Recursive regularization filters: design, properties, and applications

Least squares approximation problems that are regularized with specified highpass stabilizing kernels are discussed. For each problem, there is a family of discrete regularization filters (R-filters) which allow an efficient determination of the solutions. These operators are stable symmetric lowpass filters with an adjustable scale factor. Two decomposition theorems for the z-transform of such systems are presented. One facilitates the determination of their impulse response, while the other allows an efficient implementation through successive causal and anticausal recursive filtering. A case of special interest is the design of R-filters for the first- and second-order difference operators. These results are extended for two-dimensional signals and, for illustration purposes, are applied to the problem of edge detection. This leads to a very efficient implementation (8 multiplies+10 adds per pixel) of the optimal Canny edge detector based on the use of a separable second-order R-filter