58 1

TWO-CHANNEL 1D AND 20 BIORTHONORMAL FILTER BANKS WITH

CAUSAL STABLE IIR AND LINEAR PHASE FIR FILTERS t
See-May Phoong

and P. P. Vaidyanathan

Department of Electrical Engineering, 116-81

California Institute of Technology
Pasadena, CA 91125

Abstract. A new class of twechannel biorthogonal

filter banks is derived. The framework covers two useful subclasses: (i) causal stable IIR filter banks; (ii)
linear phase FIR filter banks. Perfect reconstruction
is structurally preserved and the structural complexity
is very low. Filter banks of high frequency selectivity
can be achieved by simply designing a single transfer
function. Furthermore zeros of arbitrary multiplicity
at aliasing frequency can be easily imposed, for the
purpose of generating wavelets with regularity p r o p
erty. We also map the proposed 1D framework into 2D.
The mapping preserves: (i) perfect reconstruction; (ii)
stability in the IIR case; (iii) linear phase in the FIR
case; (iv) zeros at aliasing frequency and (v) frequency
characteristic of the filters.
1. Introduction
Fig. l.l(a) shows a twechannel filter bank and Fig.
l . l ( b ) shows its polyphase form. A number of perfect reconstruction (PR) or nearly PR systems have
been reported before [1]-[4]. The earliest good designs
for the IIR filter banks were such that the analysis
bank was paraunitary and the polyphase components
of Ho(z) and Hl(z) were allpass (see pp. 201 of [l]).
Even though all the IIR filters are causal stable, the
reconstructed signal suffers from phase distortion. IIR
filter banks with the perfect reconstruction property
typically have noncausal stable filters or causal unstable filters [2], [3]. Recently the authors in [4] proposed
a IIR PR technique providing causal stable solutions.
However there is no known good design technique for
causal stable IIR filter banks even though this is theoretically feasible. Furthermore an approximately linear phase response in passband, as well as regularity
requirements (i.e., forcing sufficient number of zeros of
Ho(z) at T ) make the design more complicated. In this
paper we will show how to achieve all of this. The s e
lution also gives rise to an FIR special case, which is
identical to the one proposed independently in [5].
In the 2D case, it was shown in [6] that FIR PR
filter bank can be obtained by transformation. In
this paper, we will provide a different mapping and
show how to transform the system into a 2D PR filter
t Work supported by ONR Grant N00014-93-1-0231, and funds
Tektronix, Inc.

from

bank which retains all of the above crucial properties.

Remarks: Some derivations in this paper are omitted,
the readers are refered to [9] for the details. While this
paper was under preparation, we noticed that some of
the material here is similar to that in [7], [8].
2. A Framework for I D Biorthogonal Filter Banks
Consider Fig. 1.1, where a twechannel system is
shown. Let us consider the polyphase matrix E(z)
with the following form:

where P(z) is any causal stable transfer function. To

achieve perfect reconstruction, the synthesis polyphase
matrix R(z) is chosen to be:

R(z) = z-3N+1E-1( z 1.

(2-2)

In this case, the stability and causality of R(z) is also

guaranteed. With (2.1) and (2.2) we get the following
expressions for the analysis and synthesis filters:

Hl(2) = - P ( Z 2 ) H 0 ( Z )

+ z -4N+1,

Fo(z) = - H ~ ( - z ) , F ~ ( z=) Ho(-z).

(2.3~)
(2.3b)

Eqn. (2.3b) ensures that {Fo,Fl} is a lowpass/highpass pair if {Ho, HI} is a lowpass/highpass pair. F'rom
(2.1), we have the implementation of the filter bank
shown in Fig. 2.1. The structure is similar to a ladder
network structure.

Design of p(z )
First notice that the filters { H o ( z ) , H 1 ( z ) }can be
made ideal lowpasslhighpass filters if p ( z ) has the
following magnitude and phase responses:
Ip(ej2")1=

1,

v U,

(2.4~)

(2.4b)
This ideal choice of p ( z ) requires infinite complexity.
Therefore, we have to design p(z) to approximate the

582

conditions in (2.4). However the approximation will

not change the perfect reconstruction property because
the analysis and synthesis polyphase matrices satisfy
R(z)E(z) = 0 . 5 ~ - ~ ~ +regardless
'1,
of the choice of
p ( z ) . Fig. 2.1 shows that the frequency responses
of all the analysis and synthesis filters depend on one
single function p( z ) only. The frequency selectivity of
all four filters depends on how well p ( z ) approximates
conditions (2.4). This makes the design procedure
simple. We will consider two simple but useful
approximations which correspond to the following two
Cas@:
A. Causal Stable IIR Biorthogonal Filter Banks
Here P ( z ) in Fig. 2.1 is taken to be the causal stable
real allpass function

where
= 1 and a k are real. With this choice
of /3(.z), Eqn (2.4a) is met exactly. We design the
phase response of the allpass filter so that (2.4b) is
approximately satisfied. This leads to a causal stable
IIR biorthogonal system.
B. Linear phase F I R Biorthogonal Filter Banks
To satisfy the condition (2.4b) exactly, P ( z ) can be
chosen as a Type 2 linear phase function [l](filter with
a symmetric impulse response of even length):

Without subband quantization, the ladder structure

shown in Fig. 2.1 preserves PR even when all the
coefficients and the intermediate results are rounded
off (similar to [ll])
.
The proposed filter bank has a very low complexity.
If p(z) is taken as (2.5) (IIR) or (2.6) (FIR), the
analysis (or synthesis) bank requires approximately
N multiplications per input sample, assuming that
(IIR case) the allpass function is implemented by
using the one multiplier lattice [l].
3. Imposition of Multiple Zeros at 7r
The relation between continuoustime wavelet and
discretetime perfect reconstruction filter bank is well
known [lo]. It was shown that in order to achieve
wavelet functions of high regularity, the lowpass filters
H o ( z ) and Fo(z)should have a sufficient number of
zeros at the aliasing frequency 7r. For the proposed
filter bank, because of Property 4, Fo(z) is guaranteed
to have the same number of zeros at 7r as H o ( z ) .
Therefore by imposing sufficient number of zeros at n
for Ho(z), we ensure the regularity of both the analysis
and the synthesis wavelets. We will discuss only the
IIR case since the derivation for the FIR case is very
similar.
Causal Stable IIR Wavelet Bases
Since the denominator does not provide any zeros,
we consider only the numerator of Ho(z). Except for
a delay, the numerator of Ho(z)
can be written as:
N
ak

PR(W) =

k= 1

cos(2k - 1/2)w.

(3.1)

k=O

cr=l

where 'Uk satisfy the condition

Wk = 0.5 so that
V ( G o )= 1. The coefficients v k are optimized such
that the amplitude response of V(ejw)is as close to
unity as possible so that (2.4a) is well-approximated.
This leads to a linear phase biorthogonal system.

Some Properties of the Proposed Filter Banks

In the following, we will list some of the useful
properties of the proposed biorthogonal filter banks
without proofs. The readers are refered to [9] for the
details.
1. Perfect reconstruction (PR) is preserved structurally.
2. In the IIR case, all the analysis and synthesis filters
are causal and stable if the allpass function p ( z ) is.
3. In the FIR case, the filters are exact linear-phase. In
the IIR case, we can force the phase response of the
filters to be nearly linear in the passband.
4. Fo(z)and Ho(z)
have the same set of zeros on the
unit circle.
5. Both the product Ho(z)Fo(z)
and the filter H o ( z )are
halfband.

To obtain r zeros at z = -1. we set

Note that when i is even, PZ'(7r) is always equal

to zero. This proves that PR(w) always has an odd
number of zeros at w = 7r. Therefore, we can write
r = 2r0 1. In this case, we obtain a set of ro linear
constraints as follows:

The set of linear constraints in (3.3) can be incorpe

rated in the optimization of filter coefficients.

Maximally flat IIR wavelets

To obtain a maximally flat solution, i.e., maximum
possible number of zeros at 7r consistent with the

583

constraint that Ho(z) = 0 . 5 ( ~ - z-A(z2)),

~ ~
we set
r g = N . We have

(3.4)
where Xk = 1 - 4k. As the matrix is nonsingular, the
solution for ak will always exist. Furthermore, it can
be shown that ak has the closed form solution [9]:
(22 - 1)

OSkSN,

(3.5)
where (f) =
Note that although these filters
have a numerator of degree 4N, they have only 2N 1
zeros at z = -1. This implies that some of the zeros
are not at z = -1. Therefore these IIR maximally
flat filters are different from the Butterworth halfband
filters.

6.

4. Quincunx Fifier Banks Obtained by Mapping

In this section, the proposed 1D biorthogonal filter
banks is mapped into the 2D quincunx filter banks
with perfect reconstruction. Here the decimation
matrix and the coset vectors are respectively:

Given any 1D biorthogonal system with the polyphase

matrix of the form in (2.1), we will use the following
transformation on the polyphase components:
(i) First replace the 1D transfer function p ( z ) with the
separable 2D transfer function P(zo)P(zl).
(ii) Fkplace all the remaining 1D delay z-l with the 2D
delay zO1z l l .
This results in nonseparable analysis and synthesis
filters as we will see. Under this transformation, the
analysis polyphase matrix E(z) of the 2D system can
be written as:

-P(z,2P(zd
2

;) ( ( y N )
(Z0z1)-2N+1

p(zo)p(zl)

By using the noble identities 111, we can write the

analysis and synthesis filters as:

It can be shown that all the properties listed in Sec. 2

are preserved under the transformation. Furthermore
if the 1D transfer function p ( z ) approximates the
conditions in (2.4) well, then we can show that H o ( z )
and Hl(z) are respectively diamond and diamondcomplement filters.
5. Numerical Examples
We will provide examples for the causal stable IIR
case only. For the linear phase FIR case, see [9].
Example I. 1D IIR filter banks: In this example, the
transfer function @ ( z )is taken to be an allpass function
A(z) with order N = 3. The filter bank has very low
complexity: To implement the analysis (or synthesis)
bank, we need only 3 multiplications per input sample!
By using the eigenfilter approach, we optimize the
coefficients ak such that maximum attenuation in the
stopband of H o ( z ) is achieved. The coefficients are
obtained as a1 = 0.473, a2 = -0.094, and a3 = 0.025.
The passband edge wp = 0 . 4 and
~ the stopband egde
U, = 0 . 6 ~ The
.
stopband attenuations 6,(Ho) M 41.9
dB and 6,(H1) = 32 dB. The magnitude responses of
all four filters are shown in Fig. 5.1.
Example 2. 2 0 IIR filter banks: In this example, we
transform the 1D filter bank in Example 1 into the 2D
case by using the mapping in Section 4. Since N = 3,
the allpass function A ( z ) needs only 3 multiplications.
Since the complexity of the 2D analysis (or synthesis)
bank is equal to twice that of A ( z ) , we need only
6 multiplications per input pixel to implement the
analysis (synthesis) bank. The responses of &(a) and
Hl(z) are shown in Fig. 5.2(a) and (b) respectively.
The stopband attenuation 6,(Ho) % 42 dl3 and
S,(H1) M 32 dB.

References
P. P. Vaidyanathan, Multirate systems and filter
banks, Englewood Cliffs, NJ: Prentice Hall, 1993.
T. A. Ramstad, IIR filter bank for subband coding
of images, Proc. I E E E ISCAS, pp. 827-830, ESPOO,
Finland, 1988.
C. Herley, and M. Vetterli, Wavelets and recursive
filter banks, I E E E P a n s . o n Signal Proc., vol. 41,
no. 8, pp. 253656, Aug. 1993.
S. Basu, C.-H. Chiang, and H. M. Choi, Wavelets
and perfect reconstruction subband coding with causal stable IIR filters, preprint.
H. Kiya, M. Yae, and M. Iwahashi, A linear phase
two-channel filter bank allowing perfect reconstruction, Proc. I E E E ISCAS, pp. 951-954, San Diego,
1992.
D. B. H. Tay, and N. G. Kingsbury, Flexible design of multidimensional perfect reconstruction FIR
2-band filters using transformations of variables,
I E E E B a n s . on IP, vol. 2, pp. 466480, Oct. 1993.
C. W. Kim, and R. Ansari, FIR/IIR exact reconstruction filter banks with applications to subband

584

coding of images," N dwest CAS Symp., Monterey,

CA. Mav 1991.
[8]C.W. Kim, and R. Ansari, " Subband decomposition
procedure for quincunx sampling grid," Prvc. SPIE
Visual Comm. and Image Proc., Boston, Ma., Nov.

-1

1991.
[9] S.-M. Phoong, and P. P. Vaidyanathan, "A new class
of twcxhannel biorthogonal filter banks and wavelet
bases," Techniml Report, Caltech, Pasadena CA,
Oct. 1993.
[lo]I. Daubechies, "Orthonormal bases of compactly
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[ll] A. M. Bruekers, and Ed W. M. van den Enden, "New
networks for mrfect inversion and Derfect reconstruction," IEEE jour. Selected Areas in Comm., pp. 130137,Jan. 1992.

(a)

-2N+1

R(z)

Fig. 2.1 A framework for a new dass of biorthogonal

filter bank. (a) Analysis (b) Synthesis bank.

-no
.......... n1
- - - FO
-- F1

ai

2-1

0.0

Fig. 1.1 (a) A 2 channel filter bank system.

(b) The polyphase representation.

".-I

0.1

02
0.3
"albed F " y

0.4

Fig. 5.1 An 1D IIR biorthogonal filter bank.

Fig. 5.2 An 20 IIR bimhogonal filter bank (a) Ho(z) and (b) Hi(z).

0.5