Xiaosong Yang Jian J. Zhang 0001 323-328 2006 conf/IEEEcgiv/2006 CGIV https://doi.org/10.1109/CGIV.2006.81 https://doi.ieeecomputersociety.org/10.1109/CGIV.2006.81 db/conf/IEEEcgiv/cgiv2006.html#YangZ06