To reduce the amount of computation and the location blur of nonlinear algorithm, it regards the nonlinear component of nonlinear algorithm as a unknown variable of linear algorithm.

针对测时差非线性定位算法定位模糊、计算量大等问题，提出了一种线性测时差的求解算法。

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General linear and nonlinear smoothing in an intensity image can blur corners seriously, so its difficult to detect corners by a multi scale approach.

对灰度图进行一般线性和非线性平滑会极大程度地模糊拐角，使得多尺度方法难以用于拐角检测。

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