Cramér–Rao bound Kalman filter Multi-Scale Retinex PIV Voronoi partition bic Book Industry Communication::T Technology, engineering, agriculture::TB Technology: general issues bubbles directional wave spectra distributed jamming technology dynamic positioning environmental monitoring estimation free surface recording large DOA mismatch layout strategy marine environment mobile sensor networks n/a navigation systems no reference image quality assessment oil spills parameter optimization passive sonar robust Capon beamforming ship signal filtering signal processing time-frequency representation two-step steering vector estimation underwater acoustic sensor networks