... residual1
In a first order neighbourhood. 
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... compute2
Scales from $sigma_{min}=0.4$ to $sigma_{max}=4.0$, increment 0.1. 
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... algorithm3
Code available and suggested parameters in reference [11]. 
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... stages4
Stages with $sigma_{x}$ doubled, and $sigma_{z}$ halved, as suggested in the reference. 
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