Bilateral filter
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A bilateral filter is an edge-preserving filter useful for imaging. Whereas many filters are convolutions in the image domain, a bilateral filter also operates in the image's range -- pixel values. Rather than replace a pixel's value with simply a weighted average of its neighbors, a pixel's value is replaced by a weighted average of its neighbors in x, y, and intensity. This preserves sharp edges by systematically excluding pixels from the other side of the discontinuity.

