Rahul Bhotika David J. Fleet Kiriakos N. Kutulakos A Probabilistic Theory of Occupancy and Emptiness. 112-132 2002 conf/eccv/2002-3 ECCV (3) http://link.springer.de/link/service/series/0558/bibs/2352/23520112.htm db/conf/eccv/eccv2002-3.html#BhotikaFK02