Algorithm 1: Proposed Joint Bilateral Expansion.

function GET_REL_SIZE  $(d,w,h)$      $u\leftarrow (w\times f_u)/d$      $v\leftarrow (h\times f_v)/d$      return $u,v$   for each point ($x,y,d$) in RADAR      Start from point with a larger d      $u,v\leftarrow$ GET_REL_SIZE $(d,w,h)$      for i in range$(-u/2,u/2)$           for j in range$(-v/2,v/2)$                $D_s\leftarrow \left|\right|(x,y)-(x+i,y+j)\left|\right|$                $D_r\leftarrow |I(x,y)-I(x+i,y+j)|$                $C_{JBF}\leftarrow G_{{\sigma }_s}\left(D_s\right)G_{{\sigma }_r}\left(D_r\right)$ as in (5)                if $C_{JBF}\ge \mathit{Threshold}$ do                     RADAR($x+i,y+j$) ←RADAR($x,y$) return  RADAR