Using the above Doctoral Paper.
Update: Paper on tracking of animals, the mathematics behind this points to LOWESS algorithm.
http://stat.ethz.ch/R-manual/R-patched/library/stats/html/lowess.html
http://www.mathworks.com/help/curvefit/lowess-smoothing.html
http://andrewgelman.com/2005/03/18/lowess_is_great/
http://array.bioengr.uic.edu/~yangdai/teach/bioe594-spring03/lowess.pdf
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