This paper introduces an extremely robust adaptive denoising filter in the spatial domain. The filter is based on non-parametric statistical estimation methods, and in particular generalizes an adaptive method proposed earlier by Fukunaga [1]

Cram ́ er-Rao bound (CRB) has been formulated in earlier work for linear, planar and 3-D array configurations. The formulations developed in prior work, make use of the standard spatial data model. In this paper, the existence of CRB for th