Miroslaw Bober Maria Petrou Josef Kittler Nonlinear Motion Estimation Using the Supercoupling Approach. 550-555 1998 20 IEEE Trans. Pattern Anal. Mach. Intell. 5 https://doi.org/10.1109/34.682185 http://doi.ieeecomputersociety.org/10.1109/34.682185 db/journals/pami/pami20.html#BoberPK98