Michael Felsberg Per-Erik Forssén Hanno Scharr Channel Smoothing: Efficient Robust Smoothing of Low-Level Signal Features. 209-222 2006 28 IEEE Trans. Pattern Anal. Mach. Intell. 2 http://doi.ieeecomputersociety.org/10.1109/TPAMI.2006.29 db/journals/pami/pami28.html#FelsbergFS06