William T. Freeman David B. Anderson Paul A. Beardsley Chris Dodge Michal Roth Craig D. Weissman William S. Yerazunis Hiroshi Kage Kazuo Kyuma Yasunari Miyake Ken-ichi Tanaka Computer Vision for Interactive Computer Graphics. 42-53 1998 18 IEEE Computer Graphics and Applications 3 http://doi.ieeecomputersociety.org/10.1109/38.674971 db/journals/cga/cga18.html#FreemanABDRWYKKMT98