Thomas Koller Guido Gerig Gábor Székely Daniel Dettwiler Multiscale Detection of Curvilinear Structures in 2D and 3D Image Data. 864-869 1995 ICCV http://computer.org/proceedings/iccv/7042/70420864abs.htm db/conf/iccv/iccv1995.html#KollerGSD95