Derek Hoiem Alexei A. Efros Martial Hebert Geometric Context from a Single Image. 654-661 2005 conf/iccv/2005 ICCV http://doi.ieeecomputersociety.org/10.1109/ICCV.2005.107 db/conf/iccv/iccv2005-1.html#HoiemEH05