Introduction to Wavelet

S
S

A1 D
1

A2 D2

A3 D3
 TABLE OF CONTENT

Overview
Historical Development
Time vs Frequency Domain Analysis
Fourier Analysis
Fourier vs Wavelet Transforms
Wavelet Analysis
Tools and Software
Typical Applications
Summary
References
 OVERVIEW

Wavelet
A small wave
Wavelet Transforms
Convert a signal into a series of wavelets
Provide a way for analyzing waveforms, bounded in both
frequency and duration
Allow signals to be stored more efficiently than by Fourier
transform
Be able to better approximate real-world signals
Well-suited for approximating data with sharp discontinuities
The Forest & the Trees
Notice gross features with a large "window
Notice small features with a small "window
 MATHEMATICAL
TRANSFORMATION
Why
To obtain a further information from the signal
that is not readily available in the raw signal.
Raw Signal
Normally the time-domain signal
Processed Signal
A signal that has been "transformed" by any of the
available mathematical transformations
Fourier Transformation
The most popular transformation
 TIME-DOMAIN SIGNAL
The Independent Variable is Time
The Dependent Variable is the Amplitude
Most of the Information is Hidden in the Frequency
Content
1 1

0.5 0.5

2 Hz

Magnitude
Magnitude

0 0
10 Hz
-0.5 -0.5

-1 -1
0 0.5 1 0 0.5 1
Time Time
1 4

0.5 2 2 Hz +
20 Hz 10 Hz +
Magnitude

Magnitude

0 0
20Hz
-0.5 -2

-1 -4
0 0.5 1 0 0.5 1
Time Time
FREQUENCY TRANSFORMS

Why Frequency Information is Needed

Be able to see any information that is not
obvious in time-domain
Types of Frequency Transformation
Fourier Transform, Hilbert Transform, Short-
time Fourier Transform, Wigner
Distributions, the Radon Transform, the
Wavelet Transform
 FREQUENCY ANALYSIS

Frequency Spectrum
Be basically the frequency components (spectral
components) of that signal
Show what frequencies exists in the signal
Fourier Transform (FT)
One way to find the frequency content
Tells how much of each frequency exists in a signal

N 1
X k 1 xn 1 W kn
N X f xt e 2 jft dt
n 0
1 N 1
xn 1 X k 1 WNkn
N k 0 xt X f e 2 jft
df
2
j

wN e N
 STATIONARITY OF SIGNAL (1)

Stationary Signal
Signals with frequency content unchanged
in time
All frequency components exist at all times

Non-stationary Signal
Frequency changes in time
One example: the Chirp Signal
 STATIONARITY OF SIGNAL (2)
2 Hz + 10 Hz + 20Hz 3 600
Occur at all times
2 500

Magnitude

Magnitude
1 400

Stationary 0 300

-1 200

-2 100

-3 0
0 0.2 0.4 0.6 0.8 1 0 5 10 15 20 25
Time Frequency (Hz)

Do not appear at all times

0.0-0.4: 2 Hz + 1 250

0.4-0.7: 10 Hz + 0.8
Magnitude

0.6 200

Magnitude
0.7-1.0: 20Hz 0.4

0.2 150

Non- 0

Stationary -0.2 100

-0.4

-0.6 50

-0.8

-1 0
0 0.5 1 0 5 10 15 20 25
Time Frequency (Hz)
 CHIRP SIGNALS
Frequency: 2 Hz to 20 Hz Frequency: 20 Hz to 2 Hz
Different in Time Domain

1 150 1 150

0.8 0.8

0.6 0.6

0.4 0.4
Magnitude

Magnitude
100 100
Magnitude

Magnitude
0.2 0.2

0 0

-0.2 -0.2
50 50
-0.4 -0.4

-0.6 -0.6

-0.8 -0.8

-1 0 -1 0
0 0.5 1 0 5 10 15 20 25 0 0.5 1 0 5 10 15 20 25
Time Frequency (Hz) Time Frequency (Hz)

Same in Frequency Domain

At what time the frequency components occur? FT can not tell!

NOTHING MORE, NOTHING LESS

FT Only Gives what Frequency Components

Exist in the Signal
The Time and Frequency Information can
not be Seen at the Same Time
Time-frequency Representation of the
Signal is Needed

Most of Transportation Signals are Non-stationary.

(We need to know whether and also when an incident was happened.)

ONE EARLIER SOLUTION: SHORT-TIME FOURIER TRANSFORM (STFT)

 SHORT TIME FOURIER
TRANSFORM (STFT)
Dennis Gabor (1946) Used STFT
To analyze only a small section of the signal at a
time -- a technique called Windowing the Signal.
The Segment of Signal is Assumed Stationary
A 3D transform

STFTX t , f xt * t t e j 2 ft dt
t
t : the window function

A function of time
and frequency
 DRAWBACKS OF STFT
Unchanged Window
Dilemma of Resolution
Narrow window -> poor frequency resolution
Wide window -> poor time resolution
Heisenberg Uncertainty Principle
Cannot know what frequency exists at what time intervals

Via Narrow Window Via Wide Window

The two figures were from Robi Poliker, 1994

MULTIRESOLUTION ANALYSIS
(MRA)

Wavelet Transform
An alternative approach to the short time Fourier
transform to overcome the resolution problem
Similar to STFT: signal is multiplied with a function
Multiresolution Analysis
Analyze the signal at different frequencies with different
resolutions
Good time resolution and poor frequency resolution at high
frequencies
Good frequency resolution and poor time resolution at low
frequencies
More suitable for short duration of higher frequency; and
longer duration of lower frequency components
 What wavelets can Do ?
One major advantage afforded by wavelets
is the ability to perform local analysis --
that is, to analyze a localized area of a
larger signal.

Consider a sinusoidal signal with a small

discontinuity -- one so tiny as to be barely
visible. Such a signal easily could be
generated in the real world, perhaps by a
power fluctuation or a noisy switch.
 What wavelets can Do ?
A plot of the Fourier coefficients (as provided by the fft
command) of this signal shows nothing particularly
interesting: a flat spectrum with two peaks representing a
single frequency. However, a plot of wavelet coefficients
clearly shows the exact location in time of the
discontinuity.
 What wavelets can Do ?
Wavelet analysis is capable of revealing aspects of data that
other signal analysis techniques miss, aspects like trends
breakdown points,
discontinuities in higher derivatives, and
self-similarity.
Furthermore, because it affords a different view of
data than those presented by traditional
techniques, wavelet analysis can often compress or
de-noise a signal without appreciable degradation.

Indeed, in their brief history within the signal processing

field, wavelets have already proven themselves to be an
indispensable addition to the analyst's collection of tools and
continue to enjoy a burgeoning popularity today.
 "What is a wavelet?"
A wavelet is a waveform of effectively limited duration that
has an average value of zero.

Compare wavelets with sine waves, which are the basis of

Fourier analysis. Sinusoids do not have limited duration --
they extend from minus to plus infinity. And where sinusoids
are smooth and predictable, wavelets tend to be irregular and
asymmetric.
 "What is a wavelet?"
Fourier analysis consists of breaking up a signal
into sine waves of various frequencies. Similarly,
wavelet analysis is the breaking up of a signal into
shifted and scaled versions of the original (or
mother) wavelet.

Just looking at pictures of wavelets and sine

waves, you can see intuitively that signals with
sharp changes might be better analyzed with an
irregular wavelet than with a smooth sinusoid, just
as some foods are better handled with a fork than
a spoon.
 Continuous Wavelet
Transform
Mathematically, the process of Fourier analysis is
represented by the Fourier transform:

which is the sum over all time of the signal f(t) multiplied by
a complex exponential. (Recall that a complex exponential
can be broken down into real and imaginary sinusoidal
components.)
The results of the transform are the Fourier coefficients
F(w), which when multiplied by a sinusoid of frequency ,
yield the constituent sinusoidal components of the original
signal. Graphically, the process looks like:
 Continuous Wavelet Transform

Similarly, the continuous wavelet transform (CWT)

is defined as the sum over all time of the signal
multiplied by scaled, shifted versions of the wavelet
function

The result of the CWT are many wavelet coefficients

C, which are a function of scale and position.
Multiplying each coefficient by the appropriately
scaled and shifted wavelet yields the constituent
wavelets of the original signal:
 Scaling
We've already alluded to the fact that wavelet
analysis produces a time-scale view of a signal, and
now we're talking about scaling and shifting
wavelets. What exactly do we mean by scale in this
context?
Scaling a wavelet simply means stretching (or
compressing) it.
To go beyond colloquial descriptions such as
"stretching," we introduce the scale factor, often
denoted by the letter
If we're talking about sinusoids, for example, the
effect of the scale factor is very easy to see
 Scaling

The scale factor works exactly the same with wavelets. The
smaller the scale factor, the more "compressed" the wavelet.
 Scaling

It is clear from the diagrams that, for a sinusoid the scale

factor is related (inversely) to the radian frequency
Similarly, with wavelet analysis, the scale is related to the frequency
of the signal.
Shifting
 Steps to Compute CWT
The continuous wavelet transform is the sum over all time of
the signal multiplied by scaled, shifted versions of the wavelet.
This process produces wavelet coefficients that are a function
of scale and position.
It's really a very simple process. In fact, here are the five steps
of an easy recipe for creating a CWT:
Take a wavelet and compare it to a section at the start of the
1 original signal.
Calculate a number, C, that represents how closely correlated
the wavelet is with this section of the signal. The higher C is, the
more the similarity. More precisely, if the signal energy and the
wavelet energy are equal to one, C may be interpreted as a
correlation coefficient.
Note that the results will depend on the shape of the wavelet
you choose.
 Steps to find CWT
2

Shift the wavelet to the

right and repeat steps 1
and 2 until you've covered
the whole signal.
4 Scale (stretch) the wavelet and
repeat steps 1 through 3.

5. Repeat steps 1 through 4 for all

scales.
Interpretation of Wavelet
Results
When you're done, you'll have the coefficients produced at
different scales by different sections of the signal. The
coefficients constitute the results of a regression of the
original signal performed on the wavelets.
How to make sense of all these coefficients? You could make
a plot on which the x-axis represents position along the
signal (time), the y-axis represents scale, and the color at
each x-y point represents the magnitude of the wavelet
coefficient C. These are the coefficient plots generated by the
graphical tools.
Interpretation of Wavelet
Results
These coefficient plots resemble a bumpy surface viewed
from above. If you could look at the same surface from
the side, you might see something like this:
 Scale & Frequency
Notice that the scales in the coefficients plot (shown as y-axis
labels) run from 1 to 31. Recall that the higher scales
correspond to the most "stretched" wavelets. The more
stretched the wavelet, the longer the portion of the signal
with which it is being compared, and thus the coarser the
signal features being measured by the wavelet coefficients.
 DEFINITION OF CONTINUOUS
WAVELET TRANSFORM
1 * t
CWT , s , s

xt dt
s
x x
s
Translation
(The location of Scale
Wavelet the window)

Mother Wavelet
Small wave
Means the window function is of finite length
Mother Wavelet
A prototype for generating the other window
functions
All the used windows are its dilated or compressed
and shifted versions
 SCALE

Scale
S>1: dilate the signal
S<1: compress the signal
Low Frequency -> High Scale -> Non-
detailed Global View of Signal -> Span
Entire Signal
High Frequency -> Low Scale -> Detailed
View Last in Short Time
Only Limited Interval of Scales is Necessary
 COMPUTATION OF CWT
1 * t
CWTx , s x , s x t dt
s s
Step 1: The wavelet is placed at the beginning of the
signal, and set s=1 (the most compressed wavelet);
Step 2: The wavelet function at scale 1 is
multiplied by the signal, and integrated over all
times; then multiplied by 1 s ;
Step 3: Shift the wavelet to t= , and get the
transform value at t= and s=1;
Step 4: Repeat the procedure until the wavelet
reaches the end of the signal;
Step 5: Scale s is increased by a sufficiently small
value, the above procedure is repeated for all s;
Step 6: Each computation for a given s fills the
single row of the time-scale plane;
Step 7: CWT is obtained if all s are calculated.
 RESOLUTION OF TIME &
FREQUENCY
Better time
resolution;
Poor
frequency
resolution
Frequency

Better
frequency
resolution;
Poor time
resolution Time
Each box represents a equal portion
Resolution in STFT is selected once for entire analysis
 COMPARSION OF
TRANSFORMATIONS

From http://www.cerm.unifi.it/EUcourse2001/Gunther_lecturenotes.pdf, p.10

MATHEMATICAL EXPLAINATION

1 * t
CWT , s , s

xt dt
s
x x
s
X T ,s t dt

1 t
t

,s
s s

CWT can be regarded as the inner product

of the signal with a basis function ,s t
 DISCRETIZATION OF CWT

It is Necessary to Sample the Time-

Frequency (scale) Plane.
At High Scale s (Lower Frequency f ), the
Sampling Rate N can be Decreased.
The Scale Parameter s is Normally
Discretized on a Logarithmic Grid.
The most Common Value is 2.

S 2 4 8
N 2 s1 s2 N1 f1 f 2 N1
N 32 16 8
Discrete Wavelet Transform
Calculating wavelet coefficients at every possible
scale is a fair amount of work, and it generates an
awful lot of data. What if we choose only a subset
of scales and positions at which to make our
calculations?

It turns out, rather remarkably, that if we choose

scales and positions based on powers of two -- so-
called dyadic scales and positions -- then our
analysis will be much more efficient and just as
accurate. We obtain such an analysis from the
discrete wavelet transform (DWT).
 One-Stage Filtering: Approximations and
Details

For many signals, the low-frequency content is the most

important part. It is what gives the signal its identity. The
high-frequency content, on the other hand, imparts flavor or
nuance.

Consider the human voice. If you remove the high-frequency

components, the voice sounds different, but you can still tell
what's being said. However, if you remove enough of the low-
frequency components, you hear gibberish.
In wavelet analysis, we often speak of approximations and
details. The approximations are the high-scale, low-frequency
components of the signal. The details are the low-scale, high-
frequency components.
 DWT
The filtering process, at its most basic level, looks
like this:

The original signal, S, passes through two complementary filters

and emerges as two signals.
Unfortunately, if we actually perform this operation on a real digital
signal, we wind up with twice as much data as we started with.
 DWT
Suppose, for instance, that the original signal S consists of
1000 samples of data. Then the resulting signals will each
have 1000 samples, for a total of 2000. These signals A and D
are interesting, but we get 2000 values instead of the 1000
we had.
There exists a more subtle way to perform the decomposition
using wavelets. By looking carefully at the computation we
may keep only one point out of two in each of the two 2000-
length samples to get the complete information. This is the
notion o down sampling. We produce two sequences called cA
and cD.
 DWT
The process on the right, which includes down sampling,
produces DWT coefficients.
To gain a better appreciation of this process, let's perform a
one-stage discrete wavelet transform of a signal. Our signal
will be a pure sinusoid with high-frequency noise added to it.
Here is our schematic diagram with real signals inserted into
it:
The MATLAB code needed to generate s, cD, and cA is:
s = sin(20.*linspace(0,pi,1000)) + 0.5.*rand(1,1000);
[cA,cD] = dwt(s,'db2');
Multiple-Level Decomposition
The decomposition process can be iterated, with successive
approximations being decomposed in turn, so that one signal
is broken down into many lower resolution components. This
is called the wavelet decomposition tree.
 EFFECTIVE & FAST DWT
The Discretized CWT is not a True Discrete Transform
Discrete Wavelet Transform (DWT)
Provides sufficient information both for analysis and
synthesis
Reduce the computation time sufficiently
Easier to implement
Analyze the signal at different frequency bands with
different resolutions
Decompose the signal into a coarse approximation
and detail information S
S

A1 D
1

A2 D2

A3 D3
SUBBABD CODING ALGORITHM
Halves the Time Resolution
Only half number of samples resulted
Doubles the Frequency Resolution
The spanned frequency band halved
0-1000 Hz
256
X[n] Filter 1 D1: 500-1000 Hz
512
256
S
S Filter 2 D2: 250-500 Hz
A1 128

A1 D1 128
Filter 3 D3: 125-250 Hz
A2 64
A2 D2

A3 D3 A3: 0-125 Hz
64
 DECOMPOSING NON-
STATIONARY SIGNALS (1)

fL

Signal:
0.0-0.4: 20 Hz
0.4-0.7: 10 Hz
0.7-1.0: 2 Hz
Wavelet: db4
fH
Level: 6
 DECOMPOSING NON-
STATIONARY SIGNALS (2)

fL

Signal:
0.0-0.4: 2 Hz
0.4-0.7: 10 Hz
0.7-1.0: 20Hz
Wavelet: db4
fH
Level: 6
 RECONSTRUCTION

What
How those components can be assembled back into
the original signal without loss of information?
A Process After decomposition or analysis.
Also called synthesis
How
Reconstruct the signal from the wavelet
coefficients
Where wavelet analysis involves filtering and
downsampling, the wavelet reconstruction process
consists of upsampling and filtering
 Reconstruction
The other half of the story is how those components can be
assembled back into the original signal without loss of
information. This process is called reconstruction, or
synthesis. The mathematical manipulation that effects
synthesis is called the inverse discrete wavelet transform
(IDWT).
To synthesize a signal in the Wavelet Toolbox, we reconstruct
it from the wavelet coefficients:
 Reconstruction Filters
The filtering part of the reconstruction process also bears
some discussion, because it is the choice of filters that is
crucial in achieving perfect reconstruction of the original
signal.
The downsampling of the signal components performed
during the decomposition phase introduces a distortion
called aliasing. It turns out that by carefully choosing filters
for the decomposition and reconstruction phases that are
closely related (but not identical), we can "cancel out" the
effects of aliasing.
 RECONSTRUCTION

Lengthening a signal component by

inserting zeros between samples
(upsampling)
MATLAB Commands: idwt and waverec;
idwt2 and waverec2.
 WAVELET BASES

Time
domain Frequency
domain

-1
j
Wavelet Basis Functions: Morlet (0 frequency ) : 4 e 0 e
2
2

2 m i m m!
Paul m order : DOG 1 im1
2m !

DOG m devivative :
- 1m1 d m 2 2
e
1 d
m
m
Derivative Of a Gaussian
M=2 is the Marr or Mexican hat wavelet 2
 WAVELET FAMILY PROPERTIES
Property morl mexh meyr haar dbN symN coifN biorNr.Nd rbioNr.Nd gaus dmey cgau cmor fbsp shan

Crude
Infinitely regular
Arbitrary regularity
Compactly supported orthogonal
Compactly supported biothogonal
Symmetry
Asymmetry
Near symmetry
Arbitrary number of vanishing moments
Vanishing moments for
Existence of
Orthogonal analysis
Biorthogonal analysis
Exact reconstruction
FIR filters
Continuous transform
Discrete transform
Fast algorithm
Explicit expression For splines For splines
Complex valued
Complex continuous transform
FIR-based approximation
 WAVELET SOFTWARE
A Lot of Toolboxes and Software have
been Developed
One of the Most Popular Ones is the
MATLAB Wavelet Toolbox
http://www.mathworks.com/access/helpdesk/help/toolbox/wavelet/wavelet.html
 GUI VERSION IN MATLAB

Graphical User
Interfaces
From the
MATLAB prompt,
type wavemenu,
the Wavelet
Toolbox Main
Menu appears
 OTHER SOFTWARE SOURCES

WaveLib [http://www-sim.int-evry.fr/~bourges/WaveLib.html]
EPIC [http://www.cis.upenn.edu/~eero/epic.html]
Imager Wavelet Library
[http://www.cs.ubc.ca/nest/imager/contributions/bobl/wvlt/download
/]
Mathematica wavelet programs [http://timna.Mines.EDU/wavelets/]
Morletpackage [ftp://ftp.nosc.mil/pub/Shensa/]
p-wavelets [ftp://pandemonium.physics.missouri.edu/pub/wavelets/]
WaveLab [http://playfair.Stanford.EDU/~wavelab/]
Rice Wavelet Tools [http://jazz.rice.edu/RWT/]
Uvi_Wave Software [http://www.tsc.uvigo.es/~wavelets/uvi_wave.html]
WAVBOX [ftp://simplicity.stanford.edu/pub/taswell/]
Wavecompress [ftp://ftp.nosc.mil/pub/Shensa/]
WaveThresh[http://www.stats.bris.ac.uk/pub/software/wavethresh/Wa
veThresh.html]
WPLIB [ftp://pascal.math.yale.edu/pub/wavelets/software/wplib/]
W-Transform Matlab Toolbox [ftp://info.mcs.anl.gov/pub/W-transform/]
XWPL [ftp://pascal.math.yale.edu/pub/wavelets/software/xwpl/]

 WAVELET APPLICATIONS

Typical Application Fields

Astronomy, acoustics, nuclear engineering, sub-
band coding, signal and image processing,
neurophysiology, music, magnetic resonance
imaging, speech discrimination, optics, fractals,
turbulence, earthquake-prediction, radar, human
vision, and pure mathematics applications
Sample Applications
Identifying pure frequencies
De-noising signals
Detecting discontinuities and breakdown points
Detecting self-similarity
Compressing images
 DE-NOISING SIGNALS

Highest
Frequencies
Appear at the Start
of The Original
Signal
Approximations
Appear Less and
Less Noisy
Also Lose
Progressively More
High-frequency
Information.
In A5, About the
First 20% of the
Signal is Truncated
ANOTHER DE-NOISING
DETECTING DISCONTINUITIES
AND BREAKDOWN POINTS
The Discontinuous
Signal Consists of a
Slow Sine Wave
Abruptly Followed by
a Medium Sine Wave.
The 1st and 2nd Level
Details (D1 and D2)
Show the
Discontinuity Most
Clearly
Things to be
Detected
The site of the
change
The type of change
(a rupture of the
signal, or an abrupt
change in its first Discontinuity
or second Points
derivative)
The amplitude of
the change
 DETECTING SELF-SIMILARITY
Purpose
How analysis by wavelets
can detect a self-similar,
or fractal, signal.
The signal here is the
Koch curve -- a synthetic
signal that is built
recursively
Analysis
If a signal is similar to
itself at different scales,
then the "resemblance
index" or wavelet
coefficients also will be
similar at different scales.
In the coefficients plot,
which shows scale on the
vertical axis, this self-
similarity generates a
characteristic pattern.
 COMPRESSING IMAGES
Fingerprints
FBI maintains a large database
of fingerprints about 30
million sets of them.
The cost of storing all this data
runs to hundreds of millions of
dollars.
Results
Values under the threshold are
forced to zero, achieving about
42% zeros while retaining
almost all (99.96%) the energy
of the original image.
By turning to wavelets, the FBI
has achieved a 15:1
compression ratio
better than the more traditional
JPEG compression
IDENTIFYING PURE
FREQUENCIES
Purpose
Resolving a signal into constituent
sinusoids of different frequencies
The signal is a sum of three pure
sine waves
Analysis
D1 contains signal components
whose period is between 1 and 2.
Zooming in on detail D1 reveals
that each "belly" is composed of 10
oscillations.
D3 and D4 contain the medium sine
frequencies.
There is a breakdown between
approximations A3 and A4 -> The
medium frequency been subtracted.
Approximations A1 to A3 be used to
estimate the medium sine.
Zooming in on A1 reveals a period
of around 20.
 SUMMARY
Historical Background Introduced
Frequency Domain Analysis Help to See any Information that is
not Obvious in Time-domain
Traditional Fourier Transform (FT) cannot Tell where a
Frequency Starts and Ends
Short-Term Fourier Transform (STFT) Uses Unchanged Windows,
cannot Solve the Resolution Problem
Continuous Wavelet Transform (CWT), Uses Wavelets as Windows
with Altered Frequency and Time Resolutions
Discrete Wavelet Transform (DWT) is more Effective and Faster
Many Wavelet Families have been Developed with Different
Properties
A lot of Software are available, which Enable more Developments
and Applications of Wavelet
Wavelet Transform can be used in many Fields including
Mathematics, Science, Engineering, Astronomy,
This Tutorial does not Cover all the Areas of Wavelet
The theories and applications of wavelet is still in developing
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