Caihua Wang Hideki Tanahashi Hidekazu Hirayu Yoshinori Niwa Kazuhiko Yamamoto 663-669 2001 conf/cvpr/2001 CVPR (1) http://doi.ieeecomputersociety.org/10.1109/CVPR.2001.990538 db/conf/cvpr/cvpr2001-1.html#WangTHNY01