Total variation denoising (${\min }_u\{\mathrm{TV}(u)+\frac{1}{2}\Vert u-g{\Vert }_2^2\}$)

For $g\in L^2$ on a bounded domain, total variation denoising has a unique minimizer. A bounded minimizing sequence has a weakly convergent $L^2$ subsequence; variation is a supremum of weakly continuous test-function pairings and the fidelity has weak lower semicontinuity. The strictly convex fidelity proves uniqueness. Bounded-variation contraction under clipping proves that data range bounds pass to the minimizer.

Staircasing is the formation of approximately constant plateaux in reconstructed data, even when the original data vary smoothly. The linear growth of the total variation seminorm on a domain favors sparse spatial gradients, so preserving jumps can come at the cost of flattening gradual transitions.

With zero forward differences at the grid boundary, discrete isotropic total variation is the sum of the Euclidean lengths of the two-component forward gradients. Its dual constraint is the product of unit Euclidean balls, and minimizing $\frac{1}{2}\Vert g-D^{\ast }p{\Vert }_2^2$ over that product yields $u_{\ast }=g-D^{\ast }{p}_{\ast }$. The exact difference adjoint operator is essential. A dual proximal gradient method projects $p+\tau D(g-D^{\ast }p)$ pointwise onto unit balls; $0<\tau \le 1/8$ is safe on an unscaled square grid.