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SAR Data Pre-processing and
Processing
(Lecture II- Tuesday 22 December 2015)
Training Course on Radar Remote Sensing and Image Processing
21-24 December 2015, Karachi, Pakistan
Organizers: IST & ISNET
Parviz Tarikhi, PhD [email protected]
http://parviztarikhi.wordpress.com
Alborz Space Center, ISA, Iran
Outline Geometric correction and geo-referencing,
Speckle Suppression Techniques,
Filtering: smoothing filters: Mean, Median, Nonadaptive
Filters: Frost, Sigma-Lee, Gamma Map; Edge Enhancement
for linear feature extraction.
Image Classification of SAR Data
Training and Test Sample Selection,
Comparison of Radar Signatures at Feature Spectral Space,
Run the Classification,
Accuracy Assessment of the classification output.
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2
SAR Data Ascquisation
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3
Geometric correction and geo-referencing
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4
Geometric Correction
Correction of geometric distortions
involved in the original image,
which are caused by sensor
characteristics and geometry,
attitude of platform and topography
of the earth.
Geo-coded Image
Image which is corrected by
matching with geographic
coordinate system. Geo-code is
usually represented by latitude and
longitude.
Geometric correction and geo-referencing
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5
Geometric correction is undertaken to avoid geometric
distortions from a distorted image, and is achieved by
establishing the relationship between the image coordinate
system and the geographic coordinate system using
calibration data of the sensor, measured data of position
and attitude, ground control points, atmospheric condition
etc.
Definitions
Speckle Filters
Mono-Temporal Speckle Filters
Frequency Domain
Spatial Domain
Adaptive Filters
Multi-Temporal Speckle Filters
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Speckle Suppression Techniques
Pixel‘s backscatterering value
resolution cell
Re
Im
Red vector: the coherent sum of all
the contributions
• Each grey vector corresponds to a scatterer in
the resolution cell.
• Resultant amplitute of the pixel (red vector) is
the coherent sum of all those individual
contributions. 7 5-Jan-16
12:18:06 PM
(Sart
i 2
011)
Speckle Suppression Techniques
Im
Re
resolution cells
What is Speckle?
Re
Im
Re
Im
Constructive combination
Destructive combination
high radiometry
low radiometry
SAR Image
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Speckle Suppression Techniques
S
AR
-ED
U, htt
ps:
//sa
redu.d
lr.d
e/
What is Speckle? • Speckle is an inherently salt-pepper noise that degrades the quality of
the SAR images.
• Speckle makes interpretation of features more difficult.
TERRASAR-X Stripmap
Thuringia, Germany
Satelite image of the same area
© GoogleMaps 9 5-Jan-16
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Speckle Suppression Techniques
Speckle Reduction
• Speckle in SAR generally causes difficulties for image interpretation,
automatic segmentation etc..
Speckle reduction is made attempting for minumum loss of :
• radiometric information
• spatial resolution
• edge information
• textural information
Ic Measured Intensity
R Intensity value to be estimated
v Speckle
Despeckling techniques aim to estimate R
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Speckle Suppression Techniques
Mono-Temporal
Speckle Filters
Multi-Temporal
Spatial Domain Frequency Domain
Non-Adaptive Filters
Adaptive Filters
• Multi-looking
• Lee & Refined Lee
• Kuan
• Gamma Map
• Frost
• Mean
• Median
• Texture Compansation
Multichannel Filter
• 3D Adaptive
Neighbour-hood Filter
• Time-Space Filter
Speckle Suppression Techniques
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S
AR
-ED
U, htt
ps:
//sa
redu.d
lr.d
e/
• The reduction of speckle effect (coherent
process) can be achieved by averaging a
sufficient number of independent samples
for each resolution cell (incoherent process)
• Improvement in radiometric resolution
but degradation of spatial resolution
Frequency Domain;
Multi-looking
What do we want to calculate?
• Multi-Look Factor in Range direction (MLR) • Multi-Look Factor in Azimuth direction (MLA)
How to select an appropriate number of looks?
The number of looks is a function of: • pixel spacing in azimuth (AZ) • pixel spacing in slant range (SR) • look angle at scene center (β) • the desired final resolution (x)
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Speckle Suppression Techniques
S
AR
-ED
U, htt
ps:
//sa
redu.d
lr.d
e/
Multi-looking
range: 3 azimuth:3 range: 5 azimuth:6 range: 9 azimuth:10
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D
LR
Speckle Suppression Techniques
For filtering in spatial domain a
moving kernel is used.
Depending on the filter used, a new value
is assigned to the center pixel.
Spatial Domain
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Speckle Suppression Techniques
Mean filter
Median filter
R mean of 9 pixels
R median value of 9 pixels
I Intensity value of a pixel
n number of pixels in the moving window
(size of the kernel)
Mean filter & Median filter
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Speckle Suppression Techniques
Spatial Domain;
9 2 8 5 2 2
7 3 7 9 7 7
5 7 5 9 4 4
5 9 1 6 8 7
8 6 7 8 6 8
9 8 5 9 2 5
Mean filter
R=(9+2+8+7+3+7+5+7+5)/9≈6 R=(2+8+5+3+7+9+7+5+9)/9≈6 R=(8+5+2+7+9+7+5+9+4)/9≈6 R=(5+2+2+3+7+7+9+4+4)/9≈5 R=(7+3+7+5+7+5+5+9+1)/9≈5
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Speckle Suppression Techniques
R=5 R=7 R=7 R=7 R=5
Median filter
9 2 8 5 2 2
7 3 7 9 7 7
5 7 5 9 4 4
5 9 1 6 8 7
8 6 7 8 6 8
9 8 5 9 2 5
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Speckle Suppression Techniques
Mean filter
Mean 3*3 Mean 5*5 Mean 9*9
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Speckle Suppression Techniques
Median filter
Median 3*3 Median 5*5 Median 9*9
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Speckle Suppression Techniques
Mean filter and Median filter
Mean 9*9 Median 9*9 20 5-Jan-16
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Speckle Suppression Techniques
• can be used to supress speckle
noise and in the meantime to
preserve edge information
• exploit local statistics in the
moving window (the statistics
derived from the neighbouring
pixels)
Adaptive filters
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Speckle Suppression Techniques
Lee filter
Kuan filter
W Weighting function
Cu noise variation coefficient-
Ci image variation coefficient σ/Im
Ic Central pixel of filter window
Im mean intensity within filter window
σ Standard deviation of intensity
within filter
ENL effective number of looks
Lee filter & Kuan filter
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Speckle Suppression Techniques
Adaptive filters;
Lee filter
Lee 3*3 Lee 5*5 Lee 9*9
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Speckle Suppression Techniques
Refined Lee filter
Edge threshold:5000 Edge threshold:9000
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Speckle Suppression Techniques
Frost filter
M Weighting values
T Euclidian distance between center pixel and the
neighbouring pixels
DampFactor exponential damping factor
Frost filter
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Speckle Suppression Techniques
Frost filter
Frost 3*3 Frost 5*5 Frost 9*9
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Speckle Suppression Techniques
GAMMA Map filter
Gamma Map filter
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Speckle Suppression Techniques
GAMMA Map filter
GAMMA 3*3 GAMMA 5*5 GAMMA 9*9
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Speckle Suppression Techniques
Multi-Temporal Speckle filters
• 2-dimensional Mono-temporal
speckle filters operate image by
image, which has the trade-off
between speckle reduction and
spatial resolution or loss of edge
and texture information.
•Multi-temporal filters benefit from the
additional information brought by the
third dimension (time).
• Prior to filtering the images have to be
radiometrically calibrated and
coregistered.
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Speckle Suppression Techniques
Multi-Temporal Speckle filters
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Speckle Suppression Techniques
What does Classification means?
Parametric Classifiers
• Minimum-Distance-to-Mean
• K-Means
• Maximum Likelihood
Non-Parametric Classifiers
• (K-) Nearest Neighbor
• Decision Trees
• Artificial Neural Networks
• Support Vector Machines
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(Eck
ard
t et
al.
2014)
Image Classification of SAR Data
What does classification means? • [Automatically] categorizing all pixels in an image in certain
(i.e. predefined) classes or themes
• Thematic classification allocates pixels to classes based on
functions of the spectral (or backscatter) properties
Channel 1 2
3 4
5
IMAGE DATA SET
(e.g. Five Digital Numbers per pixel)
CLASSIFICATION
(into a priori defined classes)
MAP
(Thematic representation of classes)
Schematic Classification Workflow 32 5-Jan-16
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(Lil
lesa
nd
et
al.
2008)
Image Classification of SAR Data
Classification
Manual Photo Interpretation
Computer based Interpretation
Supervised Unsupervised
Parametric Non-Parametric Parametric Non-Parametric Supervised Unsupervised
Overview of method
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ard
t et
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Image Classification of SAR Data
Parametric Classifiers
• Implying a specific statistical distribution
• Generally gaussian distribution
• Calculating statistical measurement
(e.g. Standard deviation or Covariance)
Differentiation by algorythm
Non-Parametric Classifiers
• No assumtion on the statistical distribution of the data
• Robust due to ability to describe numerous statistical
distributions other than gaussian distribution
SAR data is not usually
gaussian distributed.
For Radar Remote Sensing
non-parametric classifiers are
more appropriate. 34 5-Jan-16
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(Eck
ard
t et
al.
2014)
Image Classification of SAR Data
Unsupervised Classifiers
• No Training stage
• Purely based on the statistical
distribution of the input data
Differentiation by training concept
Supervised classifiers
• Employing manual traing of the data set to distinguish desired classes
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Image Classification of SAR Data
(2) CLASSIFIACTION STAGE Compare each unknown pixel to spectral patterns;
assign to most similar category
(2) OUTPUT STAGE Present results: •Maps • Tables •GIS Data •…
(1) CLASSIFIACTION STAGE Forming clusters of pixels
according to their spectral properties
Channel 1 2
3 4
5
Urban
Forest
Water
…
DN1
DN2
DN3
DN4
DN5
Pixel (3,7)
IMAGE DATA SET
(e.g. Five Digital
Numbers per pixel)
(1) TRAINING STAGE Collect numerical data from training areas on spectral response patterns
of land cover categories
(3) OUTPUT STAGE Present results: •Maps • Tables •GIS Data •…
Differentiation by training concept Unsupervised vs. Supervised
Unsupervised Supervised
Basic steps of classification
(Lil
lesa
nd
et
al.
2008)
Image Classification of SAR Data
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Minimum-Distance-to-Mean Concept: Supervised
Algorithm: Parametric
Pros: Simple, efficient
Cons: Wweak performance for
classes with high variance
Att
rib
ute
2
Attribute 1
Minimum-Distance-to-Mean Classifier
Training pixel
Pixel under investigation
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ard
t et
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Image Classification of SAR Data
K-Means Clustering A
ttri
bu
te 2
Attribute 1
a +
b +
c +
Concept: Unsupervised
Algorithm: Parametric
Pros: No interaction or a
priori tuning necessary
Cons: Result depends on
initial cluster centers
Empty classes possible
a + b + c + Cluster centers
Idealized data clusters
K-Means Classifier
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(Eck
ard
t et
al.
2014)
Image Classification of SAR Data
Maximum Likelihood A
ttri
bu
te 2
Attribute 1
Concept: Supervised
Algorithm: Parametric
Pros: based on multiple
statisitcal parameters
robust
Cons: Complex Processing
Training pixel
Pixel under investigation
Equiprobability contours
Maximum Likelihood Classifier
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(Eck
ard
t et
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2014)
Image Classification of SAR Data
k = 30; 7x , 10x ,13x
k = 5; 4x , 1x
(K-)Nearest Neighbor
Data point under investigation
Ban
d 2
Band 1
Class A
Class B
Class C
k = 1; 1x
Concept: Supervised
Algorithm: Non-Parametric
Pros: Simple implementation
Cons: Slow for many image bands
strong influence of „k“ on result
K-Nearest Neighbor Classifier 40 5-Jan-16
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(Eck
ard
t et
al.
2014)
Image Classification of SAR Data
Decision Trees
Att
rib
ute
2
Attribute 1
Concept: Supervised
Algorithm: Non-Parametric
Pros: - Simple Structure
- Fast
- Combination of data possible
Cons: - Complex design phase
Vegetation
No Vegetation
Forest
No Forest
Water
No Water
Broad-leaved
Needle-leaved
Agriculture
Settlement
Decision Tree Classifier
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(Eck
ard
t et
al.
2014)
Image Classification of SAR Data
Artificial Neural Networks (ANN)
Input Units Hidden Units Output Units
Image Channels
Thematic Classes
“A neural network consists of a number
of interconnected nodes.
Each node is a simple processing element
that responds to the weighted inputs it
receives from other nodes.
The arrangement of the nodes is referred
to as the network architecture.”
Concept: Hybrid (Un)-Supervised
Algorithm: Non-Parametric
Pros: - adequate for non-linear
relations
- Robust & error resistent
Cons: - Complex processing
- Model overfitting, overtraining
- Black Boy System
ANN Classifier
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(Atk
inso
n &
Tat
nal
l 1997)
Image Classification of SAR Data
Support Vector Machines (SVM)
Training Pixel Class B
Att
rib
ute
2
Attribute 1 Training Pixel Class A
Which line divides the classes best?
? B)
C) ?
A) ?
Support Vectors
Concept: Supervised
Algorithm: Non-Parametric
Pros: - Useful for high dimensional data
- White Box Approach
- very flexible
Cons: - long processing time
- needs multiple iterations
- can stay unresolved
SVM Classifier
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(Eck
ard
t et
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2014)
Image Classification of SAR Data
To summarize:
Training and Test Sample Selection,
Comparison of Radar Signatures at Feature Spectral Space,
Run the Classification,
Accuracy Assessment of the classification output.
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44
Image Classification of SAR Data
Post Classification Processing: Classified images require post-
processing to evaluate classification accuracy and to generalize
classes for export to image- maps and vector GIS.
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45
Image Classification of SAR Data
Accuracy
The closeness of measurement or estimates to the true value.
Accuracy is normally represented by the standard deviation of
errors.
Thank you!
&
any question