Engin Tola Vincent Lepetit Pascal Fua DAISY: An Efficient Dense Descriptor Applied to Wide-Baseline Stereo. 815-830 2010 32 IEEE Trans. Pattern Anal. Mach. Intell. 5 http://doi.ieeecomputersociety.org/10.1109/TPAMI.2009.77 db/journals/pami/pami32.html#TolaLF10