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The scale space representation of a signal obtained by Gaussian smoothing satisfies a number of special properties, scale-space axioms, which make it into a special form of multi-scale representation. There are, however, also other types of 'multi-scale approaches' in the areas of computer vision, image processing and signal processing, in particular the notion of wavelets. The purpose of this article is to describe a few of these approaches:

Scale-space theory for one-dimensional signals

For one-dimensional signals, there exists quite a well-developed theory for continuous and discrete kernels that guarantee that new local extrema or zero-crossings cannot be created by a convolution operation. For continuous signals, it holds that all scale-space kernels can be decomposed into the following sets of primitive smoothing kernels:

• the Gaussian kernel  :$g(x,t)=\frac{1}{\sqrt{2\pi t}}\exp (-x^2/2t)$ where $t>0$,
• truncated exponential kernels (filters with one real pole in the s-plane):

  $h(x)=\exp (-ax)$ if $x\ge 0$ and 0 otherwise where $a>0$

  $h(x)=\exp (bx)$ if $x\le 0$ and 0 otherwise where $b>0$,

• translations,
• rescalings.

For discrete signals, we can, up to trivial translations and rescalings, decompose any discrete scale-space kernel into the following primitive operations:

the discrete Gaussian kernel

$T(n,t)=I_n(\alpha t)$ where $\alpha ,t>0$ where $I_n$ are the modified Bessel functions of integer order,

generalized binomial kernels corresponding to linear smoothing of the form

$f_{out}(x)=p{f}_{in}(x)+q{f}_{in}(x-1)$ where $p,q>0$

$f_{out}(x)=p{f}_{in}(x)+q{f}_{in}(x+1)$ where $p,q>0$,

first-order recursive filters corresponding to linear smoothing of the form

$f_{out}(x)=f_{in}(x)+\alpha f_{out}(x-1)$ where $\alpha >0$

$f_{out}(x)=f_{in}(x)+\beta f_{out}(x+1)$ where $\beta >0$,

the one-sided Poisson kernel

$p(n,t)=e^{-t}\frac{t^n}{n!}$ for $n\ge 0$ where $t\ge 0$

$p(n,t)=e^{-t}\frac{t^{-n}}{(-n)!}$ for $n\le 0$ where $t\ge 0$.

From this classification, it is apparent that it we require a continuous semi-group structure, there are only three classes of scale-space kernels with a continuous scale parameter; the Gaussian kernel which forms the scale-space of continuous signals, the discrete Gaussian kernel which forms the scale-space of discrete signals and the time-causal Poisson kernel that forms a temporal scale-space over discrete time. If we on the other hand sacrifice the continuous semi-group structure, there are more options:

For discrete signals, the use of generalized binomial kernels provides a formal basis for defining the smoothing operation in a pyramid. For temporal data, the one-sided truncated exponential kernels and the first-order recursive filters provide a way to define time-causal scale-spaces that allow for efficient numerical implementation and respect causality over time without access to the future. The first-order recursive filters also provide a framework for defining recursive approximations to the Gaussian kernel that in a weaker sense preserve some of the scale-space properties.

See also

• Scale space
• Scale space implementation
• Scale-space segmentation

References