks. Some of them use
the cascade form of the polyphase matrix to design the filter bank. The disadvantage is that it
is not convenient to impose a high order of zeros in the filter (KV97). The same thing holds
for the technique of using transformation of variables in Tay and Kingsbury (1993). In the
McClellan cases, however, wavelets with compact support are possible, but not orthonormal
ones (Vetterli and Kovacevic 1995). However, one-dimensional nearly-orthogonal symmetric
wavelets can be used to generate two-dimensional nearly-orthogonal nonseparable wavelets
by using McClellan transform.
The study of one-dimensional nearly-orthogonal symmetric compactly-supported wave-
let filter bank has been studied in Zhao and Swamy (2000). In Dumitrescu (2010), a two-
stage constrained optimization in the frequency domain has been used for designing 2D
nearly-orthogonal filter banks; this method is very complicated, although good passband
phase linearity is achieved. In Marshall (1997), a fast algorithm for zero-phase filter bank
and wavelet design has been proposed via decomposition of polyphase matrix. In Stanhill
and Zeevi (1998), two-dimensional orthogonal filter banks and wavelets with two-fold and

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Multidim Syst Sign Process (2013) 24:199–218 201

Fig. 1 Nearly-orthogonal filter bank

four-fold symmetry have been studied, and it shows that orthogonal order-factorable wave-
lets cannot be both continuous and have four-fold symmetry. In the present paper, zeros at
aliasing frequency points are directly imposed on the two-dimensional symmetric filter, and
optimization is performed to satisfy the orthogonality condition as closely as possible. Then,
a nearly-perfect reconstructed (NPR) and nearly-orthogonal (NO) 2D FIR filter bank with
quincunx decimation can be obtained. A corresponding scaling function can be generated.
However, the question arises as to what the corresponding wavelet is, and what its degree
of orthogonality is, since the filter bank is not perfect reconstructed. First, we can construct
a semi-orthogonal 2D wavelet filter bank which is perfect reconstructed. Then, correlation
analysis is carried out on this semi-orthogonal filter bank. Both theoretical and experimental
analyses are given, which show that the semi-orthogonal filter bank is nearly-orthogonal. We
will also show that the semi-orthogonal filter is very close to the nearly-orthogonal FIR filter
bank in the sense that the corresponding filters in the two filter banks have the exact phase
response and almost the same amplitude response. The FIR NPR filter bank is regarded as
an implementation of the corresponding semi-orthogonal filter bank.

2 Two-channel two-dimensional filter banks and wavelets

It is known that there is a close relationship between filter banks and wavelets. A lot of discrete
wavelet transforms can be implemented as filter banks, and perfect reconstructed filter banks
may generate wavelets, provided that they satisfy some regularity condition. The condition
for a filter bank to be able to generate wavelet bases is very complicated, as indicated in
Chui (1992). However, a necessary condition that a filter can be used to generate a scaling
function is that it must have some zeros at the point z = −1. If this condition is satisfied, the
filter bank may be capable of generating a multiresolution analysis and a wavelet basis. The
one-dimensional case has been studied in Zhao and Swamy (2000).
A quincunx two-channel filter bank is shown in Fig. 1, where G(z 1 , z 2 ), P(z 1 , z 2 ),
H (z 1 , z 2 ), and Q(z 1 , z 2 ) are the analysis low-pass filter, synthesis low-pass filter, analy-
sis high-pass filter and the synthesis high-pass filter, respectively, and D is the quincunx
decimation, which can be characterized by the matrix
 
1 1
D= (1)
1 −1

Note that, D = DT , D−1 = 21 D, the quincunx decimated version of x(k) is defined as

y(k) = x(Dk), where k = (k1 , k2 ) ∈ Z2 . The relation in the frequency domain is
1 
Y(ω) = X(D−T (ω − 2πk)) (2)
|det (D)| Tk∈N(D )

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202 Multidim Syst Sign Process (2013) 24:199–218

where ω = (ω1 , ω2 ) and N(DT ) denotes the set of all integer vectors in DT a, a ∈ [0, 1)2 .
The quincunx expanded version of x(k) is defined as

x(D−1 k), if D−1 k ∈ Z2
y(k) = (3)
0, otherwise
Hence,
Y (ω) = X (DT ω) (4)
From (2) and (4), the output can be obtained as follows
1
y(z 1 , z 2 ) = [P(z 1 , z 2 )G(z 1 , z 2 ) + Q(z 1 , z 2 )H (z 1 , z 2 )]x(z 1 , z 2 )
2
1
+ [P(z 1 , z 2 )G(−z 1 , −z 2 ) + Q(z 1 , z 2 )H (−z 1 , −z 2 )]x(−z 1 , −z 2 ) (5)
2
A necessary condition
√ for a PR filter bank to generate a wavelet basis is that P(−1, −1) = 0
and P(1, 1) = 2, implying that there must be some zeros at the aliasing frequency of
(π, π). If a multiresolution analysis and wavelet basis exist, then a scaling function can be
defined by the product

1  
∞
 T −i
ϕ (ω) = √ P e j (D ) ω (6)
i=1
2

where ϕ is a scaling function generated by P(z 1 , z 2 ) with the above equation, and ϕ is its
Fourier transform. We have the following dilation equations:
√ 
ϕ(t) = 2 p(k) ϕ(Dt − k) (7)
k∈Z 2
√ 
ψ(t) = 2 q(k) ϕ(Dt − k) (8)
k∈Z 2

where ψ(t) is the corresponding wavelet function, k = (k1 , k2 ), t = (t1 , t2 ) ∈ R 2 , R is the

set of all real numbers, and p(k), q(k) are the coefficients of the polynomial of P(z), Q(z),
respectively. In the frequency domain, we have:
1  −T    
ϕ̂(ω) = √ P e jD ω ϕ D−T ω (9)
2
1  −T    
ψ̂(ω) = √ Q e jD ω ϕ D−T ω (10)
2

3 Two-dimensional nearly-orthogonal symmetric filter

Since the nearly-orthogonal filter banks are symmetric, we can use McClellan transform to
obtain the nonseparable two-dimensional nearly-orthogonal filter banks, i.e., we use
cos ω1 + cos ω2
cos ω = (11)
2
to transform all the one-dimensional nearly-orthogonal symmetric filters into 2D nonsepara-
ble symmetric near-orthogonal wavelet filter banks with quincunx decimation. Another way

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Multidim Syst Sign Process (2013) 24:199–218 203

is to directly optimize a two-dimensional filter so that it satisfies the orthogonality condition

as accurately as possible. The latter method has more degrees of freedom in the design.
First, we assume that a two-dimensional filter P(z 1 , z 2 ) has symmetric diamond form,
and it has some zeros at (z 1 , z 2 ) = (−1, −1); then it can be written in the following form:
P(z 1 , z 2 ) = S0 (z 1 , z 2 )m Sn (z 1 , z 2 ) (12)
where n is the absolute maximum order of z 1 and z 2 in the remainder polynomial Sn (z 1 , z 2 ),
and
1 z 1 + z 1−1 z 2 + z 2−1
S0 (z 1 , z 2 ) =
+ + (13)
2 8 8
If m = 1, we have second order zeros at the aliasing frequency. If m = 2, we have fourth
order zeros at the aliasing frequency. Assume that Sn (z 1 , z 2 ) has a diamond symmetric form
as follows

n 
n−i 
−j −j
ai, j z 1i z 2 + z 1i z 2 + z 1−i z 2 + z 1−i z 2
j j
Sn =
i=0 j=i

−j −j
+z 1 z 2i + z 1 z 2−i + z 1 z 2i + z 1 z 2−i
j j
(14)

For example, a five-ring filter has the following form

⎛ ⎞
a0,5
⎜ a a 0,4 a1,4 ⎟
⎜ 1,4 ⎟
⎜ a a a 0,3 a1,3 a2,3 ⎟
⎜ 2,3 1,3 ⎟
⎜ a a a a 0,2 a1,2 a2,2 a2,3 ⎟
⎜ 2,3 2,2 1,2 ⎟
⎜ a a a a a 0,1 a1,1 a1,2 a1,3 a1,4 ⎟
⎜ 1,4 1,3 1,2 1,1 ⎟
S5 = ⎜ ⎜ a0,5 a0,4 a0,3 a0,2 a0,1 a0,0 a0,1 a0,2 a0,3 a0,4 a0,5 ⎟
⎟ (15)
⎜ a1,4 a1,3 a1,2 a1,1 a0,1 a1,1 a1,2 a1,3 a1,4 ⎟
⎜ ⎟
⎜ a2,3 a2,2 a1,2 a0,2 a1,2 a2,2 a2,3 ⎟
⎜ ⎟
⎜ a2,3 a1,3 a0,3 a1,3 a2,3 ⎟
⎜ ⎟
⎝ a1,4 a0,4 a1,4 ⎠
a0,5
where ai, j = ai, j , if i  = j, i  = 0, j  = 0; ai,i = 2ai,i  , if i  = 0; a  
i,0 = 2ai,0 , a0,i = 2a0,i ,

if i  = 0; a0,0 = 8a0,0 ; zero entries are not shown in the matrix. If a0,5 = a1,4 = a2,3 = 0,
we have a four-ring filter. If a0,5 = a1,4 = a2,3 = a0,4 = a1,3 = a2,2 = 0, we have a
three-ring filter, etc. In P(z 1 , z 2 ), the coefficients of S0 (z 1 , z 2 ) shown in (13) are already
known, and only the coefficients of the Sn (z 1 , z 2 ) can be used as variables to optimize the
desired property. Here we denote these variables as x. For example, for the five ring diamond
filter, we have
x = (a0,0 , a0,1 , a0,2 , a0,3 , a0,4 , a0,5 , a1,1 , a1,2 , a1,4 , a2,2 , a2,3 )
If
P(z 1 , z 2 )P(z 1−1 , z 2−1 ) + P(−z 1 , −z 2 )P(−z 1−1 , −z 2−1 ) = 2 (16)
then the filter bank will be orthogonal (Vetterli and Kovacevic 1995). However, in the two-
dimensional case, there is still not a two-channel filter bank which can simultaneously be
FIR, symmetric and orthogonal, except the non-continuous Harr wavelet filter bank. We can
only optimize the parameters of P(z 1 , z 2 ) to satisfy the orthogonal condition (16) as closely
as possible. One commonly used cost function is (Vetterli and Kovacevic 1995, Page 138):

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π π  2
C(x) = |P(e jω1 , e jω2 )|2 + |P(e j (ω1 +π ) , e j (ω2 +π ) )|2 − 2 dω1 dω2 (17)
0 0
The integral can be approximated by using the average sum over a two-dimensional sampled
frequency. This technique involves substantial computation for numerical integral in this cost
function. Hence, we propose another cost function by comparing the coefficients on the two
sides of (16).
Let S0 be the matrix of the coefficients of the polynomials in the first portion in (12)
⎛ ⎞
0 0.125 0
S0 = ⎝ 0.125 0.5 0.125 ⎠ (18)
0 0.125 0
and Sn be matrix of the polynomial of Sn (z 1 , z 2 ). Then, the matrix P characterizing the filter
P(z 1 , z 2 ) can be obtained by using the 2D convolution
P = (S0 ∗ · · · ∗S0 ) ∗Sn (19)
  
m
where the operation ∗ is the matrix convolution operation, since the matrix corresponding to
the product of two polynomials is equal to the convolution of the matrix corresponding to the
two polynomials. Let W be a diagonal matrix of the same of dimension as that of P, with all
its entries being zero except for the diagonal entries which are alternately +1 and −1 with
the central entry being +1. Then the matrix corresponding to P(−z1 , −z2 ) is WPW, and the
matrix P F with a superscript of F is the matrix obtained from P by flipping its rows up-side
down and its columns left-side right; the matrix P F corresponds to P(z−1 −1
1 , z2 ). Then, the
cost function can be defined as follows
 
 
L(x) = P∗P F + (WPW)∗(WPW) F − 2I0  (20)

where |X | is the norm of a matrix or a vector X , which is defined here as the largest singular
value of X , or the square root of the largest eigenvalue of the positive-semidefinite matrix
X ∗ X , where X ∗ denotes the conjugate transpose of X , and I0 is a matrix of the size of P∗P F
with all entries being zero, except the central entry being 1. The entries of Sn are dependent
on the coefficients x of the polynomials of Sn (z 1 , z 2 ), and hence L is a cost function of those
coefficients x. This cost function involves only matrix manipulation and the computation is
much less than that of the cost function given by (17).
Usually, the cost function L(x) is not a globally convex nonlinear function. Therefore,
in order to find the global minimum, a proper choice of the initial point is essential. We
can find the corresponding one-dimensional nearly-orthogonal filter, then use the McClellan
transform to get the initial point. The initial point is just an estimate close to the optimal
point and is set to be the starting point for searching the optimal, the cost function could be
substantially more reduced from the initial point.
We then minimize (20) using the Simplex downhill technique. Experiments for m = 1 : 3
and n = 2 : 5 are performed. We can the check the amplitude distortion of the filter bank
derived from P(z 1 , z 2 ), which is:
 
 
max |P(e jω1 , e jω2 )|2 + |P(e j (ω1 +π ) , e j (ω2 +π ) )|2 − 2
ω1 ,ω2

The maximum amplitude distortion in decibels is given in Table 1. Usually, if the maximum
distortion is less than −40 decibels, then the distortion is less than 1% (0.01), and the recon-
struction error is acceptable for many applications. However, if it is greater than that, then

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Table 1 Amplitude distortion of

m=1 m=2 m=3
2D nearly-orthogonal filter banks
in dB
n=2 −66.96 −45.39 −15.37
n=3 −113.39 −49.39 −48.02
n=4 −118.69 −61.48 −56.40
n=5 −157.14 −103.19 −62.63

1.5

0.5

0
1
0.5 1
0 0.5
0
−0.5 −0.5
−1 −1

Fig. 2 Amplitude response for m = 2, n = 2 (with normalized frequency)

there might be a problem. Hence, except for the case of m = 3 and n = 2, for which the
amplitude distortion is too large, the others may be useful for some practical applications.
The amplitude response of the filter with four zeros at the aliasing frequency and two-
ring remainder symmetric polynomial (m = 2, n = 2) is shown in Fig. 2, with normalized
frequency. The amplitude distortion is shown in Fig. 3.
The amplitude distortion of this filter is relatively large compared to that of the other filters
(except when m = 3, n = 2, which is useless). All the other filters in Table 1 have very
small distortions. For larger n, we can obtain a much smaller distortion for orthogonality and
amplitude. Taking m = 2 for example, the deviation reduces from −45.39 dB for n = 2 to
−103.19 dB for n = 5. In applications that require a high precision and there is less emphasis
on computation, we can use a relatively large n to achieve filters that are more orthogonal.
With P(z 1 , z 2 ), a two-dimensional nearly-orthogonal filter bank can be obtained as fol-
lows
Pno (z 1 , z 2 ) = P(z 1 , z 2 ) (21)
G no (z 1 , z 2 ) = P(z 1−1 , z 2−1 ) (22)
Q no (z 1 , z 2 ) = −z 1−1 P(−z 1−1 , −z 2−1 ) (23)
Hno (z 1 , z 2 ) = −z 1 P(−z 1 , −z 2 ) (24)
It is easy to verify that the aliasing is completely cancelled and it is nearly perfect recon-
structed.

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−40

−50

−60
dB

−70

−80

−90

−100
1
0.5 1
0 0.5
0
−0.5 −0.5
−1 −1

Fig. 3 Amplitude distortion in dB for n = 2, m = 2 (with normalized frequency)

3.1 The convergence of the scaling function

Consider the convergence of the product of (6) to the Fourier transform of a scaling function.
It is equivalent to consider the convergence of the recursion of the following function.

ϕi (t1 , t2 ) = p(k1 , k2 )ϕi−1 (t1 + t2 − k1 , t1 − t2 − k2 ) (25)
k1 ,k2

from any ϕ0 (t1 , t2 ) satisfying φ̂0 (0, 0) = 1. Let


1, − 21 ≤ t1 , t2 ≤ 1
ϕ0 (t1 , t2 ) = 2 (26)
0, otherwise
The computation of ϕi , using the above equation, exponentially increases with respect to i,
and is prohibitively expensive. However, the computation of the function value can always
be approximated on the grid points such as lL1 , lL2 , l1 , l2 , L ∈ Z , and the calculation of ϕi at
these grid points using the dilation equation (25) needs only the values of ϕi−1 at the same
grid points, i.e.,
    
l1 l2 l1 + l2 − L · k1 l1 − l2 − L · k2
ϕi , = p(k1 , k2 )ϕi−1 , (27)
L L L L
k1 ,k2

Hence we can just examine the convergence of the function ϕi at these grid points only. The
values of ϕi−1 at these grid points are computed and stored for computing ϕi . In this way,
the computation increases only linearly with respect i, thus allowing us to calculate for large
i. For example, consider m = 2, n = 2 (fourth order zeros at the aliasing frequency and
2 ring remainder filter); Fig. 4 shows the process of convergence to the scaling function, in
which ϕi with i = 3, i = 10, i = 20 and i = 50 are displayed. We see that ϕi converges
gradually as i increases. The scaling function for m = n = 2 at the 100th recursion is
shown in Fig. 5. However, for the case of m = 1, n = 2 (with only two zeros at the aliasing
frequency and two ring remainder filter), the recursion of the scaling function of the filter
shows that unfortunately the scaling function does not converge. The maximum of value of

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Fig. 4 The convergence to the scaling function for m = n = 2

ϕi for i = 3 is 2.0655, for i = 10, it is 6.3837, for i = 50, it becomes 21.7662 and for
i = 1, 000, it hikes to 1.0356e+05. From the iteration process, i.e., when i = 3, 10, 20 and
50, we can see from Fig. 4 that the graph gradually converges; however, as seen from Fig. 5,
the graph becomes a pulse in the center, and gradually goes to ∞ at the center and becomes 0
elsewhere. Figure 5 shows that the maximum value of ϕi increases quickly as i increases, and
hence it does not converge. Therefore, in the two-dimensional case, more zeros are needed
at the aliasing frequency to guarantee the convergence.

3.2 2D semi-orthogonal wavelet filter banks

One way to obtain a perfect reconstructed filter bank is to construct a semi-orthogonal filter
bank in a manner similar to that in the one dimensional case (Chui 1992). A correlation
polynomial can be defined as

E(z 1 , z 2 ) = r (k1 , k2 )z 1−k1 z 2−k2 (28)
k1 ,k2

where
∞ ∞
r (k1 , k2 ) = φ(t1 , t2 ) φ(t1 + k1 , t2 + k2 ) dt1 dt2 (29)
−∞ −∞

Then a semi-orthogonal wavelet filter bank can be constructed as

Pso (z 1 , z 2 ) = P(z 1 , z 2 ) (30)
Q so (z 1 , z 2 ) = −z 1−1 E(−z 1 , −z 2 )P(−z 1−1 , −z 2−1 ) (31)

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Fig. 5 The convergence to the scaling function for m = 1, n = 2

G so (z 1 , z 2 ) = P(z 1−1 , z 2−1 )E(z 1 , z 2 )/E(z 1 z 2 , z 1 z 2−1 ) (32)

Hso (z 1 , z 2 ) = −z 1 P(−z 1 , −z 2 )/E(z 1 z 2 , z 1 z 2−1 ) (33)

By using the Poisson Summation formula, we have


E(e jω1 , e jω2 ) = |ϕ̂(ω1 + 2k1 π, ω2 + 2k2 π)|2 (34)
k1 ,k2

An important relation between E(z 1 , z 2 ) and P(z 1 , z 2 ) can be derived from the above equa-
tion by using (9)

2E(e j (ω1 +ω2 ) , e j (ω1 −ω2 ) ) = 2 |ϕ̂(ω1 + ω2 + 2k1 π, ω1 − ω2 + 2k2 π )|2
k1 ,k2
   2π(k1 +k2 )   2π(k1 −k2 )    2π(k1 + k2 ) 2π(k1 − k2 )  2
= |P e j ω1 + 2 , e j ω2 + 2 |2 |ϕ̂ ω1 + , ω2 + |
2 2
k1 ,k2
k1 −k
2 =2n 2
= |P(e j (ω1 +2π n 1 ) , e j (ω2 +2π n 2 ) )|2 |ϕ̂(ω1 + 2π n 1 , ω2 + 2π n 2 )|2
k1 +k2 =2n 1
k1 −k2
=2m 2 +1
∧
+ |P(e j (ω1 +2π m 1 +π ) , e j (ω2 +2π m 2 +π ) )|2 | ϕ (ω1 + 2π m 1 + π, ω2 + 2π m 2 + π )|2
k1 +k2 =2m 1 +1
(35)

Since k1 , k2 can assume any integer value, so can n 1 , n 2 , m 1 , m 2 . Hence, the above summa-
tion becomes

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2E(e j (ω1 +ω2 ) , e j (ω1 −ω2 ) ) = |P(e jω1 , e jω2 )|2 |ϕ̂(ω1 + 2n 1 π, ω2 + 2n 2 π)|2
n 1 ,n 2

+ |P(−e jω1
, −e jω2
)|2 |ϕ̂(ω1 + 2m 1 π + π, ω2 + 2m 2 π + π)|2
m 1 ,m 2

= |P(e jω1 , e jω2 )|2 E(e jω1 , e jω2 ) + |P(−e jω1 , −e jω2 )|2 E(−e jω1 , −e jω2 ) (36)

In the z-domain, it can be written as

2E(z 1 z 2 , z 1 z 2−1 )
= P(z 1 , z 2 )P(z 1−1 , z 2−1 )E(z 1 , z 2 ) + P(−z 1 , −z 2 )P(−z 1−1 , −z 2−1 )E(−z 1 , −z 2 )
(37)

Using this equation, it is easy to verify that the semi-orthogonal wavelet filter bank is perfect
reconstructed. By using (5), (30–33), we have
1
y(z 1 , z 2 ) = [PS O (z 1 , z 2 )G S O (z 1 , z 2 ) + Q S O (z 1 , z 2 )HS O (z 1 , z 2 )]x(z 1 , z 2 )
2
1
+ [PS O (z 1 , z 2 )G S O (−z 1 , −z 2 ) + Q S O (z 1 , z 2 )HS O (−z 1 , −z 2 )]x(−z 1 , −z 2 )
2

1 P(z 1−1 , z 2−1 )E(z 1 , z 2 )
= P(z 1 , z 2 )
2 E(z 1 z 2 , z 1 z 2−1 )

−z 1 P(−z 1 , −z 2 )
+ (−z 1−1 )E(−z 1 , −z 2 )P(−z 1−1 , −z 2−1 ) x(z 1 , z 2 )
E(z 1 z 2 , z 1 z 2−1 )

1 P(−z 1−1 , −z 2−1 )E(−z 1 , −z 2 )
+ p(z 1 , z 2 )
2 E(z 1 z 2 , z 1 z 2−1 )

z 1 P(z 1 , z 2 )
+ (−z 1−1 )E(−z 1 , −z 2 )P(−z 1−1 , −z 2−1 ) x(−z 1 , −z 2 )
E(z 1 z 2 , z 1 z 2−1 )

1 P(z 1 , z 2 )P(z 1−1 , z 2−1 )E(z 1 , z 2 ) + P(−z 1 , −z 2 )P(−z 1−1 , −z 2−1 )E(−z 1 , −z 2 )
= x(z 1 , z 2 )
2 E(z 1 z 2 , z 1 z 2−1 )

1 P(z 1 , z 2 )P(−z 1−1 , −z 2−1 )E(−z 1 , −z 2 )−P(z 1 , z 2 )E(−z 1 , −z 2 )P(−z 1−1 , −z 2−1 )
+ x(−z 1 , −z 2 )
2 E(z 1 z 2 , z 1 z 2−1 )

Note that the second part of the above equation is equal to zero. From (37), we have:

y(z 1 , z 2 )
1 P(z 1 , z 2 )P(z 1−1 , z 2−1 )E(z 1 , z 2 )+P(−z 1 ,−z 2 )P(−z 1−1 , −z 2−1 )E(−z 1 , −z 2 )
= x(z 1 , z 2 )
2 E(z 1 z 2 , z 1 z 2−1 )

1 2E(z 1 z 2 , z 1 z 2−1 )
= = x(z 1 , z 2 )
2 E(z 1 z 2 , z 1 z 2−1 )

Hence, the semi-orthogonal filter bank is perfect reconstructed. With this PR semi-orthogonal
filter bank, a wavelet function can be obtained by using the two-scale function. The wavelet
corresponding to the scaling function depicted in Fig. 6 is shown in Fig. 7.

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210 Multidim Syst Sign Process (2013) 24:199–218

Fig. 6 Scaling function

Fig. 7 The wavelet

4 Correlation analysis for two-dimensional semi-orthogonal filter banks

First, we consider the correlation of the scaling function. Similar to the one dimensional case,
we have (see Appendix)

ϕ̂(0, 0) = 1 (38)
φ̂(2πk1 , 2πk2 ) = 0, k1  = 0 or k2  = 0 (39)

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Multidim Syst Sign Process (2013) 24:199–218 211

Hence
E(1, 1) = 1 (40)
From (37) and (40), E(z 1 , z 2 ) can be found. Assume that

N
−j
P(z 1 , z 2 ) = pi j z 1−i z 2 (41)
i, j=−N


2N
−j
B(z 1 , z 2 ) = bi j z 1−i z 2 (42)
i, j=−2N

where B(z 1 , z 2 ) = P(z 1 , z 2 )P(z 1−1 , z 2−1 ), and B = P∗P , where B is the matrix correspond-
ing to B(z 1 , z 2 ). Since the support of φ(t1 , t2 ) is within [−N , N ] × [−N , N ], E(z 1 , z 2 ) can
be written in the following form according to (28)

2N
−j
E(z 1 , z 2 ) = ri j z 1−i z 2 (43)
i, j=−2N

Defining a matrix formed by the ith row of B of size (4N + 1) × (8N + 1) as

⎛ ⎞
bi,−2N bi,−2N +1 · · · bi,0 ··· bi,2N
⎜ bi,−2N bi,−2N +1 · · · bi,0 ··· bi,2N ⎟
⎜ ⎟
Bi = ⎜ . . . . . . ⎟ , (44)
⎝ .. .. .. .. .. .. ⎠
bi,−2N bi,−2N +1 · · · bi,0 · · · bi,2N

and a block matrix of size (4N + 1)2 × (8N + 1)2 as

⎛ ⎞
B−2N B−2N +1 ··· B0 ··· B2N
⎜ B−2N B−2N +1 · · · B0 · · · B2N ⎟
⎜ ⎟
B=⎜ .. .. .. .. .. .. ⎟ (45)
⎝ . . . . . . ⎠
B−2N B−2N +1 · · · B0 · · · B2N
and
 T
e = r−2N ,−2N , r−2N ,−2N +1 , . . . , r2N ,2N (46)
 T
Z = z 1−4N z 2−4N , z 1−4N z 2−4N +1 , . . . , z 14N z 24N (47)

equation (37) can be rewritten as

eT BZ + eT BW1 Z = 2eT W2 Z (48)
where W1 is a (8N + 1)2 × (8N + 1)2 diagonal matrix with all entries on the diagonal being
alternatively +1 and −1, starting with +1, and W2 is matrix of order (4N + 1)2 × (8N + 1)2
with all entries being zero except for i, j = −2N , −2N + 1, · · · , 2N − 1, 2N
W2 ((i+2N )(4N +1)+( j+2N )+1, (i+ j+4N )(8N +1)+(i − j+4N )+1) = 1
(49)
Rewriting (48), we have
(B + BW1 − 2W2 )T e = 0 (50)

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212 Multidim Syst Sign Process (2013) 24:199–218

Table 2 Maximum distortion in

m=1 m=2 m=3
dB of correlation polynomial of
2D semi-orthogonal filter bank to
n=2 −71.21 −44.36 −11.5687
1
n=3 −108.38 −45.57 −43.66
n=4 −119.20 −63.11 −54.40
n=5 −160.9538 −101.32 −60.83

−20

−40
dB

−60

−80

−100

5 8
6
0 4
2
0
−2
−5 −4
−6
−8

Fig. 8 The matrix of correlation of the scaling function

Denoting b = [1, 1, · · · 1] and using (40), we obtain

[1, 1, · · · , 1]e = be = 1 (51)

where b is of length (4N + 1)2 . Now denoting

A1 = (B + BW1 − 2W2 )T (52)

   
A1 0
A= ,a= (53)
b 1

we get

Ae = a (54)

and

e = (AT A)−1 AT a (55)

Using (55), the correlation polynomial  can be found.

 The maximum deviation of
E(e jω1 , e jω2 ) to 1, i.e., 20 log max  E(e jω1 , e jω2 ) − 1 for m = 1 : 3 and n = 2 : 5
ω1 ,ω2
are given in Table 2. For the case of m = 2, n = 2, the value of e(i, j) is found and shown
in Fig. 8 in decibels.

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Multidim Syst Sign Process (2013) 24:199–218 213

4.1 Correlation analysis of 2D semi-orthogonal wavelet filter banks

Define the correlation polynomial of the wavelet in the 2D semi-orthogonal wavelet filter
bank as

E ψ (z 1 , z 2 ) = rψ (k1 , k2 )z 1−k1 z 2−k2 (56)
k1 ,k2

where
∞ ∞
rψ (k1 , k2 ) = ψ(t1 , t2 )ψ(t1 + k1 , t2 + k2 ) dt1 dt2 (57)
−∞ −∞

Using a technique similar to that used in obtaining Eq. (37), and following the method of
derivation of the correlation polynomial of the wavelet in the one-dimensional case, we have


2E ψ (e j (ω1 +ω2 ) , e j (ω1 −ω2 ) ) = 2 |ψ̂(ω1 + ω2 + 2k1 π, ω1 − ω2 + 2k2 π)|2
k1 ,k2
   2π(k1 +k2 )
  
2π(k1 −k2 )   2π(k1 + k2 ) 2π(k1 − k2 )  2
= |Q e j ω1 + 2 , e j ω2 + 2 |2 |ϕ̂ ω1 + , ω2 + |
2 2
k1 ,k2
k1 −k
 2 =2n 2
= |Q(e j (ω1 +2πn 1 ) , e j (ω2 +2πn 2 ) )|2 |ϕ̂(ω1 + 2πn 1 , ω2 + 2πn 2 )|2
k1 +k2 =2n 1
k1 −k2
=2m 2 +1
+ |Q(e j (ω1 +2πm 1 +π) , e j (ω2 +2πm 2 +π) )|2 |ϕ̂(ω1 +2πm 1 +π, ω2 +2πm 2 + π)|2
k1 +k2 =2m 1 +1

= |Q(e jω1 , e jω2 )|2 |ϕ̂(ω1 + 2πn 1 , ω2 + 2πn 2 )|2
n 1 ,n 2

+ |Q(−e jω1 , −e jω2 )|2 |ϕ̂(ω1 + π + 2πm 1 , ω2 + π + 2πm 2 )|2
m 1 ,m 2

= |Q so (e jω1 , e jω2 )|2 E(e jω1 , e jω2 ) + |Q so (−e jω1 , −e jω2 )|2 E(−e jω1 , −e jω2 ) (58)

Using Eq. (31) and Eq. (37), we have

E ψ (e jω1 , e jω2 )=E(e j (ω1 +ω2 )/2 , e j (ω1 −ω2 )/2 )E(−e j (ω1 +ω2 )/2 , −e j (ω1 −ω2 )/2 )E(e jω1 , e jω2 )
(59)

From the above experimental results, we can assume that

|E(e jω1 , e jω2 ) − 1| ≤ ε (60)

where ε is the maximum absolute difference between E(e jω1 , e jω2 ) and 1, which is usually
a very small value for the semi-orthogonal filter banks designed above. Then we have

(1 − ε)3 ≤ E ψ (e jω1 , e jω2 ) ≤ (1 + ε)3 (61)

Similarly, consider

E ϕ,ψ (z 1 , z 2 ) = rϕ,ψ (k1 , k2 )z 1−k1 z 2−k2 (62)
k1 ,k2

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214 Multidim Syst Sign Process (2013) 24:199–218

Using Eq. (31), we have

2E ϕ,ψ (e j (ω1 +ω2 ) , e j (ω1 −ω2 ) ) = Pso (e jω1 , e jω2 )Q so (e− jω1 , e− jω2 )E(e jω1 , e jω2 )
+Pso (−e jω1 , −e jω2 )Q so (−e− jω1 , −e− jω2 )E(−e jω1 , −e jω2 ) = 0 (63)
Therefore, the integer translates of the scaling function are orthogonal to those of the wavelet,
and the integer translates of the wavelet at different scales are orthogonal to one another.
For the dual scaling function φ̃ corresponding to G S O (z 1 , z 2 ), using Eq. (32), we have
n
1 −i
ϕ̃n (ω) = √ G so (e jD ω )
i=1
2
−i −n
n
1 E(e jD ω ) E(e jD ω )  1
n
jD−i ω −i
= √ −i+1
P(e )= √ P(e jD ω ) (64)
2 E(e jD ω ) E(e jω ) 2
i=1 i=1

when n → ∞, D−n → 0. Hence


ϕ (ω1 , ω2 )
ˆ 1 , ω2 ) =
ϕ̃(ω (65)
E(e j ω1 , e j ω2 )
Similar to the one dimensional case, we have the following relations
1
E ϕ̃ (e j ω1 , e j ω2 ) = (66)
E(e j ω1 , e j ω2 )
E ψ̃ (e j ω1 , e j ω2 )
1
= (67)
E(e j (ω1 + ω2 )/2 , e j (ω1 − ω2 )/2 )E(−e j (ω1 + ω2 )/2 , −e j (ω1 − ω2 )/2 )E(e j ω1 , e j ω2 )
E ϕ̃,ψ̃ (e j ω1 , e j ω2 ) = 0 (68)
and
1 1
≤ E ϕ̃ (e j ω1 , e j ω2 ) ≤ (69)
1+ε 1−ε
1 j ω1 j ω2 1
≤ E ψ̃ (e , e )≤ (70)
(1 + ε)3 (1 − ε)3
Hence, the semi-orthogonal wavelet filter bank is nearly-orthogonal.

4.2 Implementation of 2D semi-orthogonal filter banks

From the results in Table 2 we see that E(z 1 , z 2 ) ≈ 1. Therefore the semi-orthogonal filter
bank can be approximately implemented as the corresponding nearly-orthogonal filter bank,
since
Pso (z 1 , z 2 ) = P(z 1 , z 2 ) = Pno (z 1 , z 2 ) (71)
Q so (z 1 , z 2 ) = −z 1−1 E(−z 1 , −z 2 )P(−z 1−1 , −z 2−1 )
≈ −z 1−1 P(−z 1−1 , −z 2−1 ) = Q no (z 1 , z 2 ) (72)
G so (z 1 , z 2 ) = P(z 1−1 , z 2−1 )E(z 1 , z 2 )/E(z 1 z 2 , z 1 z 2−1 )
≈ P(z 1−1 , z 2−1 ) = G no (z 1 , z 2 ) (73)
Hso (z 1 , z 2 ) = −z 1 P(−z 1 , −z 2 )/E(z 1 z 2 , z 1 z 2−1 )
≈ −z 1 P(−z 1 , −z 2 ) = Hno (z 1 , z 2 ) (74)

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Multidim Syst Sign Process (2013) 24:199–218 215

0
−50
−100
−150
dB

−200
−250
−300
−350
1
0.5 1
0 0.5
0
−0.5 −0.5
−1 −1

Fig. 9 The absolute difference in dB between the analysis lowpass filters of the semi-orthogonal filter bank
and that of the corresponding nearly-orthogonal filter bank, with normalized frequency

and we would have

|Pso (e jω1 , e jω2 ) − Pno (e jω1 , e jω2 )| = 0

|Q so (e jω1 , e jω2 ) − Q no (e jω1 , e jω2 )| ≤ C p ε
2C p ε
|G so (e jω1 , e jω2 ) − G no (e jω1 , e jω2 )| ≤
1−ε
2C pε
|Hso (e jω1 , e jω2 ) − Hno (e jω1 , e jω2 )| ≤ (75)
1−ε
where

C p = max |P(e jω1 , e jω2 )| (76)

There is no phase difference between these filters and their associate approximate filters,
since E(z 1 , z 2 ) has zero phase. There is only a small amplitude difference. For larger n, the
difference will be even much smaller. The difference between the analysis lowpass filters for
the case m = 2, n = 5 is shown in Fig. 9. From these figures, we see that the approximate
filter is a very good approximate implementation of the original filter.

5 Conclusion

The nearly-orthogonal two-dimensional nonseparable quincunx symmetric wavelet filter

bank has been designed and analyzed in this paper. In particular, the orthogonality and
correlation of the wavelet bases are quantitatively studied. The main idea is to optimize a
symmetric filter with multiple zeros at the aliasing frequency to satisfy the orthogonality con-
dition; then, a nearly-orthogonal FIR symmetric filter bank can be obtained. However, for the
two-dimensional case, filter with only two zeros at the aliasing frequency may not generate
a scaling function, and more zeros are required. Since the nearly-orthogonal filter bank is
not perfect reconstructed, to analyze the properties of the wavelet, we need to construct a

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216 Multidim Syst Sign Process (2013) 24:199–218

perfect reconstructed filter bank. We hereby construct a semi-orthogonal filter bank. Correla-
tion analysis made on the semi-orthogonal filter bank shows that it is nearly-orthogonal. The
integer translates of the semi-orthogonal wavelet at the same scale are nearly-orthogonal to
one another. The integer translates of the wavelet at different scales are completely orthog-
onal to each other. Theoretical analysis and experiments have shown that the filter bank is
very close to the nearly-orthogonal FIR filter bank if the filter bank is very close to orthog-
onal. The semi-orthogonal wavelet filter bank can be implemented with the corresponding
nearly-orthogonal FIR filter bank, in which every filter in the nearly-orthogonal FIR filter
bank is a very good approximation and implementation of the corresponding filter in the
semi-orthogonal filter bank.

Appendix
√
If P(1, 1) = 2, P(−1, −1) = 0 and the product in (9) converges, then (38) and (39) hold.
√
Proof Equation (38) obviously holds since P(1, 1) = 2. Rewrite the product of φ̂(ω) as

1  j Di ω 
∞ ∞
1 T −i
ϕ̂(ω) = √ P(e j (D ) ω ) = √ P e 2i
i=1
2 i=1
2
1  j D2n ω   1  j D2n+1
2n+1 
∞ ∞
ω
= √ P e 22n √ P e 2
i=1
2 i=0
2
1  ω1 ω2   1  ω1 +ω2 ω −ω 
∞ ∞
j j 1 2
= √ P e j 2n , e j 2n √ P e 2n+1 , e 2n+1
i=1
2 i=0
2

where the product has been split into an odd term product and an even term product. Hence

1  j k1 π k π  1  (k1 +k2 )π (k1 −k2 )π 

∞ ∞
j 2
ϕ̂(2πk1 , 2πk2 ) = √ P e 2n−1 , e 2n−1 √ P e j 2n , e j 2n
n=1
2 n=0
2

Consider the following cases:

(1). If k1 , k2 are simultaneously odd, the term of n = 1 in the first product will be
P(−1, −1) = 0, hence the total product is equal to zero.
(2). If k1 , k2 are not simultaneously even or odd, then k1 + k2 , k1 − k2 will be both odd,
the term of n = 0 in the second product will be zero.
(3). If k1 , k2 are both even, then it can be written in the following form

k1 = 2m 1 (2l1 + 1), k2 = 2m 2 (2l2 + 1)

if m 1 = m 2 , the term of n = m 1 = m 2 in the first product will be zero. If m 1  = m 2 ,

let m = min(m 1 , m 2 ), then

k1 + k2 = 2m [2m 1 −m (2l1 + 1) + 2m 2 −m (2l2 + 1)] = 2m (2l1 + 1)

k1 − k2 = 2m [2m 1 −m (2l1 + 1) − 2m 2 −m (2l2 + 1)] = 2m (2l2 + 1)

Hence, the term of m = n in the second product will be zero. Therefore, for all integer values
of k1 , k2 , (39) holds.


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Multidim Syst Sign Process (2013) 24:199–218 217

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Author Biographies
Yong Zhao graduated from Southeast University, China, in 1991
with Ph.D. awarded. He joined Zhejiang University as a faculty
member in 1991. He went to Concordia University, Canada as a
Post-Doctroal Fellow in 1997. Then he was a senior Audio/Video
compression Engineer for Honeywell in Ottawa, Canada, in 2000.
He is currently with Peking University, Shenzhen Graduate School.
His main research fields are video compression, video analytics, and
signal processing.

M. N. S. Swamy received the B.Sc. (Hons.) degree in mathemat-

ics from Mysore University, Mysore, India, in 1954, Diploma of the
Indian Institute of Science (DIISc), Bengaluru, India, in electrical
communication engineering, in 1957, and the M.S. and Ph.D. de-
grees in electrical engineering from the University of Saskatchewan,
Saskatoon, Canada, in 1960 and 1963, respectively. In August 2001,
he was awarded the doctor of science (Honoris Causa) degree in
engineering by Ansted University, Malaysia. He is currently a re-
search professor in the Department of Electrical and Computer Engi-
neering, Concordia University, Montreal, Quebec, Canada, where he
has served as the founding chair of the Department of Electrical
Engineering from 1970 to 1977, and the dean of Engineering and
Computer Science from 1977 to 1993. During that time he developed
the faculty into a research oriented faculty from what was primarily
an undergraduate one. Since 2001, he holds the Concordia Univer-
sity Research Chair (Tier I) in Signal Processing. He has published
extensively in the areas of number theory, circuits, systems, and sig-
nal processing, holds five patents, and is coauthor of six books. He is a fellow of a number of professional
societies, including the Institute of Electrical and Electronic Engineers (IEEE), Institute of Electrical Engi-
neers, United Kingdom, the Engineering Institute of Canada, the Institution of Engineers, India, and the Insti-
tution of Electronic and Telecommunication Engineers, India. In 2008, Concordia University instituted the
M.N.S. Swamy Research Chair in Electrical Engineering as a recognition of his research contributions. He
was inducted in 2009 to Provost’s Circle of Distinction for career achievements. He was conferred in 2009,
the title of Honorary Professor at the National Chiao Tung University in Taiwan. He has served the IEEE in
various capacities such as the president-elect in 2003, the president in 2004, the past-president in 2005, the
vice president (Publications) from 2001 to 2002, the vice-president in 1976, the editor-in-chief of the IEEE
Transactions on Circuits and Systems-I from 1999 to 2001. He is the recipient of many IEEE-CAS Society
Awards, including the Education Award in 2000, the Golden Jubilee Medal in 2000, and the 1986 Guille-
min-Cauer Best Paper Award. He is also a recipient of the Constantin Budeanu Prize from the Romanian
Academy in 2006.

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