Cicero Mota Ingo Stuke Til Aach Erhardt Barth Estimation of Multiple Orientations at Corners and Junctions. 163-170 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3175&spage=163 2004 conf/dagm/2004 DAGM-Symposium db/conf/dagm/dagm2004.html#MotaSAB04