Ravindra Ranasinghe Lakshitha Dantanarayana Antony Tran Stefan Lie Michael Behrens Liyang Liu 1285-1291 2014 ICARCV https://doi.org/10.1109/ICARCV.2014.7064501 conf/icarcv/2014 db/conf/icarcv/icarcv2014.html#RanasingheDTLBL14