Cramér-Rao bound Kalman filter Multi-Scale Retinex PIV Technology: general issues Voronoi partition 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 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 underwater image enhancement