RAY TRACING FOR SIMULATING REFLECTION PHENOMENA IN SAR IMAGES

Stefan Auer1, Stefan Hinz1, Richard Bamler1,2

1

Remote Sensing Technology (LMF)

Technische Universitt Mnchen (TUM)
D-80333 Munich, Germany
{Stefan.Auer} | {Stefan.Hinz}@bv.tum.de
ABSTRACT
This paper presents an approach for using backward ray
tracing for simulating radar reflectivity maps. After
explaining the simulation concept which consists of three
parts modeling, sampling and image generation two
applications are presented for showing the performance of
the simulator. At first reflection contributions like single or
multiple bounce are simulated for a modeled building and
compared to a real TerraSAR-X image. It shows how the
capability of separating different bounce levels in different
layers can support the interpretation of the SAR image.
Afterwards reflection effects caused by quasi-perfect
specular reflection are detected for another building model
by means of geometrical analysis. This is thought as input
for advanced Persistent Scatterer (PS) Analysis, since PS
typically appear due to such reflection effects.
Index Terms SAR Simulation, Ray Tracing,
Persistent Scatterers, TerraSAR-X

Remote Sensing Technology Institute (IMF)

German Aerospace Center (DLR)
Oberpfaffenhofen, D-82234 Wessling, Germany
Richard.Bamler@dlr.de
The basic idea of our approach is to develop a tool
which offers the possibility to simulate and display
scattering effects like single or multiple scattering appearing in SAR images of multi-body urban scenes - in
separated image layers. Simulated reflectivity maps can be
used on the one hand for supporting the interpretation of
real SAR images and on the other hand for locating strong
point scatterers which are used in Persistent Scatterer
Interferometry for detecting displacement in the range of
millimeters per year. Hence, in the simulation, we put more
focus on the correct localization of the scatterers, i.e. the
geometrical correctness of the distribution of scattering
effects, whereas radiometric proportions between different
bounce levels are of less importance and are only
approximated. Also speckle is not included into our
simulation since it would disturb the geometrical analysis.
These requirements led us to the conclusion to use an
existent simulator (POV Ray: Persistence of Vision Ray), a
well known ray tracer for generating virtual optical images,
and modify it in such a way, that it can approximate the
SAR imaging geometry.

1. INTRODUCTION
The interpretation of radar reflection effects at manmade objects can be supported either by monitoring stable
point scatterers over long periods in real SAR images
(Persistent Scatterer Interferometry) or by developing
simulation tools for approximating the signal behavior.
As for the latter case several radar simulators have been
evolved over the past years. The approach of Franceschetti
et al. [1] focuses on the physical simulation of the raw
Radar signal and describes radar reflection effects by means
of an analytical model for deriving radiometric information
of high quality. Because of this complex formulation the
approach is limited to simple object models. Balz [2], in
contrast, developed a simulator for obtaining simulated SAR
images in near real-time, yet he neglects multiple bounce
effects. So far, ray tracing techniques providing
geometrical approximation of high quality have been
applied for approximating real SAR images [3], estimating
geometric object properties [4] or detecting strong reflection
effects at building models with a high level of detail [5].

2. BENEFITS AND LIMITATIONS OF POV RAY

FOR SAR IMAGE SIMULATION
POV Ray holds several advantages for simulation in
general and for SAR images in particular:
- the basic modules of POV Ray are freeware, thoroughly
tested and quasi bug-free since the source code has been
continuously developed and improved by a huge community
since 1991
- POV Ray offers the possibility for including own
developments since there is free access to its source code
- processing time is optimized because of a high level of
programming (optimization of source code) and its efficient
concept for tracing rays, more specifically: backwards ray
tracing, which starts at the center of each image pixel and
follows the ray backwards to the light source
- the quality of modeling is almost unlimited because of the
utilization of Constructive Solid Geometry and available
software tools offering the possibility for modeling POV
Ray scenes (Moray, Wings3D)

- separating different bounce levels is feasible by counting

the number of reflections for each ray followed through the
modeled scene
Besides the advantages offered by POV Ray also its
limitations have to be analyzed and evaluated (see chapter
3.2). Therefore further developments and enhancements still
have to be included into the simulator.
3. SIMULATION
3.1. Modeling
Basically, the geometrical quality of images rendered with
ray tracing depends primarily on the quality of the modeled
scene. For being able to generate rendered images by ray
tracing, a scene has to contain the following elements: 3D
scene objects to be illuminated, surface properties, a camera
and at least one light source. While simple surfaces and
standard objects like spheres, boxes, cylinders, etc. are
easily introduced in POV Ray, scenes of complex objects
are approximated by means of constructive solid geometry
involving set-theoretic operations like union, difference,
intersection. Since we are interested in the backscattering of
urban areas, our scenes mainly include man-made objects
like buildings, streets, etc. and their surface properties.
These are described by reflection models including diffuse
reflection coefficients and reflectivity characteristics.
Finally, for approximating the SAR imaging geometry the
sensor is modeled by means of a cylindrical light source
emitting parallel light rays (cylindrical light) and an
orthographic camera, both at the same position and with
coinciding viewing direction.
3.2. Sampling
All intensity contributions detected at the virtual sensor
are acquired by backward ray tracing [6]. Starting at the
camera, a ray for each pixel (primary ray) is followed along
its path and checked for intersections with the modeled
scene. The intersected object with the smallest spatial
distance to the pixel center finally contributes to the image
pixel intensity if the intersection point is not situated in a
shadowed area. The color intensity at the object surface is
analyzed by calculating the diffuse reflection component
caused by the illumination of the light source. Afterwards, a
secondary ray is created in specular direction and followed
along its path for the analysis of multiple scattering. A
maximum trace level for limiting the search for reflection
contributions can be chosen by the user of the simulator.
For obtaining slant range geometry, the optical image
plane has to be exchanged by a radar plane in slant range
direction. Since we are using an orthographic camera, it is
obvious, that the horizontal axis of the optical image can be
used as azimuth axis. The direction of the slant range axis is
equal to the direction of primary rays to be followed

through the modeled scene. For obtaining slant range

coordinates we adapted the depth analysis of the ray tracer
whereby the slant range distance for each reflection
contribution is calculated and marked with a bounce level
by analyzing the spatial distance traveled by each ray [6].
Finally the simulator delivers one azimuth coordinate, one
slant range coordinate, one intensity value and the number
of bounces for each ray.
Since secondary rays are always constructed in specular
direction POV Ray also causes a disadvantage. If the
reflecting object is not orientated to the sensor, an
unbalance appears for diffuse multiple bounce
contributions, as the reflection process is only followed in
one direction. Hence the significance of these diffuse
contributions has to be further analyzed while perfect
specular reflections are followed without any contributions
missing in the output data. Furthermore, the reflection
model used for simulating diffuse scattering has been
developed for optical light. Models developed for radar
wavelengths could improve the radiometric quality of
simulated images.
3.3. Generation of the SAR reflectivity map
While the optical image rendered by a ray tracer shows a
regular pixel grid (defining one ray for each image pixel)
generating the scene in SAR imaging geometry yields areas
with varying point densities depending on the local incident
angle and also shadowed areas. In order to compare the
simulation with images in slant range or ground range
geometry, all contributions have to be resampled to a
regular grid covering the illuminated area. This is performed
for each bounce level which finally yields separated layers
for different bounce levels [6].
So far the analysis of reflection contributions is purely
geometrical. Hence, azimuth coordinates of multiple bounce
will have to be corrected for effects caused by azimuth
focusing.
4. EXAMPLE: ALTE PINAKOTHEK BUILDING
For showing the performance of the simulator the Alte
Pinakothek building is chosen which is located in the city
center of Munich: Figure 1 shows a perspective view onto
the building. A TerraSAR-X image containing the same
object of interest is used for evaluating the simulation result.
It was taken in spotlight mode with 1m resolution, incidence
angle of 39.3deg, and transformed into ground range
geometry.
The model to be used for radar simulation has been
obtained by photogrammetric 3D reconstruction. Compared
to the real building the model is strongly generalized (see
Figure 2) as many details are missing, e.g. the step on the
roof or all features on the wall surfaces. Therefore multiple
bounces caused by small building features will finally be

missed in the simulated reflectivity map. Nevertheless the

location of big multiple scatterers and the building outline
are expected to be clearly visible in the simulated scene. As
for the modeling of surface properties, three types of
surfaces have been introduced into the model scene: ground,
wall and roof.

Figure 1: Optical Image of

Pinakothek ( live search maps)

bounce contributions are caused either by interactions

between the ground and walls or between parts of the roof.
Double bounce contributions caused by building walls
orientated to the sensor show strong intensities and appear
as linear structures in the reflectivity map what is also
visible in the real SAR image. Double bounce derived at
walls almost perpendicular to the flight direction of the
sensor effects weaker contributions but is still overestimated
because of the diffuse reflection model. Strong reflection
contributions at the roof showing up in the real SAR image
are likely to be caused by the roof step which has not been
considered for the Pinakothek model.
Finally, the last image to be created is a map containing
all single and multiple bounce contributions (see Figure 5).

Figure
2:
Pinakothek
Model; Roof step and wall
features not modelled

Figure 5: All reflection contributions superposed

Figure 3: Single bounce

Figure 4: Double bounce

For the sampling of the modeled scene the same angle

of incidence as for the TerraSAR-X acquisition and a
resolution of 1280 x 1024 pixels is chosen resulting in a
processing time of less than 2min. on a standard PC. The
generation of the final reflectivity map using the sampling
output data is also performed in ground range geometry
(calculating time less than 30sec.). Both for ground range
and azimuth the resolution of the output image is fixed to 10
cm.
At the end of the simulation process, all contributions
having the same bounce level are separated in different
layers (see Figure 3 for single bounce contributions, Figure
4 for double bounce contributions). Considering single
bounces, strong foreshortening effects are clearly visible for
roof parts orientated to the sensor. Shadow areas which are
expected to show little dependency on small building
features are very similar to shadow areas appearing in the
real SAR acquisition (see Figure 6). Most of the double

Figure 6: TerraSAR-X acquisition (spot light)

5. DETECTING SPECULAR REFLECTIONS

Simulating radar reflection effects is not only
reasonable for supporting the interpretation of high
resolution SAR images but also for detecting and grouping
strong scatterers which are likely to be candidates for
Persistent Scatterer Interferometry [7] [8].

not hitting window zones are sorted out. Eventually, the

position of the trihedrals is displayed in slant or ground
range geometry by generating a binary image (see Figure 8).
6. OUTLOOK

Figure 7: Optical geometry: box model containing windows;

mirroring caused by high reflectivity at the ground

For classifying all reflection effects in diffuse or

specular derived contributions a geometrical analysis has
been introduced in the simulation process. While tracing
rays through the scene all contributions are marked as
specular if they only followed paths in specular direction
along their way between the illuminating light source and
the imaging camera. The threshold for marking all reflected
rays is a geometrical one. By means of the surface normal,
which is calculated at each intersection point on a surface,
and the direction of the incoming signal ray the virtual
vector of a perfect specular reflected ray is computed.
Afterwards, the ray traced by the simulator is marked as
specular if the angle with respect to the virtual ray is
smaller than a certain threshold, i.e. if the ray is located
within a cone having a defined beam width whose centerline
is the perfect specular ray.

The approach implemented so far indicates the benefits

of using ray-tracing for SAR simulation, Still both sampling
process and image generation still have to be enhanced for
approximating the geometry and radiometry of a focused
SAR image. For instance the simulation of specular
reflection effects has not been included yet into the
simulation of reflectivity maps. By increasing the level of
detail of models to be illuminated also scattering effects of
smaller features have to be investigated. Eventually the ray
history intersection points at model surfaces - detected
during the sampling step has to be mapped back into the 3D
model for localizing reflection areas contributing to multiple
bounce effects. The challenge will be to find a balance
between conserving a high amount of information while
also providing visual clarity for an operator observing the
model scene.
6. REFERENCES
[1] G. Franceschetti, A. Iodice, D. Riccio and G. Ruello, SAR
Raw Signal Simulation for Urban Structures, IEEE Transactions
on Geoscience and Remote Sensing, Vol. 41, pp 1986 1995, 2003
[2] T. Balz, Real-time SAR simulation of complex scenes using
programmable graphics processing units, Proceedings of the
ISPRS TCVII Mid-term Symposium 2006, Enschede.
[3] H. Hammer, T. Balz, U. Soergel, U. Thoennessen and U. Stilla,
Comparison of SAR simulation concepts fort the analysis of highresolution SAR data, Proceedings the EUSAR 2008,
Friedrichshafen
[4] D. Brunner, G. Lemoine and L. Bruzzone, Height Estimation
of Man Made Structures Using Hybrid VHR Optical and SAR
Imagery, EARSeL Joint Workshop: Remote Sensing New
Challenges of High Resolution 2008, Bochum
[5] G. Margarit, J.J. Mallorqui and C. Lopez-Martinez, Grecosar,
a SAR simulator for complex targets: Application to urban
environments, Proceedings of the IGARSS 2007, Barcelona
[6] AS. Glassner, An Introduction to Ray Tracing. San
Francisco, Morgan Kaufmann, 2002

Figure 8: Detected trihedrals: areas showing perfect specular

reflection (azimuth from left to right, range bottom up)

In the following this capability shall be demonstrated

by means of a simple box model of a high building with
windows on each side (Figure 7 shows optical image
rendered by ray tracer). By choosing a rotation angle of 45
degrees all windows are expected to act as trihedrals
causing triple bounce contributions. The result of the
geometrical analysis confirms this assumption since all rays

[7] S. Auer, S. Gernhardt, S. Hinz, N. Adam and R. Bamler,

Simulation of Radar Reflection at Man-Made Objects and ist
Benefits for Persistent Scatterer Interferometry, Proceedings of
the EUSAR 2008, Friedrichshafen
[8] S. Gernhardt, S. Hinz and R. Bamler, Advanced Displacement
Estimation for PSI Using High Resolution SAR Data,
Proceedings of IGARSS Boston, on CD, 2008