E. H. Adelson and J. Y. Wang, “Single lens stereo with a plenoptic camera,” IEEE Trans. Pattern Anal. Machine Intell. 14, 99–106 (1992).

[CrossRef]

S. Bagheri, P. E. X. Silveira, and G. Barbastathis, “Signal-to-noise-ratio limit to the depth-of-field extension for imaging systems with an arbitrary pupil function,” J. Opt. Soc. Am. A 26, 895–908 (2009).

[CrossRef]

S. Bagheri, P. E. X. Silveira, R. Narayanswamy, and D. Pucci de Farias, “Analytical optical solution of the extension of the depth of field using cubic-phase wavefront coding. Part II. Design and optimization of the cubic phase,” J. Opt. Soc. Am. A 25, 1064–1074 (2008).

[CrossRef]

B. Huang, W. Wang, M. Bates, and X. Zhuang, “Three-dimensional super-resolution imaging by stochastic optical reconstruction microscopy,” Science 319, 810–813 (2008).

[CrossRef]

S. R. P. Pavani, M. A. Thompson, J. S. Biteen, S. J. Lord, N. Liu, R. J. Twieg, R. Piestun, and W. E. Moerner, “Three-dimensional, single-molecule fluorescence imaging beyond the diffraction limit by using a double-helix point spread function,” Proc. Natl. Acad. Sci. USA 106, 2995–2999 (2009).

[CrossRef]

R. Ng, M. Levoy, M. Bredif, G. Duval, M. Horowitz, and P. Hanrahan, “Light field photography with a hand-held plenoptic camera,” Stanford University Computer Science Tech Report CSTR 2005-02 (Stanford University, 2005).

W. T. Cathey and E. R. Dowski, “New paradigm for imaging systems,” Appl. Opt. 41, 6080–6092 (2002).

[CrossRef]

G. E. Johnson, E. R. Dowski, and W. T. Cathey, “Passive ranging through wave-front coding: information and application,” Appl. Opt. 39, 1700–1710 (2000).

[CrossRef]

E. Dowski and W. T. Cathey, “Extended depth of field through wave-front coding,” Appl. Opt. 34, 1859–1866 (1995).

[CrossRef]

S. Ram, J. Chao, P. Prabhat, R. J. Ober, and E. S. Ward, “A novel approach to determining the three-dimensional location of microscopic objects with applications to 3D particle tracking,” Proc. SPIE 6443, 64430D (2007).

[CrossRef]

S. Chaudhuri and A. N. Rajagopalan, Depth from Defocus: A Real Aperture Imaging Approach (Springer-Verlag, 1999).

T. Georgeiv, K. C. Zheng, B. Curless, D. Salesin, S. Nayar, and C. Intwala, “Spatio-angular resolution tradeoff in integral photography,” in Proceedings of the 17th Eurographics Conference on Rendering Techniques (Eurographics Association, 2006), pp. 263–272.

T. Darrell and K. Wohn, “Pyramid based depth from focus,” in Proceedings of Computer Vision and Pattern Recognition (IEEE, 1988), pp. 504–509.

W. T. Cathey and E. R. Dowski, “New paradigm for imaging systems,” Appl. Opt. 41, 6080–6092 (2002).

[CrossRef]

G. E. Johnson, E. R. Dowski, and W. T. Cathey, “Passive ranging through wave-front coding: information and application,” Appl. Opt. 39, 1700–1710 (2000).

[CrossRef]

J. van der Gracht, E. R. Dowski, M. G. Taylor, and D. M. Deaver, “Broadband behavior of an optical-digital focus-invariant system,” Opt. Lett. 21, 919–921 (1996).

[CrossRef]

A. Levin, R. Fergus, F. Durand, and B. Freeman, “Image and depth from a conventional camera with a coded aperture,” SIGGRAPH 2007 (ACM, 2007), article 70.

R. Ng, M. Levoy, M. Bredif, G. Duval, M. Horowitz, and P. Hanrahan, “Light field photography with a hand-held plenoptic camera,” Stanford University Computer Science Tech Report CSTR 2005-02 (Stanford University, 2005).

P. Favaro and S. Soatto, 3-D Shape Estimation and Image Restoration—Exploiting Defocus and Motion Blur (Springer-Verlag, 2007).

A. Levin, R. Fergus, F. Durand, and B. Freeman, “Image and depth from a conventional camera with a coded aperture,” SIGGRAPH 2007 (ACM, 2007), article 70.

A. Levin, R. Fergus, F. Durand, and B. Freeman, “Image and depth from a conventional camera with a coded aperture,” SIGGRAPH 2007 (ACM, 2007), article 70.

T. Georgeiv, K. C. Zheng, B. Curless, D. Salesin, S. Nayar, and C. Intwala, “Spatio-angular resolution tradeoff in integral photography,” in Proceedings of the 17th Eurographics Conference on Rendering Techniques (Eurographics Association, 2006), pp. 263–272.

S. R. P. Pavani, A. Greengard, and R. Piestun, “Three-dimensional localization with nanometer accuracy using a detector-limited double-helix point spread function system,” Appl. Phys. Lett. 95, 021103 (2009).

[CrossRef]

A. Greengard, Y. Y. Schechner, and R. Piestun, “Depth from diffracted rotation,” Opt. Lett. 31, 181–183 (2006).

[CrossRef]

R. Ng, M. Levoy, M. Bredif, G. Duval, M. Horowitz, and P. Hanrahan, “Light field photography with a hand-held plenoptic camera,” Stanford University Computer Science Tech Report CSTR 2005-02 (Stanford University, 2005).

R. Ng, M. Levoy, M. Bredif, G. Duval, M. Horowitz, and P. Hanrahan, “Light field photography with a hand-held plenoptic camera,” Stanford University Computer Science Tech Report CSTR 2005-02 (Stanford University, 2005).

B. Huang, W. Wang, M. Bates, and X. Zhuang, “Three-dimensional super-resolution imaging by stochastic optical reconstruction microscopy,” Science 319, 810–813 (2008).

[CrossRef]

T. Georgeiv, K. C. Zheng, B. Curless, D. Salesin, S. Nayar, and C. Intwala, “Spatio-angular resolution tradeoff in integral photography,” in Proceedings of the 17th Eurographics Conference on Rendering Techniques (Eurographics Association, 2006), pp. 263–272.

S. M. Kay, Fundamentals of Statistical Signal Processing, Volume I: Estimation Theory (Prentice Hall, 1993).

Y. Y. Schechner and N. Kiryati, “Depth from defocus vs. stereo: how different really are they?” Int. J. Comput. Vis. 39, 141–162 (2000).

[CrossRef]

A. Levin, R. Fergus, F. Durand, and B. Freeman, “Image and depth from a conventional camera with a coded aperture,” SIGGRAPH 2007 (ACM, 2007), article 70.

R. Ng, M. Levoy, M. Bredif, G. Duval, M. Horowitz, and P. Hanrahan, “Light field photography with a hand-held plenoptic camera,” Stanford University Computer Science Tech Report CSTR 2005-02 (Stanford University, 2005).

C. Zhou, S. Lin, and S. Nayar, “Coded aperture pairs for depth from defocus,” IEEE International Conference on Computer Vision (IEEE, 2009), pp. 325–332.

G. Lippman, “Épreuves réversibles donnant la sensation du relief,” J. Phys. Théor. Appl. 7, 821–825 (1908).

[CrossRef]

S. R. P. Pavani, M. A. Thompson, J. S. Biteen, S. J. Lord, N. Liu, R. J. Twieg, R. Piestun, and W. E. Moerner, “Three-dimensional, single-molecule fluorescence imaging beyond the diffraction limit by using a double-helix point spread function,” Proc. Natl. Acad. Sci. USA 106, 2995–2999 (2009).

[CrossRef]

S. R. P. Pavani, M. A. Thompson, J. S. Biteen, S. J. Lord, N. Liu, R. J. Twieg, R. Piestun, and W. E. Moerner, “Three-dimensional, single-molecule fluorescence imaging beyond the diffraction limit by using a double-helix point spread function,” Proc. Natl. Acad. Sci. USA 106, 2995–2999 (2009).

[CrossRef]

S. R. P. Pavani, M. A. Thompson, J. S. Biteen, S. J. Lord, N. Liu, R. J. Twieg, R. Piestun, and W. E. Moerner, “Three-dimensional, single-molecule fluorescence imaging beyond the diffraction limit by using a double-helix point spread function,” Proc. Natl. Acad. Sci. USA 106, 2995–2999 (2009).

[CrossRef]

S. K. Nayar and Y. Nakagawa, “Shape from Focus,” IEEE Trans. Pattern Anal. 16, 824–831 (1994).

[CrossRef]

C. Zhou, S. Lin, and S. Nayar, “Coded aperture pairs for depth from defocus,” IEEE International Conference on Computer Vision (IEEE, 2009), pp. 325–332.

T. Georgeiv, K. C. Zheng, B. Curless, D. Salesin, S. Nayar, and C. Intwala, “Spatio-angular resolution tradeoff in integral photography,” in Proceedings of the 17th Eurographics Conference on Rendering Techniques (Eurographics Association, 2006), pp. 263–272.

S. K. Nayar and Y. Nakagawa, “Shape from Focus,” IEEE Trans. Pattern Anal. 16, 824–831 (1994).

[CrossRef]

R. Ng, M. Levoy, M. Bredif, G. Duval, M. Horowitz, and P. Hanrahan, “Light field photography with a hand-held plenoptic camera,” Stanford University Computer Science Tech Report CSTR 2005-02 (Stanford University, 2005).

S. Ram, J. Chao, P. Prabhat, R. J. Ober, and E. S. Ward, “A novel approach to determining the three-dimensional location of microscopic objects with applications to 3D particle tracking,” Proc. SPIE 6443, 64430D (2007).

[CrossRef]

S. Quirin, S. R. P. Pavani, and R. Piestun, “Optimal 3D single-molecule localization for super-resolution microscopy with engineered point spread functions,” Proc. Natl. Acad. Sci. USA 109, 675–679 (2011).

[CrossRef]

G. Grover, S. R. P. Pavani, and R. Piestun, “Performance limits on three-dimensional particle localization in photon-limited microscopy,” Opt. Lett. 35, 3306–3308 (2010).

[CrossRef]

S. R. P. Pavani, J. G. DeLuca, and R. Piestun, “Polarization sensitive, three-dimensional, single-molecule imaging of cells with a double-helix system,” Opt. Express 17, 19644–19655 (2009).

[CrossRef]

S. R. P. Pavani, A. Greengard, and R. Piestun, “Three-dimensional localization with nanometer accuracy using a detector-limited double-helix point spread function system,” Appl. Phys. Lett. 95, 021103 (2009).

[CrossRef]

S. R. P. Pavani, M. A. Thompson, J. S. Biteen, S. J. Lord, N. Liu, R. J. Twieg, R. Piestun, and W. E. Moerner, “Three-dimensional, single-molecule fluorescence imaging beyond the diffraction limit by using a double-helix point spread function,” Proc. Natl. Acad. Sci. USA 106, 2995–2999 (2009).

[CrossRef]

S. R. P. Pavani and R. Piestun, “High-efficiency rotating point spread functions,” Opt. Express 16, 3484–3489 (2008).

[CrossRef]

A. P. Pentland, “A new sense for depth of field,” IEEE Trans. Pattern Anal. PAMI-9, 523–531 (1987).

[CrossRef]

S. Quirin, S. R. P. Pavani, and R. Piestun, “Optimal 3D single-molecule localization for super-resolution microscopy with engineered point spread functions,” Proc. Natl. Acad. Sci. USA 109, 675–679 (2011).

[CrossRef]

G. Grover, S. R. P. Pavani, and R. Piestun, “Performance limits on three-dimensional particle localization in photon-limited microscopy,” Opt. Lett. 35, 3306–3308 (2010).

[CrossRef]

S. R. P. Pavani, J. G. DeLuca, and R. Piestun, “Polarization sensitive, three-dimensional, single-molecule imaging of cells with a double-helix system,” Opt. Express 17, 19644–19655 (2009).

[CrossRef]

S. R. P. Pavani, A. Greengard, and R. Piestun, “Three-dimensional localization with nanometer accuracy using a detector-limited double-helix point spread function system,” Appl. Phys. Lett. 95, 021103 (2009).

[CrossRef]

S. R. P. Pavani, M. A. Thompson, J. S. Biteen, S. J. Lord, N. Liu, R. J. Twieg, R. Piestun, and W. E. Moerner, “Three-dimensional, single-molecule fluorescence imaging beyond the diffraction limit by using a double-helix point spread function,” Proc. Natl. Acad. Sci. USA 106, 2995–2999 (2009).

[CrossRef]

S. R. P. Pavani and R. Piestun, “High-efficiency rotating point spread functions,” Opt. Express 16, 3484–3489 (2008).

[CrossRef]

A. Greengard, Y. Y. Schechner, and R. Piestun, “Depth from diffracted rotation,” Opt. Lett. 31, 181–183 (2006).

[CrossRef]

R. Piestun, Y. Y. Schechner, and J. Shamir, “Propagation-invariant wave fields with finite energy,” J. Opt. Soc. Am. A 17, 294–303 (2000).

[CrossRef]

S. Ram, J. Chao, P. Prabhat, R. J. Ober, and E. S. Ward, “A novel approach to determining the three-dimensional location of microscopic objects with applications to 3D particle tracking,” Proc. SPIE 6443, 64430D (2007).

[CrossRef]

S. Quirin, S. R. P. Pavani, and R. Piestun, “Optimal 3D single-molecule localization for super-resolution microscopy with engineered point spread functions,” Proc. Natl. Acad. Sci. USA 109, 675–679 (2011).

[CrossRef]

S. Chaudhuri and A. N. Rajagopalan, Depth from Defocus: A Real Aperture Imaging Approach (Springer-Verlag, 1999).

S. Ram, J. Chao, P. Prabhat, R. J. Ober, and E. S. Ward, “A novel approach to determining the three-dimensional location of microscopic objects with applications to 3D particle tracking,” Proc. SPIE 6443, 64430D (2007).

[CrossRef]

T. Georgeiv, K. C. Zheng, B. Curless, D. Salesin, S. Nayar, and C. Intwala, “Spatio-angular resolution tradeoff in integral photography,” in Proceedings of the 17th Eurographics Conference on Rendering Techniques (Eurographics Association, 2006), pp. 263–272.

A. Greengard, Y. Y. Schechner, and R. Piestun, “Depth from diffracted rotation,” Opt. Lett. 31, 181–183 (2006).

[CrossRef]

Y. Y. Schechner and N. Kiryati, “Depth from defocus vs. stereo: how different really are they?” Int. J. Comput. Vis. 39, 141–162 (2000).

[CrossRef]

R. Piestun, Y. Y. Schechner, and J. Shamir, “Propagation-invariant wave fields with finite energy,” J. Opt. Soc. Am. A 17, 294–303 (2000).

[CrossRef]

Y. Xiong and S. A. Shafer, “Depth from focusing and defocusing,” Technical report CMU-RI-TR-93-07 (Robotics Institute, Carnegie Mellon University, 1993).

S. Bagheri, P. E. X. Silveira, and G. Barbastathis, “Signal-to-noise-ratio limit to the depth-of-field extension for imaging systems with an arbitrary pupil function,” J. Opt. Soc. Am. A 26, 895–908 (2009).

[CrossRef]

S. Bagheri, P. E. X. Silveira, R. Narayanswamy, and D. Pucci de Farias, “Analytical optical solution of the extension of the depth of field using cubic-phase wavefront coding. Part II. Design and optimization of the cubic phase,” J. Opt. Soc. Am. A 25, 1064–1074 (2008).

[CrossRef]

P. Favaro and S. Soatto, 3-D Shape Estimation and Image Restoration—Exploiting Defocus and Motion Blur (Springer-Verlag, 2007).

S. R. P. Pavani, M. A. Thompson, J. S. Biteen, S. J. Lord, N. Liu, R. J. Twieg, R. Piestun, and W. E. Moerner, “Three-dimensional, single-molecule fluorescence imaging beyond the diffraction limit by using a double-helix point spread function,” Proc. Natl. Acad. Sci. USA 106, 2995–2999 (2009).

[CrossRef]

S. R. P. Pavani, M. A. Thompson, J. S. Biteen, S. J. Lord, N. Liu, R. J. Twieg, R. Piestun, and W. E. Moerner, “Three-dimensional, single-molecule fluorescence imaging beyond the diffraction limit by using a double-helix point spread function,” Proc. Natl. Acad. Sci. USA 106, 2995–2999 (2009).

[CrossRef]

E. H. Adelson and J. Y. Wang, “Single lens stereo with a plenoptic camera,” IEEE Trans. Pattern Anal. Machine Intell. 14, 99–106 (1992).

[CrossRef]

B. Huang, W. Wang, M. Bates, and X. Zhuang, “Three-dimensional super-resolution imaging by stochastic optical reconstruction microscopy,” Science 319, 810–813 (2008).

[CrossRef]

S. Ram, J. Chao, P. Prabhat, R. J. Ober, and E. S. Ward, “A novel approach to determining the three-dimensional location of microscopic objects with applications to 3D particle tracking,” Proc. SPIE 6443, 64430D (2007).

[CrossRef]

T. Darrell and K. Wohn, “Pyramid based depth from focus,” in Proceedings of Computer Vision and Pattern Recognition (IEEE, 1988), pp. 504–509.

Y. Xiong and S. A. Shafer, “Depth from focusing and defocusing,” Technical report CMU-RI-TR-93-07 (Robotics Institute, Carnegie Mellon University, 1993).

T. Georgeiv, K. C. Zheng, B. Curless, D. Salesin, S. Nayar, and C. Intwala, “Spatio-angular resolution tradeoff in integral photography,” in Proceedings of the 17th Eurographics Conference on Rendering Techniques (Eurographics Association, 2006), pp. 263–272.

C. Zhou, S. Lin, and S. Nayar, “Coded aperture pairs for depth from defocus,” IEEE International Conference on Computer Vision (IEEE, 2009), pp. 325–332.

B. Huang, W. Wang, M. Bates, and X. Zhuang, “Three-dimensional super-resolution imaging by stochastic optical reconstruction microscopy,” Science 319, 810–813 (2008).

[CrossRef]

G. E. Johnson, E. R. Dowski, and W. T. Cathey, “Passive ranging through wave-front coding: information and application,” Appl. Opt. 39, 1700–1710 (2000).

[CrossRef]

E. Dowski and W. T. Cathey, “Extended depth of field through wave-front coding,” Appl. Opt. 34, 1859–1866 (1995).

[CrossRef]

W. T. Cathey and E. R. Dowski, “New paradigm for imaging systems,” Appl. Opt. 41, 6080–6092 (2002).

[CrossRef]

S. R. P. Pavani, A. Greengard, and R. Piestun, “Three-dimensional localization with nanometer accuracy using a detector-limited double-helix point spread function system,” Appl. Phys. Lett. 95, 021103 (2009).

[CrossRef]

A. P. Pentland, “A new sense for depth of field,” IEEE Trans. Pattern Anal. PAMI-9, 523–531 (1987).

[CrossRef]

S. K. Nayar and Y. Nakagawa, “Shape from Focus,” IEEE Trans. Pattern Anal. 16, 824–831 (1994).

[CrossRef]

E. H. Adelson and J. Y. Wang, “Single lens stereo with a plenoptic camera,” IEEE Trans. Pattern Anal. Machine Intell. 14, 99–106 (1992).

[CrossRef]

Y. Y. Schechner and N. Kiryati, “Depth from defocus vs. stereo: how different really are they?” Int. J. Comput. Vis. 39, 141–162 (2000).

[CrossRef]

A. Medina, F. Gaya, and F. del Pozo, “Compact laser radar and three-dimensional camera,” J. Opt. Soc. Am. A 23, 800–805 (2006).

[CrossRef]

H. Barrett, C. Dainty, and D. Lara, “Maximum-likelihood methods in wavefront sensing: stochastic models and likelihood functions,” J. Opt. Soc. Am. A 24, 391–414(2007).

[CrossRef]

R. Piestun, Y. Y. Schechner, and J. Shamir, “Propagation-invariant wave fields with finite energy,” J. Opt. Soc. Am. A 17, 294–303 (2000).

[CrossRef]

S. Bagheri, P. E. X. Silveira, R. Narayanswamy, and D. Pucci de Farias, “Analytical optical solution of the extension of the depth of field using cubic-phase wavefront coding. Part II. Design and optimization of the cubic phase,” J. Opt. Soc. Am. A 25, 1064–1074 (2008).

[CrossRef]

S. Bagheri, P. E. X. Silveira, and G. Barbastathis, “Signal-to-noise-ratio limit to the depth-of-field extension for imaging systems with an arbitrary pupil function,” J. Opt. Soc. Am. A 26, 895–908 (2009).

[CrossRef]

G. Lippman, “Épreuves réversibles donnant la sensation du relief,” J. Phys. Théor. Appl. 7, 821–825 (1908).

[CrossRef]

S. R. P. Pavani and R. Piestun, “High-efficiency rotating point spread functions,” Opt. Express 16, 3484–3489 (2008).

[CrossRef]

S. R. P. Pavani, J. G. DeLuca, and R. Piestun, “Polarization sensitive, three-dimensional, single-molecule imaging of cells with a double-helix system,” Opt. Express 17, 19644–19655 (2009).

[CrossRef]

G. Grover, S. R. P. Pavani, and R. Piestun, “Performance limits on three-dimensional particle localization in photon-limited microscopy,” Opt. Lett. 35, 3306–3308 (2010).

[CrossRef]

J. van der Gracht, E. R. Dowski, M. G. Taylor, and D. M. Deaver, “Broadband behavior of an optical-digital focus-invariant system,” Opt. Lett. 21, 919–921 (1996).

[CrossRef]

H. Arimoto and B. Javidi, “Integral three-dimensional imaging with digital reconstruction,” Opt. Lett. 26, 157–159 (2001).

[CrossRef]

M. A. A. Neil, R. Juskaitis, and T. Wilson, “Method of obtaining optical sectioning by using structured light in a conventional microscope,” Opt. Lett. 22, 1905–1907 (1997).

[CrossRef]

A. Greengard, Y. Y. Schechner, and R. Piestun, “Depth from diffracted rotation,” Opt. Lett. 31, 181–183 (2006).

[CrossRef]

S. R. P. Pavani, M. A. Thompson, J. S. Biteen, S. J. Lord, N. Liu, R. J. Twieg, R. Piestun, and W. E. Moerner, “Three-dimensional, single-molecule fluorescence imaging beyond the diffraction limit by using a double-helix point spread function,” Proc. Natl. Acad. Sci. USA 106, 2995–2999 (2009).

[CrossRef]

S. Quirin, S. R. P. Pavani, and R. Piestun, “Optimal 3D single-molecule localization for super-resolution microscopy with engineered point spread functions,” Proc. Natl. Acad. Sci. USA 109, 675–679 (2011).

[CrossRef]

S. Ram, J. Chao, P. Prabhat, R. J. Ober, and E. S. Ward, “A novel approach to determining the three-dimensional location of microscopic objects with applications to 3D particle tracking,” Proc. SPIE 6443, 64430D (2007).

[CrossRef]

B. Huang, W. Wang, M. Bates, and X. Zhuang, “Three-dimensional super-resolution imaging by stochastic optical reconstruction microscopy,” Science 319, 810–813 (2008).

[CrossRef]

P. Favaro and S. Soatto, 3-D Shape Estimation and Image Restoration—Exploiting Defocus and Motion Blur (Springer-Verlag, 2007).

R. Ng, M. Levoy, M. Bredif, G. Duval, M. Horowitz, and P. Hanrahan, “Light field photography with a hand-held plenoptic camera,” Stanford University Computer Science Tech Report CSTR 2005-02 (Stanford University, 2005).

S. Chaudhuri and A. N. Rajagopalan, Depth from Defocus: A Real Aperture Imaging Approach (Springer-Verlag, 1999).

Y. Xiong and S. A. Shafer, “Depth from focusing and defocusing,” Technical report CMU-RI-TR-93-07 (Robotics Institute, Carnegie Mellon University, 1993).

T. Darrell and K. Wohn, “Pyramid based depth from focus,” in Proceedings of Computer Vision and Pattern Recognition (IEEE, 1988), pp. 504–509.

T. Georgeiv, K. C. Zheng, B. Curless, D. Salesin, S. Nayar, and C. Intwala, “Spatio-angular resolution tradeoff in integral photography,” in Proceedings of the 17th Eurographics Conference on Rendering Techniques (Eurographics Association, 2006), pp. 263–272.

A. Levin, R. Fergus, F. Durand, and B. Freeman, “Image and depth from a conventional camera with a coded aperture,” SIGGRAPH 2007 (ACM, 2007), article 70.

C. Zhou, S. Lin, and S. Nayar, “Coded aperture pairs for depth from defocus,” IEEE International Conference on Computer Vision (IEEE, 2009), pp. 325–332.

S. M. Kay, Fundamentals of Statistical Signal Processing, Volume I: Estimation Theory (Prentice Hall, 1993).