>>124 some papers on this:
https://doi.org/10.1016/S0065-2458(08)60326-5
https://doi.org/10.1117/12.936986
https://web.cs.umass.edu/publication/docs/1983/UM-CS-1983-032.pdf
http://reports-archive.adm.cs.cmu.edu/anon/1997/CMU-CS-97-162.ps
https://ieeexplore.ieee.org/abstract/document/34086
https://apps.dtic.mil/sti/pdfs/ADA246774.pdf