Xianhua Jiang Yuichi Motai Robert R. Snapp Xingquan Zhu 109-116 2006 conf/cvpr/2006 CVPR (1) http://doi.ieeecomputersociety.org/10.1109/CVPR.2006.43 db/conf/cvpr/cvpr2006-1.html#JiangMSZ06