Karsten Scheibe Michael Suppa Heiko Hirschmüller Bernhard Strackenbrock Fay Huang Rui Liu Gerd Hirzinger Multi-scale 3D-Modeling. 96-107 2006 conf/psivt/2006 PSIVT http://dx.doi.org/10.1007/11949534_10 db/conf/psivt/psivt2006.html#ScheibeSHSHLH06