M. Pawan Kumar Philip H. S. Torr Andrew Zisserman Learning Layered Motion Segmentation of Video. 33-40 2005 conf/iccv/2005 ICCV http://doi.ieeecomputersociety.org/10.1109/ICCV.2005.138 db/conf/iccv/iccv2005-1.html#KumarTZ05