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.
其次采用合适空间尺寸的空间域非线性平滑滤波器进行滤波处理，对噪声干扰的抑制能力较强，能起到较好作用；
Firstly, picking up of the foreground is based on the method of background difference. Secondly, choosing a proper median filter is significant to suppress the noise interference.
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