Dan Gutfinger R. Nishimura H. Doi Jack Sklansky Robust curve detection by temporal geodesics. 752-756 1990 ICCV http://dx.doi.org/10.1109/ICCV.1990.139634 conf/iccv/1990 db/conf/iccv/iccv1990.html#GutfingerNDS90