matlab median filter,Median filter

dsp.MedianFilter

Description

The dsp.MedianFilter

System object™ computes the moving median of the input signal along each channel, independently

over time. The object uses the sliding window method to compute the moving median. In this

method, a window of specified length is moved over each channel, sample by sample, and the

object computes the median of the data in the window. For more details, see Algorithms.

To compute the moving median of the input:

Create the dsp.MedianFilter object and set its properties.

Call the object with arguments, as if it were a function.

To learn more about how System objects work, see What

Are System Objects?.

Creation

Description

medFilt = dsp.MedianFilter returns a median

filter object, medFilt, using the default properties.

medFilt = dsp.MedianFilter(Len)

sets the WindowLength property to Len.

medFilt = dsp.MedianFilter(Name,Value) specifies the

WindowLength property using a Name,Value

pair.

Example:

movMin = dsp.MedianFilter('WindowLength',5);

Properties

Unless otherwise indicated, properties are nontunable, which means you cannot change their

values after calling the object. Objects lock when you call them, and the

release function unlocks them.

If a property is tunable, you can change its value at

any time.

For more information on changing property values, see

System Design in MATLAB Using System Objects.

WindowLength — Length of sliding window

5 (default) | positive scalar integer

Length of the sliding window in samples, specified as a positive scalar

integer.

Usage

Description

y = medFilt(x) computes

the moving median of the input signal, x, using the sliding window

method.

Input Arguments

x — Data input

vector | matrix

Data input, specified as a vector or a matrix. If x is a matrix, each column is

treated as an independent channel. The moving median is computed along each channel.

The object accepts multichannel inputs, that is,

m-by-n size inputs, where m

≥ 1, and n > 1. m is the number of samples in

each frame (or channel), and n is the number of channels.

The object also accepts variable-size inputs. Once the object is locked, you can

change the size of each input channel, but you cannot change the number of

channels.

Data Types:single | double

Output Arguments

y — Filtered signal

vector | matrix

Filtered signal, returned as a vector or a matrix. The size and data type of the

output matches the size and data type of the input.

Data Types:single | double

Object Functions

To use an object function, specify the

System object as the first input argument. For

example, to release system resources of a System object named obj, use

this syntax:

release(obj)

Common to All System Objects

Run System object algorithm

Release resources and allow changes to System object property

values and input characteristics

Reset internal states of System object

Examples

Remove High-Frequency Noise Using Median Filter

Filter high-frequency noise from a noisy sine wave signal using a median filter. Compare the performance of the median filter with an averaging filter.

Initialization

Set up a dsp.MedianFilter object, medFilt, and a dsp.MovingAverage object, movavgWin. These objects use the sliding window method with a window length of 7. Create a time scope for viewing the output.

Fs = 1000;

medFilt = dsp.MedianFilter(7);

movavgWin = dsp.MovingAverage(7);

scope = timescope('SampleRate',Fs,...

'TimeSpanSource','Property',...

'TimeSpanOverrunAction','Scroll',...

'TimeSpan',1,'ShowGrid',true,...

'YLimits',[-3 3],...

'LayoutDimensions',[3 1],...

'NumInputPorts',3);

scope.ActiveDisplay = 1;

scope.Title = 'Signal + Noise';

scope.ActiveDisplay = 2;

scope.Title = 'Moving Average Output (Window Length = 7)';

scope.ActiveDisplay = 3;

scope.Title = 'Median Filter Output (Window Length = 7)';

FrameLength = 256;

count = 1;

sine = dsp.SineWave('SampleRate',Fs,'Frequency',10,...

'SamplesPerFrame',FrameLength);

Filter the Noisy Sine Wave

Generate a noisy sine wave signal with a frequency of 10 Hz. Apply the median filter and the moving average object to the signal. View the output on the time scope.

for i = 1:500

hfn = 3 * (rand(FrameLength,1) < 0.02);

x = sine() + 1e-2 * randn(FrameLength,1) + hfn;

y1 = movavgWin(x);

y2 = medFilt(x);

scope(x,y1,y2);

end

The median filter removes the high-frequency noise more effectively than the moving average object does.

Remove High-Frequency Noise from Gyroscope Data

This example shows how to remove the high-frequency outliers from a streaming signal using the dsp.MedianFilter System object?.

Use the dsp.MatFileReader System object to read the gyroscope MAT file. The gyroscope MAT file contains 3 columns of data, with each column containing 7140 samples. The three columns represent the X-axis, Y-axis, and Z-axis data from the gyroscope motion sensor. Choose a frame size of 714 samples so that each column of the data contains 10 frames. The dsp.MedianFilter System object uses a window length of 10. Create a timescope object to view the filtered output.

reader = dsp.MatFileReader('SamplesPerFrame',714,'Filename','LSM9DS1gyroData73.mat',...

'VariableName','data');

medFilt = dsp.MedianFilter(10);

scope = timescope('NumInputPorts',1,'SampleRate',119,'YLimits',[-300 300],...

'ChannelNames',{'Input','Filtered Output'},...

'TimeSpanSource','Property','TimeSpan',60,'ShowLegend',true);

Filter the gyroscope data using the dsp.MedianFilter System object. View the filtered Z-axis data in the time scope.

for i = 1:10

gyroData = reader();

filteredData = medFilt(gyroData);

scope([gyroData(:,3),filteredData(:,3)]);

end

The original data contains several outliers. Zoom in on the data to confirm that the median filter removes all the outliers.

Algorithms

Sliding Window Method

In the sliding window method, the output for each input sample is the median of the current

sample and the Len - 1 previous samples. Len is the

length of the window in samples. To compute the first Len - 1 outputs,

when the window does not have enough data yet, the algorithm fills the window with zeros. As

an example, to compute the median value when the second input sample comes in, the algorithm

fills the window with Len - 2 zeros. The data vector,

x, is then the two data samples followed by Len -

2 zeros. This object performs median filtering on the input data over time.

Consider an example of computing the moving median of a streaming

input data using the sliding window method. The algorithm uses a window

length of 4. With each input sample that comes in, the window of length

4 moves along the data.

References

[1] Bodenham, Dean. “Adaptive

Filtering and Change Detection for Streaming Data.” PH.D. Thesis. Imperial College,

London, 2012.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

Usage notes and limitations:

This object supports C and C++ code generation.

Introduced in R2016b