针对定位声纳输出数据的振荡情况，采用了线性平滑方法。
As to the oscillation of the outputs of the positioning sonar, the linear smoothing method is adopted.
并将该模型用于建立一个在DRS观测值存在的情况下，状态向量估计的非线性平滑器。
This model is used to bui1d a nonlinear smoother for the estimation of the state vector when DRS measurements are available.
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。
General linear and nonlinear smoothing in an intensity image can blur corners seriously, so its difficult to detect corners by a multi scale approach.
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