Total variation-regularized weighted

nuclear norm minimization for

hyperspectral image mixed denoising

Zhaojun Wu
Qiang Wang
Zhenghua Wu
Yi Shen

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 Journal of Electronic Imaging 25(1), 013037 (Jan∕Feb 2016)

Total variation-regularized weighted nuclear norm

minimization for hyperspectral image mixed denoising
Zhaojun Wu,a,* Qiang Wang,a Zhenghua Wu,b and Yi Shena
a
Harbin Institute of Technology, Department of Control Science and Engineering, Harbin 150001, China
b
China Electronics Technology Group Corporation, No. 38 Research Institute, Hefei 230088, China

Abstract. Many nuclear norm minimization (NNM)-based methods have been proposed for hyperspectral image
(HSI) mixed denoising due to the low-rank (LR) characteristics of clean HSI. However, the NNM-based methods
regularize each eigenvalue equally, which is unsuitable for the denoising problem, where each eigenvalue
stands for special physical meaning and should be regularized differently. However, the NNM-based methods
only exploit the high spectral correlation, while ignoring the local structure of HSI and resulting in spatial dis-
tortions. To address these problems, a total variation (TV)-regularized weighted nuclear norm minimization
(TWNNM) method is proposed. To obtain the desired denoising performance, two issues are included. First,
to exploit the high spectral correlation, the HSI is restricted to be LR, and different eigenvalues are minimized
with different weights based on the WNNM. Second, to preserve the local structure of HSI, the TV regularization
is incorporated, and the alternating direction method of multipliers is used to solve the resulting optimization
problem. Both simulated and real data experiments demonstrate that the proposed TWNNM approach produces
superior denoising results for the mixed noise case in comparison with several state-of-the-art denoising meth-
ods. © 2016 SPIE and IS&T [DOI: 10.1117/1.JEI.25.1.013037]

Keywords: hyperspectral image denoising; low rank; total variation; nuclear norm minimization.
Paper 15611 received Jul. 29, 2015; accepted for publication Jan. 27, 2016; published online Feb. 26, 2016.

1 Introduction nonparametric filtering framework to generalize the classical

Due to the large amount of available spectral information, filters and illustrate the deep connections between these
hyperspectral imaging has achieved a remarkable success basic techniques and more classical Bayesian methods. A
in many application fields and already has become an effi- Gaussian-scale-mixture (GSM) signal model in the wavelet
cient tool for exploring the remote sensing world.1–3 domain was used in the work of Portilla et al.13 for blind
However, hyperspectral images (HSIs) obtained by sensors removal of correlated Gaussian noise, and Guerrero-Colón
from high altitude may suffer from atmospheric or instru- et al.14 improved the denoising performance by using
mental noise,4 which degrades the quality of the imagery a space-variant GSM model in overcomplete pyramids.
and also affects further applications, such as image fusion, Although these approaches can be used for HSI denoising
image compression,5,6 target detection7 and classification. band by band, they ignore the high correlation in the spectral
Therefore, it is necessary to remove the noise before sub- domain, causing some spectral distortion and resulting in
sequent applications. a relatively poor denoising effect. On the contrary, the pre-
The acquired HSIs are often corrupted by various noise sented denoising method treats the HSI as a multidimen-
sources and can be identified as additive, multiplicative, sional dataset, and the multidimensional methods are
designed for denoising. For example, a multidimensional
or impulsive noise.8 In this paper, we only focus on the
Wiener filtering was proposed in the work of Letexier and
additive and impulsive mixed noise, including the zero-mean
Bourennane,15 in which the HSI was modeled as a tensor and
Gaussian noise, salt and pepper impulse noise, and dead lines
the noise was reduced by using the tensor analysis method.
noise. Moreover, the noise variance in HSIs always varies in
In Chen’s work,16 the three-dimensional (3-D) wavelet
different bands.
transform was adopted to utilize both the spatial and spectral
To date, a large number of methods have been developed
information, which was also similar to the work of Brook.17
for HSI denoising. The existing denoising methods can be
A first-order roughness penalty method18 was applied in the
classified into two categories: the traditional HSI denoising wavelet domain to enforce smoothness in spectral domain
method using the graylevel image denoising method band by and gave a promising denoising performance. Nonetheless,
band and the novel denoising method treating the HSI as a these wavelet-based techniques heavily depend on the exact
multidimensional dataset. As to the traditional method, each selection of the wavelet basis and threshold value, which
spectral channel can be treated as a graylevel image, and may lead to a blurry image. Unlike most image filters that
the graylevel image denoising methods can be used band by make strong assumptions about the properties of degrada-
band, such as the bilateral-filter based algorithm,9 tion, Awate and Whitaker19 proposed an impactful model
the nonlocal-based method,10 and the BM3D.11 To give a for image restoration named unsupervised information-theo-
more intuitive and in-depth understanding of the aforemen- retic adaptive filter (UINTA). It restored the pixel intensities
tioned filters, Milanfar12 provided a matrix formulation of from their neighbor pixels by decreasing their joint entropy.

*Address all correspondence to: Zhaojun Wu, E-mail: [email protected] 1017-9909/2016/$25.00 © 2016 SPIE and IS&T

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

The UINTA can be used not only for the gray image but also be treated differently. (2) The NNM-based hyperspectral
for the sequence of images in a coupled manner, by treating denoising models can only take advantage of the high cor-
the combination of three images as a vector image and relation in spectral domain but ignore the spatial structure of
searching for the probability density functions in the prob- the HSI, thus resulting in some distortions and blurs in geo-
ability space. However, the UINTA may only use the local metrical structure.
correlation of the spectral bands in the HSI dataset. More- More recently, to narrow the big gap between the NNM
over, some volumetric data denoising methods, such as and the rank minimization, the weighted nuclear norm
BM4D,20 which is based on the similarity of cubes of minimization (WNNM) model has been proposed and
voxel (i.e., 3-D-patch-based) and Wiener filtering, can successfully applied in matrix completion32 and natural
also be used for the HSIs denoising. However, these patch- image denoising problems.33 However, few studies have
similarity-based methods tend to oversmooth the images and investigated the WNNM model for the HSI mixed denoising
the fine details are usually absent. problem. On the other hand, the total variation (TV) regu-
Recently, low-rank (LR)-based methods have attracted larization has been widely adopted in the hyperspectral
many researchers’ attentions. These methods are based on denoising problem,34,35 showing excellent performance in
the assumption that the clean hypersepctral image can be preserving the geometrical structure. However, no literature
presented by a linear combination of finite numbers of pure uses both the WNNM model and TV regularization for
endmembers, which indicates the LR characteristics in the hyperspectral denoising simultaneously.
corresponding Casorati matrix (a matrix whose columns Motivated by the excellent performance of the WNNM
consist of vectorized bands of the HSI). The low-rank model and the widely used TV regularization method, this
matrix recovery (LRMR) model was first introduced by paper proposes a hypersepctral image mixed denoising
Wright et al.21 as a “robust principal component analysis” model based on WNNM and TV regularization, termed
(RPCA) problem, aiming at recovering the LR matrix L the TV-regularized weighted nuclear norm minimization
from the corrupted observations D ¼ L þ S. Here, the cor- (TWNNM). Note that the proposed model is related to
rupted matrix S is unknown and assumed to be sparse. Zhang the existing work by Peng et al.36 but fundamentally different
et al.22 used the LRMR model for HSI mixed denoising and from that. In Peng’s work, only the WNNM model is con-
achieved a promising performance. The LR-based denoising sidered, ignoring the geometrical structure of HSI, and the
model with the data fidelity of F-norm can be denoted as model is only suitable for large sparse random noise but
not for the dense noise and mixed noise. Compared with
min rankðLÞ þ λkSk0 s:t: kD − L − Sk2F < δ; (1) the existing literature, the main contributions this paper can
L;S
EQ-TARGET;temp:intralink-;e001;63;455

be summarized as the following four aspects.

where D is the observed noisy data, λ is a positive constant 1. The WNNM-based mixed denoising model is pro-
used to control the relative weight between the rank minimi- posed to take advantage of the high correlation of
zation and l0 -norm, and δ is a positive constant related to the the HSI in spectral domain, showing many superiori-
standard deviation of Gaussian noise N. Unfortunately, the ties to the NNM-based methods.
rank minimization is an nondeterministic polynomial hard 2. In order to preserve the geometrical structure in spatial
(NP-hard) problem, and no efficient solution is known. To domain, the edge constraints with TV regularization
obtain a tractable solution of the LR-based denoising prob- is incorporated into our derived model. Then, the
lem, two categories of approximation methods can be used. ADMM method is adopted to solve the proposed
The first is the low-rank matrix factorization (LRMF) model effectively.
method,23 and the most classic LRMF method is the singular
value decomposition (SVD) method,24 which has been 3. The proposed TWNNM provides a mixed denoising
widely used in various fields. However, the LRMF is basi- framework in which the spectral correlation con-
cally a nonconvex problem, and it is hard to incorporate prior straints, edge constraints, and other prior knowledge
(if available) can be conveniently incorporated.
knowledge (if available) to the LRMF framework, such as
the geometrical structure of images in the denoising problem. 4. The proposed model is suitable not only for Gaussian
The other category of approximation method is the nuclear noise, salt and pepper impulse noise, and dead lines
norm minimization (NNM) method,25 in which the NP- noise but also for the mixture of several types of noise.
hard problem is relaxed to the NNM problem and solved
effectively.25,26 Then, the NNM problem can be solved by The layout of this paper can be represented as follows.
the singular value thresholding (SVT) algorithm27 under Section 2 briefly describes the general framework of HSI
mixed denoising problem, the NNM denoising model, and
the ADMM28,29 framework, which also belongs to the aug-
the WNNM denoising model. The proposed TWNNM for
mented Lagrange multipliers framework. The SVT was
mixed denoising is described in Sec. 3. In Sec. 4, both simu-
originally designed for approximating the matrix with the
lated and real data experiments and results are described,
minimum nuclear norm within all matrices obeying some
followed by the conclusion in Sec. 5.
convex constraints.
Although the NNM-based denoising model for HSI has
achieved a promising denoising performance,22,30,31 two 2 Related Works
problems still exist. (1) A majority of NNM-based hyper-
spectral denoising models treat each singular value equally 2.1 Problem Formulation of Hyperspectral Imaging
and use the standard SVT method to solve the problem, but Mixed Denoising
it may not be suitable for HSI denoising model since each The observed noisy HSI data cube with dimension of M x ×
singular value contains different information and should M y × Mz is denoted as DMx ×My ×Mz , and its corresponding

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

Casorati matrix is denoted as DMx My ×Mz . As we only consider where λ1 and λ2 are two positive constants used to control
the additive and impulsive mixed noise, the denoising model the relative weights among the NNM, l1 -norm, and the
can be formulated as F-norm, and the parameter λ2 is related to the standard
deviation of Gaussian noise N. Then, the NNM problem
D ¼ L þ S þ N;
EQ-TARGET;temp:intralink-;e002;63;719 (2) can be easily solved by SVT under the ADMM28 framework.
Equation (6) is first converted to the following unconstrained
where LMx My ×Mz is the clean HSI, SMx My ×Mz denotes the function, written as
intense and sparse noise, such as the salt and pepper impulse
noise, and N Mx My ×Mz indicates the weak and dense noise,
L; ^ N^ ¼ arg min kLk þ λ1 kSk1 þ λ2 kNk2F
^ S;
such as Gaussian noise. Based on the assumption of linear L;S;N
EQ-TARGET;temp:intralink-;e007;326;675

2
mixture model, the size of clean HSI is far larger than its μ
rank, indicating the LR property of clean HSI. However, þ kD − L − S − N − Y 1 k2F ; (7)
2
there is no correlation among SMx My ×Mz and N Mx My ×Mz in
different bands due to stochastic property of noise. Thus, where the parameter μ is a positive constant used to control
the ranks of noisy components SMx My ×Mz and N Mx My ×Mz are the step size of the iteration, and Y 1 is the Lagrange multi-
usually full. The purpose of HSI mixed denoising is to plier. Then, the solution to Eq. (7) can be obtained by solving
restore the clean LR part LMx My ×Mz from the observed noisy the following two subproblems:
dataset DMx My ×Mz .
L^ ¼ arg minkLk þ μ2 kL − ðD − S − N − Y 1 Þk2F ; (8)
L
EQ-TARGET;temp:intralink-;e008;326;565

2.2 Nuclear Norm Minimization

As to the hyperspectral denoising model D ¼ L þ S þ N, a S^ ¼ arg minλ1 kSk1 þ μ2 kS − ðD − L − N − Y 1 Þk2F : (9)
well-known method to restore L is the recently proposed S
EQ-TARGET;temp:intralink-;e009;326;528

LRMR method,22 which is motivated by the RPCA21 model.

The LRMR method is achieved by solving a minimization The first subproblem [Eq. (8)] can be solved by the SVT
optimization problem, formulated as method, where each eigenvalue of (D − S − N − Y 1 ) is
shrunk with the same threshold μ−1 . As for the second sub-
min kD − L − Sk2F s:t: rankðLÞ ≤ r; cardðSÞ ≤ k; (3) problem [Eq. (9)], an entrywise shrinking operation with the
L;S threshold of λ1 μ−1 is applied.
EQ-TARGET;temp:intralink-;e003;63;472

Although the NNM-based method for HSI denoising has

where L, S, and ðD − L − SÞ stand for the clean HSI, large achieved promising performance,22,30,31 some weaknesses
sparse noise, and small dense noise, respectively. Note that the still exist. As stated earlier, the NNM model is solved by the
item kD − L − Sk2F can also be regarded as the data fidelity. shrinking operation to each eigenvalue of ðD − S − N − Y 1 Þ
As stated in the previous section, the preceding LRMR with the same threshold, which may not be suitable for the
problem can be solved by the LRMF and NNM methods. denoising problem.
In Zhang’s work,22 the LRMR problem is solved by the
LR approximation method called GoDec.37 To use the
2.3 Weighted Nuclear Norm Minimization
GoDec method, the upper bounds of cardðSÞ and rankðLÞ
should be determined. Then, the LRMR problem can be To overcome the weakness of the NNM-based model, the
divided into the following two subproblems: WNNM model was first proposed for matrix completion32
and then used for natural image denoising.33,36 As for the
Lt ¼ arg min kD − L − St−1 k2F s:t: rankðLÞ ≤ r; (4) HSI denoising, the WNNM model can be introduced as
L
EQ-TARGET;temp:intralink-;e004;63;325

^ N^ ¼ arg min kLkw; þ λ1 kSk1 þ λ2 kNk2F ;

EQ-TARGET;temp:intralink-;e010;326;302

L;
^ S;
St ¼ arg min kD − Lt − Sk2F s:t: cardðSÞ ≤ k: (5) L;S;N 2
S
EQ-TARGET;temp:intralink-;e005;63;290

s:t: D ¼ L þ S þ N; (10)
These two subproblems can be solved by the LR approxi-
mation method and entrywise hard threshold method, respec- where the kLkw; stands for the weighted nuclear norm and
tively. Nevertheless, the LRMF-based method for the LRMR can be defined as
mixed denoising model still suffers from some weaknesses. X
There is no edge constraint imposed on the HSI, which may kLkw; ¼ kωi σ i ðLÞk1 :
EQ-TARGET;temp:intralink-;e011;326;220 (11)
cause some distortions in the spatial domain. In addition, the i
parameters of rank r and cardinality k should be predicted
accurately, which is very difficult for real application. In Eq. (11), σ i ðLÞ is the i’th eigenvalue of L and ωi is
The other approach for solving the LRMR problem is the a non-negative weight corresponding to σ i ðLÞ.
NNM method. To solve the problem [Eq. (3)], the NP-hard In general, the WNNM is not convex. However, regarding
problem is relaxed to the NNM problem by replacing the the special denosing model case, the WNNM can still be
rank minimization item with the nuclear norm, which can solved efficiently. It is known that the eigenvalues of the
be formulated as matrix L are in a nonascending order, and the large eigen-
values contribute to the main characteristics of the clean HSI
^ N^ ¼ arg min kLk þ λ1 kSk1 þ λ2 kNk2F ;
image while the small eigenvalues are always due to the
EQ-TARGET;temp:intralink-;e006;63;115

L;
^ S;
noisy part. Thus, we should shrink the larger eigenvalues
L;S;N 2
less, i.e., assigning smaller weights to the larger eigenvalues.
s:t: D ¼ L þ S þ N; (6) When all the weights are in a nondescending order, the

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

WNNM can come to a fixed point based on the following data fidelity between the noisy image and the original
Corollary, and the detailed proof of Corollary 1 could be clean image. λ is a positive constant, which controls the rel-
found in Gu’s work.33 ative weight between the data fidelity item kD − Lk2F and
regularization item RðLÞ. Generally, there are two kinds
Corollary 1 If the weights are non-negative and in a non-
of TV regularization, i.e., anisotropic TV and isotropic TV.
descending order, the WNNM problem can be solved by
Experimentally, the anisotropic TV will be superior for edges
an iterative process and the LR part L^ will have a fixed preserving to the isotropic TV and is employed in this paper.
point as L^ ¼ UDω ðΣÞV T . The Σ is the eigenvalue matrix By incorporating the TV regularization with the WNNM
of L obtained by SVD, and the Dω ðΣÞ means a weighted framework, we get the proposed TWNNM HSI denoising
shrinking operation to the eigenvalue matrix according to model, denoted as
the given weights ω, i.e., Dω ðΣÞ ¼ diag½ðσ i − ωi Þþ .
^ N^ ¼ arg min kLkw; þ λ1 kSk1 þ λ2 kNk2F þ λ3 RðLÞ;
EQ-TARGET;temp:intralink-;e014;326;642

Another key issue for the WNNM is how to determine the L;

^ S;
L;S;N 2
weight vector ω. As the eigenvalues of the matrix L are in a
nonascending order, in order to guarantee the weights vector s:t: D ¼ L þ S þ N; (14)
ω in a nondescending order, we could choose ω inversely
proportional to the true eigenvalues,32 which can be formu- where λ3 RðLÞ stands for the anisotropic TV regularization
lated as and can be formulated as
ðkþ1Þ 1 λ3 RðLÞ ¼ λ3 ðkDh ðLÞk1 þ kDv ðLÞk1 Þ;
ωi ¼ ; (12) EQ-TARGET;temp:intralink-;e015;326;561 (15)
σ i ðLðkÞ Þ þ ε
EQ-TARGET;temp:intralink-;e012;63;560

where Dh and Dv are two finite differential operators in

where ε > 0 is a small positive constant to avoid dividing by the horizontal and vertical directions. For an image
zero. The superscript k in Eq. (12) indicates the iteration I ∈ RðMx ×My Þ , the Dh and Dv operators can be defined as
count, and it begins from zero until the stopping criterion is Eqs. (16) and (17), respectively.
satisfied. The possible solution to the WNNM problem in
Eq. (10) is achieved by iteratively updating the estimation 
Iði; j þ 1Þ − Iði; jÞ 1 ≤ j
of L and weights as follows: Dh ½Iði; jÞ ¼ ; (16)
0 j ¼ My
EQ-TARGET;temp:intralink-;e016;326;482

Step 1: Initialize the iteration count k to zero and ¼ 1, ω0i

i ¼ 1; : : : ; n, where n is the total number of eigen- 
values of L. Iði þ 1; jÞ − Iði; jÞ 1≤i
Dv ½Iði; jÞ ¼ : (17)
0 i ¼ Mx
EQ-TARGET;temp:intralink-;e017;326;436

Step 2: Solve the WNNM problem in Eq. (10) with the

weights ωki .
Step 3: Update the weights for next iteration with Eq. (12). In order to use the TV operation, the hyperspectral
Step 4: Set the iteration count k to k þ 1. Casorati matrix will be rearranged to 3-D cube data again,
Step 5: Repeat steps 2, 3, and 4 until the stopping criterion is and then the horizontal and vertical finite differential oper-
satisfied. ators are applied to each band image in the spatial domain.
Combining Eq. (15) with Eq. (14), we get the proposed
Although the WNNM model shows many superiorities to TWNNM denoising model for HSI, denoted as
the NNM model for HSI mixed denoising, both NNM and
^ N^ ¼ arg min kLkw; þ λ1 kSk1 þ λ2 kNk2 þ λ3 ðkDh ðLÞk1
EQ-TARGET;temp:intralink-;e018;326;330

WNNM models ignore the geometrical structure of HSI, L;

^ S; F
which may result in some distortions in the spatial domain. L;S;N 2
þ kDv ðLÞk1 Þ; s:t: D ¼ L þ S þ N; (18)
3 Proposed Method
In this section, the proposed TWNNM denoising method is where λ1 , λ2 , and λ3 are three positive constants used to
presented, which takes both the LR property and intrinsic control the relative contributions among the weighted
geometrical structure of the HSI into consideration. This nuclear norm, l1 -norm, F-norm fidelity term, and the TV
can be achieved by incorporating the TV regularization regularization.
into the WNNM framework. Then, the TWNNM is solved
under the framework of ADMM.
3.2 Optimization Procedure
3.1 Total Variation-Regularized Weighted Nuclear In order to solve the problem [Eq. (18)], the ADMM method
Norm Minimization is adopted. We first introduce three auxiliary variables J, Zh ,
and Zv into Eq. (18), then the problem can be converted into
TV regularization was first proposed by Rudin as the ROF
the following equality constraint:
model,38 based on the fact that a natural image could be con-
sidered as sparse in TV transform domain due to the obvi- EQ-TARGET;temp:intralink-;e019;326;156

ously geometrical structure. The general TV regularization fJ;

^ L;
^ S;
^ N;
^ Z^ h ; Z^ v g ¼ arg min kJkw; þ λ1 kSk1
J;L;S;N;Zh ;Zv
for HSI denoising can be stated as λ2
þ kNk2F þ λ3 ðkZh k1 þ kZv k1 Þ;
L^ ¼ arg minkD − Lk2F þ λRðLÞ; (13) 2
L
EQ-TARGET;temp:intralink-;e013;63;115

s:t: D ¼ L þ S þ N; J ¼ L; Zh ¼ Dh ðLÞ; Zv ¼ Dv ðLÞ:

where D and L represent the observed noisy and denoised
HSIs, respectively, and the kD − Lk2F item represents the (19)

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

Then, convert Eq. (19) into minimizing an unconstrained μ

J^ ¼ arg minkJkw; þ 2 kJ − ðL þ Y 2 Þk2F : (26)
J
EQ-TARGET;temp:intralink-;e026;326;752

function, which is formulated as 2

fJ;
^ L;
^ S;
^ N;
^ Z^ h ; Z^ v g ¼ arg min kJkw; þ λ1 kSk1 We first apply the SVD to the ðL þ Y 2 Þ item, i.e.,
J;L;S;N;Zh ;Zv
EQ-TARGET;temp:intralink-;e020;63;730

λ2 ðU; Σ; VÞ ¼ SVDðL þ Y 2 Þ:
EQ-TARGET;temp:intralink-;e027;326;712 (27)
þ kNk2F þ λ3 ðkZh k1 þ kZv k1 Þ
2 Then, the weighted shrinking operator Dω ðΣÞ ¼
μ μ
þ 1 kD − L − S − N − Y 1 Þk2F þ 2 kJ − L − Y 2 k2F diag½ðσ i − ωi Þþ  is applied to the eigenvalue matrix
2 2 Σ, where the σ i is the eigenvalue vector and ωi is
μ3 μ3
þ kZh − Dh ðLÞ − Y 3 kF þ kZv − Dv ðLÞ − Y 4 k2F ;
2 the corresponding weight; the detail can be referred
2 2 to Corollary 1 in Sec. 2.3. The estimated matrix J^ can
(20) be obtained by
where the Y 1 , Y 2 , Y 3 , and Y 4 are four Lagrange multipliers. J^ ¼ UDωμ−1 ½ΣV T : (28)
To solve the unconstrained problem [Eq. (20)], we carry out
EQ-TARGET;temp:intralink-;e028;326;614

the iterations shown as Algorithm 1. The variables J, ^ L,

^ S,
^ N,
^
This step is specified in lines 10 to 12 in
^Zh , and Z^ v will be updated first, followed by the updating of Algorithm 1.
the multipliers Y 1 , Y 2 , Y 3 , and Y 4 . To illustrate our proposed Step 5: As for the N^ item, it is a quadratic optimization
method more clearly, we explain it with the following steps. problem and can be defined as
Step 1: Given the observation HSI dataset DMx ×My ×Mz ,
we reshape it into its Casorati matrix form N^ ¼ arg minfðNÞ
N
EQ-TARGET;temp:intralink-;e029;326;535

DMx My ×Mz first. Then, we initialize the weights value

λ2
ω0i ¼ 1. The detailed initializations of all the vari- ¼ arg min kNk2F
N 2
ables are specified in lines 1 to 3 in Algorithm 1.
Step 2: In this step, we fix the others and update the Z^ h and μ1
þ kD − L − S − N − Y 1 k2F : (29)
Z^ v by the following minimization problems: 2

μ Set the partial derivative of fðNÞ as zero, i.e.,

Z^ h ¼ arg minλ3 kZh k1 þ 3 kZh − ðDh ðLÞ þ Y 3 Þk2F ; ∂fðNÞ∕∂N ¼ 0, then we get the closed solution to
Zh
EQ-TARGET;temp:intralink-;e021;63;448

2
N,
^ which is denoted as
(21)
N^ ¼ λ2μþμ
1
ðD − L − S − Y 1 Þ: (30)
μ
EQ-TARGET;temp:intralink-;e030;326;414

1
Z^ v ¼ arg minλ3 kZv k1 þ 3 kZv − ðDv ðLÞ þ Y 4 Þk2F .
Zv
EQ-TARGET;temp:intralink-;e022;63;396

2
This step is specified in lines 13 to 14 in
(22) Algorithm 1.
Step 6: The problem of L^ item is also a quadratic optimi-
Then, Eqs. (21) and (22) can be solved by zation problem, which is formulated as
applying the soft-thresholding (shrinkage) operator
denoted as
L^ ¼ arg min fðLÞ
EQ-TARGET;temp:intralink-;e031;326;335

L
Z^ h ¼ S λ3 μ−1 ½Dh ðLÞ þ Y 3 ; (23) μ1
EQ-TARGET;temp:intralink-;e023;63;315

3 ¼ arg min kD − L − S − N − Y 1 k2F

L
2
μ μ
þ 2 kJ − L − Y 2 k2F þ 3 kZh − Dh ðLÞ − Y 3 k2F
Z^ v ¼ S λ3 μ−1
EQ-TARGET;temp:intralink-;e024;63;281

3
½Dv ðLÞ þ Y 4 ; (24) 2 2
μ3
þ kZv − Dv ðLÞ − Y 4 k2F : (31)
where the shrinkage operator is S ε ½x ¼ sgnðxÞ:  2
maxðjxj − ε; 0Þ. The definitions of Dh and Dv can
be found in Eqs. (16) and (17). This step is specified Set the partial derivative of fðLÞ as zero, i.e.,
in lines 5 to 7 in Algorithm 1.
∂fðLÞ
EQ-TARGET;temp:intralink-;e032;326;219

Step 3: As for the S^ item, it can also be solved with the ¼ μ1 ðS þ N þ L − D þ Y 1 Þ þ μ2 ðL − J þ Y 2 Þ

shrinkage operator S ε ½x formulated as ∂L
þ μ3 DT h ðDh ðLÞ − Zh þ Y 3 Þ
EQ-TARGET;temp:intralink-;e025;63;184

μ
S^ ¼ arg minλ1 kSk1 þ 1 kS − ðD − L − N − Y 1 Þk2F þ μ3 DT v ðDv ðLÞ − Zv þ Y 4 Þ
S 2
¼ S λ1 μ−1
1
½D − L − N − Y 1 : (25) ¼ 0; (32)

This step is specified in lines 8 to 9 in Algorithm 1. where the DT h and DT v are two conjugate operators
Step 4. In this step, we get the solution J^ item by applying of TV in horizontal and vertical directions. For an
the WNNM model, and the corresponding problem image I ∈ RðMx ×My Þ , the DT h and DT v operators can
can be denoted as be defined as Eqs. (33) and (34), respectively.

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .


Algorithm 1 HSI Denoising via TWNNM and ADMM. Iði; j − 1Þ − Iði; jÞ 1
DT h ½Iði; jÞ ¼ ; (33)
0 j¼1
EQ-TARGET;temp:intralink-;e033;326;752

Input: D; λ1 ; λ2 ; λ3

Step 1: Initialization: μ1 ¼ μ2 ¼ μ3 ¼ 0.5; Iði − 1; jÞ − Iði; jÞ 1
1: DT v ½Iði; jÞ ¼ : (34)
γ 1 ¼ γ 2 ¼ γ 3 ¼ γ 4 ¼ 1, 0 i¼1
EQ-TARGET;temp:intralink-;e034;326;714

ð0Þ ð0Þ
2: Lð0Þ ¼ S ð0Þ ¼ N ð0Þ ¼ Z h ¼ Z v ¼ J ð0Þ ¼ 0; When using the TV and its conjugate operations,
ð0Þ ð0Þ ð0Þ ð0Þ
Y1 ¼ Y2 ¼ Y3 ¼ Y4 ¼ 0 the hyperspectral Casorati matrix will be rearranged
into 3-D cube data again, and then the TV and its
3: ω0i ¼ 1, ε ¼ 10−6 , max iter ¼ 50, tol ¼ 10−6 , k ¼ 0 conjugate operators are applied to each band image
in the spatial domain. The resulting dataset will then
4: for k ¼ 0;1; : : : ; max iter be arranged to its Casorati matrix form for the sub-
sequent iteration. In order to solve Eq. (32), the pre-
5: Step 2: Fix the others and update Z h and Z v by conditioned conjugate gradients (PCG) method39 is
adopted. In the implementation, we use the “PCG”
6: Z h ¼ Sλ3 μ−1 ½D h ðLÞ þ Y 3  function in MATLAB R2014b. Please refer to the
3

manual of MATLAB R2014b for detailed usage of

7: Z v ¼ Sλ3 μ−1 ½D v ðLÞ þ Y 4 
3 the “PCG” function. This step is specified in lines
8: Step 3: Fix the others and update S by
15 to 16 in Algorithm 1.
ðkþ1Þ
Step 7: Update the weight vector ωi for the next itera-
9: S ¼ Sλ1 μ−1 ½D − L − N − Y 1  tion by
1

ðkþ1Þ
10: Step 4: Fix the others and update J by EQ-TARGET;temp:intralink-;e035;326;510
ωi ¼ σ ðLðkÞ
1
Þþε
: (35)
i

11: ðU; Σ; V Þ ¼ SVDðL þ Y 2 Þ, This step is specified in lines 17 to 18 in

Algorithm 1.
12: J ¼ UDωμ−1 ½ΣV T Step 8: Update all the multipliers Y 1 , Y 2 , Y 3 , and Y 4 , as
2

shown in lines 19 to 23 in Algorithm 1.

13: Step 5: Fix the others and update N by Repeat steps 2 to 8 until the stopping criterion is
satisfied or the maximum iteration number is reached.
14: N ¼ λ2μþμ
1
ðD − L − S − Y 1 Þ
1 Then, the denoised HSI dataset L is obtained in its
15: Step 6: Fix the others and update L by solving following
Casorati matrix form.
operator equation with PCG

16: μ1 ðS þ N þ L − D þ Y 1 Þ þ μ2 ðL − J þ Y 2 Þ þ 3.3 Convergence Analysis

μ3 DT h ðD h ðLÞ − Z h þ Y 3 Þ þ
μ3 DT v ðD v ðLÞ − Z v þ Y 4 Þ ¼ 0 To analyze the convergence of the proposed TWNNM,
we explain it in the following two aspects. First, the afore-
17: Step 7: Update the weight vector ωki þ1 for mentioned iteration is based on the framework of ADMM,
the next iteration by and the convergence also depends on the classic ADMM.
ðk þ1Þ
The parameters μ1 , μ2 , μ3 , γ 1 , γ 2 , γ 3 , and γ 4 are the
1
18: ωi ¼ σ ðLðkÞ step sizes of the iteration. When fixed μ1 ; μ2 ; μ3 > 0, and
iÞþε pffiffi

19: Step 8: Update the multipliers

0 < γ 1 ; γ 2 ; γ 3 ; γ 4 < 1þ2 5, the ADMM iteration converges.28,40
In this paper, we set μ1 ¼ μ2 ¼ μ3 ¼ 0.5 and γ 1 ¼ γ 2 ¼
20: Y 1 ¼ Y 1 þ γ 1 ðL þ N þ S − DÞ γ 3 ¼ γ 4 ¼ 1 to guarantee the convergence of the ADMM
iteration. Second, the WNNM model in Eq. (10) is not con-
21: Y 2 ¼ Y 2 þ γ 2 ðL − JÞ vex in the general case. However, as stated in Corollary 1,
when the weights ωi are in a nondescending order, the
22: Y 3 ¼ Y 3 þ γ 3 ðD h ðLÞ − Z h Þ WNNM model will reach a fixed point in a single step.33
As the proposed TWNNM is based on the WNNM, so the
23: Y 4 ¼ Y 4 þ γ 4 ðD v ðLÞ − Z v Þ convergence property can directly inherit from WNNM.
Unfortunately, we are still not able to prove the global linear
24: if kLðkÞ − Lðkþ1Þ k2F ≤ tol convergence of the TWNNM in Eq. (18) directly. However,
we can observe linear convergence in both the simulated and
25: Stop real data experiments, and numerical experimental results
also confirm the performance of the proposed TWNNM
26: end if
model.
27: end for
3.4 Parameter Determination
Output: L; S; N; Z h ; Z v
As stated in Algorithm 1, the parameters λ1 , λ2 , and λ3 need
to be determined as prior knowledge. The parameter λ1 is

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

used to control the relative contribution of l1 -norm, and a 4.1 Simulated Data Experiments
larger value will lead to sparser matrix SMx My ×Mz . In all 4.1.1 Data and experimental settings
the experiments, the reflectance values of all the HSI are lin-
We adopt two HSI datasets, the Washington DC Mall (WDC
early scaled to the range of [0,1]. In this case, we set λ1 ¼
for short) dataset,41 and the Pavia city center (PAVIA for
range∕10 ¼ 0.1 empirically and we find it works well for all
short) dataset42 in the simulated experiments. The whole
the experiments.
image of WDC contains 1208 × 307 pixels ranging from
As to the proposed TWNNM model in Eq. (18), we have
400-nm to 2500-nm spectral bands, and only a subimage
the constraint condition that D ¼ L þ S þ N, so the λ22 kNk2F with the size of 256 × 256 × 191 is used in the experiment.
item can also be denoted as The PAVIA dataset was collected by the ROSIS-03, and the
first 22 bands of this data are removed due to the heavy
λ2
kNk2F ¼ λ22 kD − L − Sk2F : (36) noise; thus, the selected subimage in our experiment is of
2
size 216 × 216 × 80. In order to evaluate the experimental
EQ-TARGET;temp:intralink-;e036;63;650

results quantitatively and visually, two widely used indexes,

That is, the TWNNM model can be actually treated as the structural similarity (SSIM)43 and the peak signal-to-
a maximum a posteriori estimation problem. The parameter noise ratio (PSNR), are adopted. We calculate the PSNR
λ2 is used to control the contribution of data fidelity item, and and SSIM with clean HSI and denoised HSI band by band,
it is related to the noise variance σ 2 . If the noise variance σ 2 is and then average them, which will be denoted as mean PSNR
small, i.e., the denoised image L should be close to the (MPSNR) and mean SSIM (MSSIM),35 respectively. To fur-
observed image D, then λ2 will be large, and vice versa. ther demonstrate the performance of the proposed TWNNM
In this paper, we adjust the parameter λ2 ¼ 0.1∕σ 2. For the in comparison with other denoising methods, we also calcu-
real data experiments, we cannot accurately know the noise late the mean spectral angle distance (MSAD) in the radian
variance σ 2 ; in this case, we set the λ2 ¼ 1 empirically. between the denoised and clean HSIs,44 and the smaller value
The regularized parameter λ3 is used to balance the trade- indicates the better denoising performance.
off between the weighted nuclear norm and TV regulariza- We first add noise to the two HSI datasets by the follow-
tion. When λ3 ¼ 0, the proposed TWNNM model in Eq. (18) ing steps: (1) Gaussian noise is added to all the bands of the
is degraded into the WNNM model [Eq. (10)]. If the value of two datasets with noise intensity changing randomly, the
λ3 is too small, the effectiveness of TV is slight. On the con- SNR value varies from 2 to 15 dB, and the mean SNR
trary, a large value of λ3 may lead to oversmoothing in the value is 12.1 dB. (2) Salt and pepper impulse noise is
denoised image. Thus, we should carefully adjust this param- added to 21 selected bands from band 10 to 30, and the inten-
eter in the experiments from a small value to a larger one. In sity is changing randomly. For the WDC case, impulse noise
the simulated data experiments, we finely tune the parameter ranging from 10% to 20% is added, and the mean value is
λ3 and adopt the ones corresponding to the best analytical 14.3%. For the PAVIA case, the impulse noise ranges from
results. As to the real data experiments, we will choose 4% to 15%, and the mean value is 9.2%. (3) For WDC case,
the ones resulting in the best visual results. Moreover, we dead lines are added to bands 47 and 48 in the vertical direc-
will conduct two simulated data experiments to further ana- tion, and to bands 67 and 68 in the horizontal direction. As
lyze the influence of parameter λ3. Please refer to Sec. 4.1.4 for the PAVIA case, dead lines are added to bands 50 and 70
for more detailed descriptions. in the vertical and horizontal directions, respectively.
For the LRMR, NNM, WNNM, and TWNNM methods,
Generally speaking, the spatial dimension is much
the WDC dataset is divided into small patches with the size
larger than the spectral dimension in HSI data set,
of 20 × 20 × 191 and the PAVIA dataset is divided into
i.e., Mx × My ≫ Mz . In this case, the HSI dataset should
small patches 20 × 20 × 80 in size, and each small patch is
be divided into a smaller patch with size of q × q × Mz . transformed into corresponding Casorati matrix. Then, the
Although the size of patch q hasa small effect on our pro- denoising methods are conducted on the corresponding
posed TWNNM method, it is suggested that q should satisfy Casorati matrix, resulting in the denoised image in Casorati
q × q ≤ 10Mz in order to reduce the computational complex- matrix form. Next, the denoised HSIs are obtained by
ity. In addition, to keep pace with the LRMR method,22 we reshaping the Casorati matrix into the original cube form.
set the size of the small patch as 20 × 20 × Mz for all the Taking the proposed TWNNM model as an example, the
following experiments. described procedures can be illustrated in Fig. 1.
For the GSM method, the HSI datasets are denoised band
by band. The parameters in GSM are carefully tuned, and
4 Experimental Results and Discussions the most appropriate parameters are chosen based on the
To verify the effectiveness of the proposed TWNNM model PSNR band by band. As for the BM4D method, the noise
for HSI mixed denoising, both simulated and real data variation is set to 13 for both the two HSI datasets. In
experiments over different HSI datasets are conducted. In LRMR, the ranks of the clean HSIs are chosen from 2 to
this paper, we select five different noise removal methods 12 and the cardinalities of the sparse matrix are chosen
as the comparison group, i.e., the scale mixture of from {1000,1500,2000,2500,3000,3500,4000,4500,5000}
Gaussians in wavelet domain13 method (denoted as GSM), for the two datasets. The most appropriate parameters are
the BM4D method,20 the LRMR22 method with GoDec chosen based on the MPSNR. For the WDC case, the
algorithm,37 the NNM denoising model in Eq. (3), and the rank and cardinality are set to 5 and 3000, respectively, and
WNNM model in Eq. (10). The effectiveness of weighted for the PAVIA case, the values are 5 and 1500. In the NNM,
NNM and TV regularization involved in the proposed WNNM, and TWNNM methods, the parameter λ1 is set to
TWNNM will be verified here. 0.1, and parameter λ2 ¼ 0.1∕σ 2 ≈ 0.1∕0.1 ¼ 1 (the Gaussian

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

Fig. 1 Block scheme of the proposed TWNNM denoising method.

noise variance σ 2 in our experiments ranges from 0.07 to HSI patches and the corresponding eigenvalues are obtained,
0.13, and we adopt the average value 0.1). Meanwhile, in as shown in Fig. 2. In order to take a closer look at the figure,
the TWNNM method, the weight vector ωi is set based on we magnify the region marked with pink dashed in two mag-
Eq. (12), and the TV-regularization parameter λ3 is set to nifications. It should be noted that in Fig. 2, the NNM-based
0.002 and 0.004 for WDC and PAVIA, respectively. method shrinks the singular values more heavily, resulting in
Please refer to Sec. 3.4 for more details about the parameter overshrink. However, in the WNNM-based method, the sin-
determination. In both the WDC and PAVIA cases, the gular values of denoised HSI are more approximate to the
experiments are conducted for 50 times and the average clean one. Moreover, from Table 1, we also find that the pro-
results are adopted. posed TWNNM method can get a superior result to other
methods in the experiment.
4.1.2 Experimental Results on Washington, DC, Then, the PSNR and SSIM values of each band with dif-
Mall Case ferent denoising methods are calculated and shown in Fig. 3.
The first simulated dataset is WDC, and the MPSNR, As can be seen, the PSNR and SSIM values obtained by the
MSSIM, and MSAD of the denoising results are shown in proposed TWNNM method are higher than those of the other
Table 1. It is clear that the WNNM-based method shows methods in almost all bands, especially in bands 25 to 75.
a great superiority to the NNM-based method, which mainly This result can also be explained theoretically, as in the
benefits from the more suitable shrinking strategy of TWNNM method, the TV-regularization parameter λ3 is
different eigenvalues. As for the WNNM-based method, set to the same value in all bands. However, this may not
the larger eigenvalue should be shrunk less and the smaller be the most appropriate strategy for HSI denoising, as the
eigenvalue should be shrunk more. To illustrate the effect of noise intensities in different bands are different. To overcome
different shrinking strategies between the NNM-based and this weakness, we can use the adapted TV model as the regu-
WNNM-based methods, we take a patch of image with larization item instead of the fixed parameter TV regulariza-
the size of 20 × 20 × 191 from the clean HSI, the noisy tion. However, to simplify the computation, we still adopt
HSI, the NNM denoised HSI, and the WNNM denoised the fixed parameter TV regularization in this paper, and the
HSI, respectively, and then reshape them into a correspond- adapted parameter TV regularization will be studied in future
ing Casorati matrix. Then, the SVD is conducted on the four research.

Table 1 The quantitative comparison of different denoising algorithms in WDC case.

Evaluation index Noisy GSM BM4D LRMR NNM WNNM TWNNM

MPSNR(dB) 20.83 27.33 29.47 34.42 32.85 35.32 35.60

MSSIM 0.4641 0.7250 0.8128 0.9375 0.9236 0.9505 0.9544

MSAD 0.5396 0.1795 0.1295 0.0890 0.1120 0.0775 0.0713

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

70
CLEAN A synthetic image with only Gaussian noise and its
64 NOISE
60 NNM denoised images are shown in Fig. 4, and Fig. 5 presents
WNNM
62 magnified parts of the results in Fig. 4 marked with the
50
60 red rectangle. In Fig. 4, it is clear that the GSM cannot effec-
Singular Values

40 0 1 2
tively suppress the Gaussian noise and also cause some
62.1 artifacts, and the BM4D tends to oversmooth the image and
30
62.05 most of the details are lost. As for Figs. 4(e)–4(h), it is hard to
20 62 distinguish their differences due to the low spatial resolution.
0.98 1 1.02
However, from the magnified results in Fig. 5, it can be
10
seen that the LRMR and NNM methods fail to remove some
0
large Gaussian noise and fine details are lost. Compared
0 20 40 60 80 100 120 140 160 180 200
Index with LRMR and NNM, the WNNM and TWNNM remove
most of the noise and the fine details are retained. We can
Fig. 2 The singular values of the HSI patches. also observe that the edges of image in Fig. 5(h) are more

40 1

0.9
35
0.8

30 0.7
PSNR

SSIM
0.6 0.97 GSM
25 37.5 GSM BM4D
BM4D 0.5 0.96 LRMR
37 LRMR NNM
20 NNM 0.4 WNNM
WNNM 0.95 TWNNM
36.5
TWNNM 0.3 146 148 150 152
15 140 142 144 146 148
0.2
0 20 40 60 80 100 120 140 160 180 200 0 20 40 60 80 100 120 140 160 180 200
Band number Band number
(a) (b)
Fig. 3 PSNR and SSIM values of each band in WDC case: (a) PSNR value and (b) SSIM value.

Fig. 4 Denoising results of WDC image in Gaussian noise case: (a) original band 45; (b) noisy band;
(c) GSM; (d) BM4D; (e) LRMR; (f) NNM; (g) WNNM; and (h) TWNNM.

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

Fig. 5 Magnified results of Fig. 4: (a) original band 45; (b) noisy band; (c) GSM; (d) BM4D; (e) LRMR;
(f) NNM; (g) WNNM; and (h) TWNNM.

clear than that in Fig. 5(g), which mainly benefits from the rectangle, respectively. As can be seen, the GSM method
TV regularization for edges preserving in our proposed performs badly and blurs the image. Meanwhile, the BM4D
TWNNM. blurs the edges and the fine details are lost. As to the
Figure 6 displays the denoising results of the mixture of magnified image in Fig. 7, it is shown that our proposed
Gaussian and salt and pepper impulse noise in band 26, and TWNNM has the best performance and can remove nearly
Fig. 7 shows the magnified parts of Fig. 6 marked with a red all the mixed noise, and the edges in Fig. 7(h) are preserved.

Fig. 6 Denoising results of WDC image in mixed noise case: (a) original band 26; (b) noisy band;
(c) GSM; (d) BM4D; (e) LRMR; (f) NNM; (g) WNNM; and (h) TWNNM.

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Fig. 7 Magnified results of Fig. 6: (a) original band 26; (b) noisy band; (c) GSM; (d) BM4D; (e) LRMR;
(f) NNM; (g) WNNM; and (h) TWNNM.

The LRMR and NNM methods can also remove the mixed the noise-free and the denoising results45 of pixel (200,62).
noise, but there is still some dense noise in Figs. 7(e) and From Figs. 8 and 9 we can observe that the GSM method
7(f). As can be seen, the WNNM can remove the mixed fails to suppress the noise in the spectral domain; meanwhile,
noise more effectively than LRMR and NNM. However, the the BM4D causes heavy distortions, especially in bands
WNNM cannot effectively preserve the edges, as shown in 25 to 60. As for the LRMR and NNM methods, some noise
Fig. 7(g). still exists in the spectral domain, which can be observed in
To further demonstrate the performance of the proposed Figs. 8(e) and 8(f) within the marked rectangle. In Figs. 8(g)
TWNNM, we show the spectral signatures before and and 8(h), the denoising results in the spectral domain by
after denoising by comparing with other methods. Figure 8 the WNNM and TWNNM methods are very similar. The
shows the spectral signatures of pixel (200,62), and Fig. 9 main reason is that the denoising effect in spectral domain
presents the differences in the spectral signatures between is mostly due to the LR constraint of the images, and the

10000 10000 10000 10000

8000 8000 8000 8000

6000 6000 6000 6000

4000 4000 4000 4000

2000 2000 2000 2000

0 0 0 0
0 50 100 150 0 50 100 150 0 50 100 150 0 50 100 150
Band number Band number Band number Band number
(a) (b) (c) (d)
10000 10000 10000 10000

8000 8000 8000 8000

6000 6000 6000 6000

4000 4000 4000 4000

2000 2000 2000 2000

0 0 0 0
0 50 100 150 0 50 100 150 0 50 100 150 0 50 100 150
Band number Band number Band number Band number
(e) (f) (g) (h)
Fig. 8 Spectrum of pixel(200,62) in the denoised results: (a) original; (b) noisy; (c) GSM; (d) BM4D;
(e) LRMR; (f) NNM; (g) WNNM; and (h) TWNNM.

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

2000 2000
0 0
magnified regions. In Fig. 10, we can see that the proposed
–2000 –2000
TWNNM outperforms all the other methods in our compari-
0 50 100 150 0 50 100 150 son experiments in almost all bands. The GSM method per-
(a) (b) forms badly, especially in the mixed noise case. The LRMR
2000 2000
0 0
method performs well in Gaussian noise, but its performance
–2000 –2000
declines in the case of mixed noise, especially when the
0 50 100 150 0 50 100 150 image is polluted by serious mixed noise, as shown in
(c) (d) bands 22 to 29 in Fig. 10. Figures 11 and 13 show band
2000 2000
0 0
45 with only Gaussian noise and band 17 with mixed
–2000 –2000
noise, respectively. Figures 12 and 14 display the magnified
0 50 100 150 0 50 100 150 regions of the results in Figs. 11 and 13 marked with a red
(e) (f) rectangle, respectively. As shown in Figs. 11–14, we can
2000
see that the GSM method cannot effectively suppress the
0
noise and tends to oversmooth the image, especially under
–2000
0 50 100 150 the mixed noise case. Meanwhile, the BM4D performs
(g) well under Gaussian noise but fails to remove the mixed
noise, and the edges are oversmoothed. The LRMR also
Fig. 9 Difference between the clean spectrum and the denoised
results of pixel(200,62): (a) noisy; (b) GSM; (c) BM4D; (d) LRMR;
fails to restore the mixed noisy image, which can be seen
(e) NNM; (f) WNNM; and (g) TWNNM. Note that the horizontal axis in Figs. 13(e) and 14(e), as there are still many blurry
indicates the index of band number and the vertical axis indicates white dots in the two images. As for the NNM and
the value of digital number (DN). WNNM, the visual effect is quite similar in the selected
two bands in Figs. 11–14, even though the PSNR and
SSIM of the result obtained by the WNNM are higher than
WNNM and TWNNM methods hold the same LR constraint
that of NNM. However, compared with all other methods,
in spectral domain, thus resulting in nearly the same denois-
the proposed TWNNM shows superior performance against
ing result in the spectral domain.
mixed noise and simultaneously preserves the edges and
local details of the original image, which can be seen in
4.1.3 Experimental Results on PAVIA Case Figs. 11–14 clearly.
In the PAVIA case, we compare our proposed TWNNM with
the GSM, BM4D, LRMR, NNM, and WNNM. We calculate 4.1.4 Sensitivity Analysis of Parameter λ3
the MPSNR, MSSIM, and MSAD of different results, as To further explain the effect of parameter λ3 on the final
shown in Table 2. Then, the PSNR and SSIM of each denoising performance, we conduct two simulated experi-
band are also calculated, displayed in Fig. 10 with two ments on the WDC and PAVIA datasets. We first set the

Table 2 The quantitative comparison of different denoising algorithms in PAVIA case.

Evaluation index Noisy GSM BM4D LRMR NNM WNNM TWNNM

MPSNR(dB) 20.81 27.61 30.08 33.61 33.53 35.77 36.04

MSSIM 0.4607 0.7291 0.8291 0.9076 0.9481 0.9517 0.9588

MSAD 0.5898 0.2270 0.1471 0.1632 0.0977 0.0960 0.0900

38 1

36
0.9
34

32 0.8

30
PSNR

SSIM

0.7
28
37 0.98 GSM
GSM
26 0.6 BM4D
BM4D 0.97 LRMR
LRMR
24 36.5 NNM
NNM
0.96 WNNM
WNNM 0.5 TWNNM
22 TWNNM
36 57 58 59 60
60 61 62 63 64
20 0.4
0 10 20 30 40 50 60 70 80 0 10 20 30 40 50 60 70 80
Band number Band number
(a) (b)
Fig. 10 PSNR and SSIM values of each band in PAVIA case: (a) PSNR value and (b) SSIM value.

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Fig. 11 Denoising results of PAVIA image in Gaussian noise case: (a) original band 45; (b) noisy band;
(c) GSM; (d) BM4D; (e) LRMR; (f) NNM; (g) WNNM; and (h) TWNNM.

λ3 to 0, and then carefully increase the value of λ3 . The final oversmoothing. In other words, the proposed method is sen-
denoised results are calculated in the MPSNR index, as sitive to λ3 , and this parameter is suggested to be smaller
shown in Fig. 15. The results indicate that too small a than 0.01.
value of parameter λ3 (e.g., 0.0005 in both WDC and
PAVIA cases) is inadequate to effectively suppress the 4.2 Real Data Experiments
noise or preserve the edges, while too large a value of λ3 In the real data experiments, the proposed TWNNM is tested
(e.g., 0.01 in both WDC and PAVIA cases) may lead to on two publicly available HSIs, Beltsville46 and Indian

Fig. 12 Magnified results of Fig. 11: (a) original band 45; (b) noisy band; (c) GSM; (d) BM4D; (e) LRMR;
(f) NNM; (g) WNNM; and (h) TWNNM.

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Fig. 13 Denoising results of PAVIA image in mixed noise case: (a) original band 17; (b) noisy band;
(c) GSM; (d) BM4D; (e) LRMR; (f) NNM; (g) WNNM; and (h) TWNNM.

Pines,47 by comparing with the BM4D, LRMR, NNM, and respectively. In the NNM, WNNM, and TWNNM methods,
WNNM. Beltsville is the first dataset used in our real data the parameters are set to the same as that in simulated
experiments. It was acquired by the push-broom sensors experiment for WDC case. To simplify the computation,
and corrupted by both dead lines and random noise. For we only use a small part of Beltsville with the size of
the BM4D method, the noise variation is set to 13. As for 300 × 300 × 360. Due to the lack of a ground truth, we just
the LRMR, the rank and cardinality are set to 4 and 200, display the bands 188 and 345 of the HSI for visual quality

Fig. 14 Magnified results of Fig. 13: (a) original band 17; (b) noisy band; (c) GSM; (d) BM4D; (e) LRMR;
(f) NNM; (g) WNNM; and (h) TWNNM.

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

36 36.5

35.8

35.6 36

35.4

35.2 35.5
MPSNR

MPSNR
35

34.8 35

34.6

34.4 34.5

34.2

34 34
0.000 0.002 0.004 0.006 0.008 0.010 0.012 0.000 0.002 0.004 0.006 0.008 0.010 0.012 0.014
Parameter λ 3 Parameter λ 3
(a) (b)
Fig. 15 Sensitivity analysis of parameter λ3 in (a) WDC case and (b) PAVIA case.

comparison in Figs. 16 and 18, respectively. Figures 17 and pixels and 220 bands. The dataset contains much random
19 present the magnified parts of the results in Figs. 16 noise and about 20 noisy bands of water absorption; it
and 18 marked with the red rectangle. In Figs. 16–19(a), thus can be used for validating the techniques of HSI
both random noise and dead line noise are obvious. The denoising. For the BM4D method, the noise variation is
BM4D removes most of the noise but blurs the edges, set to 15. As for the LRMR, the rank and cardinality are
thus resulting in oversmoothing. As for the results of set to 4 and 200, respectively. For the NNM, WNNM,
LRMR and NNM in (c) and (d), the images are dominated and TWNNM methods, the parameters are set to the
by random noise. On the contrary, the results of WNNM in same as those in the simulated experiment for the WDC
(e) show a more competitive effect against the random case. The visual results of bands 15 and 220 are given in
noise. Comparing with all other methods, the proposed Figs. 20 and 22, respectively. The magnified parts of the
TWNNM shows superior performance against random noise results in Figs. 20 and 22 marked with a red rectangle
and dead line noise, and simultaneously preserves the edges are displayed in Figs. 21 and 23. In Figs. 20–23, we can
and textural details, which can be obviously observed in clearly see that the original images contain much random
Figs. 16–19(f). noise and the images seem too blurry for display. The
The second real dataset, Indian Pines, was acquired in BM4D method tends to blur the images and also causes
northwestern Indiana in 1992, with the size of 145 × 145 many artificial distortions, which can be found in

Fig. 16 Denoising results for band 188 of Beltsville: (a) original; (b) BM4D; (c) LRMR; (d) NNM;
(e) WNNM; and (f) TWNNM.

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Fig. 17 Magnified results of Fig. 16: (a) original; (b) BM4D; (c) LRMR; (d) NNM; (e) WNNM; and
(f) TWNNM.

Fig. 18 Denoising results for band 345 of Beltsville: (a) original; (b) BM4D; (c) LRMR; (d) NNM;
(e) WNNM; and (f) TWNNM.

Figs. 20–23(b). The LRMR and NNM methods can sup- denoised images look more clear. Moreover, by comparing
press part of the noise, but there is still much noise Figs. 20–23(e) and 23(f), we can see that the edges and
in Figs. 20–23(c) and 23(d). On the contrary, the WNNM details in (f) are more clear than that of (e), demonstrat-
and TWNNM can suppress most of the noise, and the ing that the proposed TWNNM is much superior for

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

Fig. 19 Magnified results of Fig. 18: (a) original; (b) BM4D; (c) LRMR; (d) NNM; (e) WNNM; and
(f) TWNNM.

Fig. 20 Denoising results for band 15 of Indian Pines: (a) original; (b) BM4D; (c) LRMR; (d) NNM;
(e) WNNM; and (f) TWNNM.

hyperspectral denoising to WNNM and other methods in are given. The SVM with cross validation is adopted, and only
our comparison experiments. 11 classes of ground targets are considered in our experiment.
To further verify the performance of the proposed About 5% of the samples are used as training data, and the
TWNNM, the classification results of the Indian Pines dataset others used as testing data. Figure 24 shows the classification

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

Fig. 21 Magnified results of Fig. 20: (a) original; (b) BM4D; (c) LRMR; (d) NNM; (e) WNNM; and
(f) TWNNM.

Fig. 22 Denoising results for band 220 of Indian Pines: (a) original; (b) BM4D; (c) LRMR; (d) NNM;
(e) WNNM; and (f) TWNNM.

maps obtained before and after denoising with different NNM, and LRMR, and performs much better than the original
methods associated with the corresponding overall accuracy image and the BM4D method. The classification results also
(OA) scores in percent. As presented in Fig. 24, the proposed serve as an example, demonstrating the superiority of our
TWNNM tends to produce a slightly higher OA than WNNM, proposed TWNNM for real HSI denoising.

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Fig. 23 Magnified results of Fig. 22: (a) original (band 220); (b) BM4D; (c) LRMR; (d) NNM; (e) WNNM;
and (f) TWNNM.

Fig. 24 Classification results of the Indian Pines dataset before and after denoising: (a) original;
(b) BM4D; (c) LRMR; (d) NNM; (e) WNNM; and (f) TWNNM.

5 Conclusion cube into a Casorati matrix representation, the HSI mixed

In this paper, an efficient HSI mixed denoising method denoising problem is transformed into the LRMR problem.
based on WNNM and TV regularization, which is denoted The proposed TWNNM model is then applied to solve the
as TWNNM, is proposed. By reshaping the 3-D HSI data LRMR problem. The main advantage of the TWNNM

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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

model lies in the simultaneous usage of both the high spec- 12. P. Milanfar, “A tour of modern image filtering: new insights and meth-
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 Wu et al.: Total variation-regularized weighted nuclear norm minimization for hyperspectral image. . .

44. W. He et al., “Hyperspectral image denoising via noise-adjusted itera- been a professor with the Department of Control Science and
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45. G. Chen and S.-E. Qian, “Denoising of hyperspectral imagery using ing, and intelligent detection technology.
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46. SpecTIR, “Agriculture & vegetation sample: Beltsville, MD, USA,” Zhenghua Wu received his PhD degree in the Department of Control
(2012) http://www.spectir.com/free-data-samples/ Science and Engineering from Harbin Institute of Technology (HIT) in
47. M. F. Baumgardner, L. L. Biehl, and D. A. Landgrebe “220 Band 2015. He has been an intermediate principal engineer with the China
AVIRIS hyperspectral image data set: June 12, 1992 Indian Pine Electronics Technology Group Corporation No. 38 Research Institute,
Test Site 3,” (2013)https://purr.purdue.edu/publications/1947/1 Hefei, China, since 2015. His current research interests include
remote sensing and signal and image processing.
Zhaojun Wu is currently working toward his PhD degree in the
Department of Control Science and Engineering, Harbin Institute of Yi Shen received his BS, MS, and PhD degrees in the Department of
Technology, Harbin, China. His main research interests are hyper- Control Science and Engineering from Harbin Institute of Technology
spectral image denoising and classification. (HIT), in 1985, 1988, and 1995, respectively. He has been a professor
with the Department of Control Science and Engineering, HIT, since
Qiang Wang received his BS, MS, and PhD degrees in the 1997. His current research interests include signal and image
Department of Control Science and Engineering from Harbin Institute processing, remote sensing, fault diagnosis, and digital ultrasonic
of Technology (HIT), in 1998, 2000, and 2004, respectively. He has imaging.

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