. Amélioration-de-la-consistance-colorée-7, 3.1 Évaluations Nous proposons d'évaluer notre méthode globale sur trois cas d'utilisation différents : 1. des images parfaitement alignées, 2. des images acquises pour la création d'une mosaïque d'images, 3. des images utilisées pour calculer la restitution de l

. Résultats-visuels, présentent les restitutions visuelles identifiées avec les images originales et les images harmonisées. On note que les coupures franches ne sont plus visibles ou alors de très faible amplitude. 7.3?Une approche d'optimisation convexe pour améliorer la consistance colorée 169 FIGURE 7.19 ? MayaHeadP50 : Illustration de la restitution visuelle en utilisant les images originales (haut) ou bien en utilisant les images harmonisées (bas), 1920.

. Des-travaux-préliminaires-ont-démontré-la-faisabilité-( and . Bazin, 2012), cependant un seuil fixe limitant la précision est toujours utilisé. Il serait alors intéressant de mêler les méthodes d'estimation d'optimalité Branch-And-Bound avec un critère de validation a contrario pour supprimer ce paramètre de précision apriori. Des méthodes d'estimations globales sans paramètres de précision apriori seraient ainsi utilisées du début à la fin de la chaine de calibration, BIBLIOGRAPHIE, vol.179

A. Bibliographie, H. , A. Dahl, and K. Pedersen, Interesting interest points, International Journal of Computer Vision, vol.97, issue.1, pp.18-35, 2012.

A. , S. , and K. Mierle, Ceres Solver : Tutorial & Reference, p.46, 2012.

A. , S. , N. Snavely, and S. M. Seitz, Fast algorithms for L ? problems in multiview geometry, In : Computer Vision and Pattern Recognition, pp.1-8, 2008.

A. , S. , N. Snavely, I. Simon, S. M. Seitz et al., Building rome in a day, Computer Vision IEEE 12th International Conference on. IEEE, pp.72-79, 2009.

A. , P. F. , J. Nuevo, and A. Bartoli, Fast Explicit Diffusion for Accelerated Features in Nonlinear Scale Spaces, British Machine Vision Conf. (BMVC), 2013.

«. Kaze and ». In, Computer Vision?ECCV 2012, pp.214-227

A. , C. , J. Pons, and R. Keriven, Seamless image-based texture atlases using multi-band blending, 19th International Conference on. IEEE, pp.1-4, 2008.
URL : https://hal.archives-ouvertes.fr/hal-00622353

A. , R. J. , and H. Woll, Wait-free parallel algorithms for the union-find problem, Proceedings of the twenty-third annual ACM symposium on Theory of computing, pp.370-380, 1991.

A. , M. , S. Z. Kovalsky, I. Kemelmacher-shlizerman, A. Singer et al., Global motion estimation from point matches, 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT), 2012 Second International Conference on. IEEE, pp.81-88, 2012.

A. , M. , M. Schwärzler, S. Flöry, M. Wimmer et al., O-Snap : Optimization-Based Snapping for Modeling Architecture, In : ACM Transactions on Graphics, vol.32, issue.6, pp.1-6, 2013.

B. , H. , T. Tuytelaars, and L. Van-gool, « Surf : Speeded up robust features, Computer Vision?ECCV 2006, pp.404-417, 2006.

J. Bazin, H. Li, I. Kweon, C. Demonceaux, P. Vasseur et al., A Branch-and-Bound Approach to Correspondence and Grouping Problems, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.35, issue.7, p.178, 2012.
DOI : 10.1109/TPAMI.2012.264

URL : https://hal.archives-ouvertes.fr/hal-00829611

B. , J. , O. Saurer, F. Fraundorfer, and M. Pol-lefeys, Interactive Omnidirectional Indoor Tour In : Emerging Technologies for 3D Video : Creation, Coding, Transmission and Rendering, pp.395-415, 2013.

P. Beardsley, P. Torr, and A. Zisserman, 3D model acquisition from extended image sequences, Computer Vision?ECCV'96, pp.683-695, 1996.
DOI : 10.1007/3-540-61123-1_181

B. , P. , and S. Burke, PhotoSpace : a vision based approach for digitizing props, ACM SIGGRAPH 2011 Talks. SIGGRAPH '11, pp.1-1, 2011.

J. Brito, R. Henrique, K. Angst, M. Köser, and . Pollefeys, Radial Distortion Self-Calibration, 2013 IEEE Conference on Computer Vision and Pattern Recognition, p.176, 2013.
DOI : 10.1109/CVPR.2013.180

D. C. Brown, Decentering distortion of lenses, In : Photometric Engineering, vol.32, issue.3, pp.444-462, 1966.

M. Brown, D. G. Et, and . Lowe, Automatic Panoramic Image Stitching using Invariant Features, International Journal of Computer Vision, vol.50, issue.1, pp.59-73, 2007.
DOI : 10.1007/s11263-006-0002-3

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.193.2527

M. Brown, D. Et, and . Lowe, Unsupervised 3D Object Recognition and Reconstruction in Unordered Datasets, Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM'05), pp.21-27, 2005.
DOI : 10.1109/3DIM.2005.81

M. Brown and D. G. Lowe, Unsupervised 3D Object Recognition and Reconstruction in Unordered Datasets, Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM'05), pp.56-63, 2005.
DOI : 10.1109/3DIM.2005.81

B. , P. J. , and E. H. Adelson, A multiresolution spline with application to image mosaics, In : ACM Transactions on Graphics (TOG), vol.2, issue.4, pp.217-236, 1983.

M. Byröd, K. Josephson, and K. Åström, Fast Optimal Three View Triangulation, Computer Vision?ACCV 2007, pp.549-559, 2007.
DOI : 10.1007/978-3-540-76390-1_54

C. , M. , V. Lepetit, M. Ozuysal, T. Trzcinski et al., BRIEF : Computing a local binary descriptor very fast In : Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol.34, pp.7-1281, 2012.

C. , A. , D. Scharstein, and T. Zickler, An Empirical Camera Model for Internet Color Vision, BMVC. T. 1. 2. Citeseer, p.164, 2009.

C. , A. Venu, and . Govindu, « Efficient and Robust Large-Scale Rotation Averaging, Computer Vision (ICCV), 2013 IEEE International Conference on (cf, pp.152-176, 2013.

C. , J. , and G. Medioni, StaRSaC : Stable random sample consensus for parameter estimation, CVPR 2009. IEEE Conference on. IEEE, pp.675-682, 2009.

C. , S. , T. Kim, and W. Yu, Performance Evaluation of RAN- SAC Family, pp.1-12, 2009.

C. , O. , and J. Matas, Matching with PROSAC-progressive sample consensus In : Computer Vision and Pattern Recognition, CVPR 2005. IEEE Computer Society Conference on. T. 1. IEEE, pp.220-226, 2005.

C. , O. , J. Matas, and J. Kittler, « Locally optimized RANSAC ». In : Pattern Recognition, pp.236-243, 2003.

C. , M. , J. Bouguet, J. Beis, S. Childs et al., Building indoor multipanorama experiences at scale, ACM SIGGRAPH 2012 Posters, pp.24-79, 2012.

D. , A. , and R. Keriven, Robust estimation for an inverse problem arising in multiview geometry, pp.10-23, 2012.
URL : https://hal.archives-ouvertes.fr/hal-00415603

D. Luca and . Livio, Relevé et multi-représentations du patrimoine architectural ; définition d'une approche hybride de reconstruction 3D d'édifices. In : (cf, pp.12-17, 2006.

D. , P. E. Et, and J. Malik, Recovering high dynamic range radiance maps from photographs, Proceedings of the 24th annual conference on Computer graphics and interactive techniques. SIGGRAPH '97, pp.369-378, 1997.

D. , P. E. , C. J. Taylor, and J. Malik, Modeling and rendering architecture from photographs : a hybrid geometry-and image-based approach In : Proceedings of the 23rd annual conference on Computer graphics and interactive techniques. SIGGRAPH '96, pp.11-20, 1996.

J. Delon, Midway Image Equalization, Journal of Mathematical Imaging and Vision, vol.21, issue.2, pp.119-134, 2004.
DOI : 10.1023/B:JMIV.0000035178.72139.2d

URL : https://hal.archives-ouvertes.fr/hal-01338124

D. , A. , L. Moisan, and J. Morel, Meaningful alignments, International Journal of Computer Vision, vol.40, issue.1, pp.7-23, 2000.

D. , A. , L. Moisan, and J. Morel, From Gestalt theory to image analysis : a probabilistic approach. 1st, pp.9780387726359-70, 2007.
URL : https://hal.archives-ouvertes.fr/hal-00259077

D. , J. , J. Matas, and F. Naiser, Ultra-fast tracking based on zero-shift points, Image and Vision Computing, p.54, 2012.

E. , O. , F. Kahl, and C. Olsson, Non-sequential structure from motion, Computer Vision Workshops (ICCV Workshops), 2011 IEEE International Conference on, pp.264-271, 2011.

F. , M. A. , and R. C. Bolles, Random sample consensus : a paradigm for model fitting with applications to image analysis and automated cartography, Communications of the ACM, vol.24, issue.6, pp.381-395, 1981.

F. , M. , and M. Saks, The cell probe complexity of dynamic data structures, Proceedings of the twenty-first annual ACM symposium on Theory of computing, pp.345-354, 1989.

F. , Y. , and J. Ponce, Accurate, dense, and robust multiview stereopsis In : Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol.32, issue.8, pp.1362-1376, 2010.

F. , Y. , B. C. , S. M. Seitz, and R. Szeliski, Towards internet-scale multi-view stereo, 2010 IEEE Conference, pp.1434-1441, 2010.

G. , B. A. , and M. J. Fisher, An improved equivalence algorithm, Communications of the ACM, vol.7, issue.5, pp.301-303, 1964.

G. , D. , and J. D. Tardos, Real-time loop detection with bags of binary words, In : Intelligent Robots and Systems (IROS) IEEE, pp.51-58, 2011.

G. , X. Shan, X. Hou, J. Tang, and H. Cheng, Complete solution classification for the perspective-three-point problem, In : Pattern Analysis and Machine Intelligence IEEE Transactions on, vol.25, issue.8, pp.930-943, 2003.

G. A. Lloyd, R. Ny, R. Ny, and S. J. Sasson, Electronic still camera, p.15, 1978.

G. and V. Madhav, Combining two-view constraints for motion estimation In : Computer Vision and Pattern Recognition, Proceedings of the 2001 IEEE Computer Society Conference on. T. 2. IEEE, pp.218-113, 2001.

N. Guilbert, F. Kahl, M. Oskarsson, K. Åström, M. Johans-son et al., Constraint enforcement in structure and motion applied to closing an open sequence, Proc. Asian Conf. on Computer Vision, p.108, 2004.

H. , R. M. Et, and L. G. Shapiro, Computer and Robot Vision. 1st, pp.201569434-95, 1992.

H. , C. , and M. Stephens, A combined corner and edge detector In : Alvey vision conference. T. 15, pp.50-50, 1988.

H. , C. G. , and J. Pike, 3D positional integration from image sequences, Image and Vision Computing, vol.6, issue.2, pp.87-90, 1988.

H. , R. , and F. Schaffalitzky, L ? minimization in geometric reconstruction problems In : Computer Vision and Pattern Recognition, Proceedings of the 2004 IEEE Computer Society Conference on. T. 1. IEEE, pp.504-548, 2004.

H. , R. , and A. Zisserman, Multiple view geometry in computer vision. T. 2, pp.43-45, 2000.

H. , R. , J. Trumpf, Y. Dai, and H. Li, Rotation Averaging, pp.1-39, 2013.

H. , M. , A. Torii, and T. Pajdla, « Efficient structure from motion by graph optimization, Computer Vision?ECCV 2010, pp.100-113, 2010.

H. , V. Hoang, R. Keriven, P. Labatut, and J. Pons, Towards high-resolution large-scale multi-view stereo. In : Computer Vision and Pattern Recognition, pp.1430-1437, 2009.

B. Horn, B. G. Kp, and . Schunck, Determining optical flow, Artificial Intelligence, vol.17, issue.1-3, pp.185-203, 1981.
DOI : 10.1016/0004-3702(81)90024-2

J. , H. , M. Douze, and C. Schmid, Product quantization for nearest neighbor search In : Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol.33, issue.1, pp.117-128, 2011.

K. , F. , and R. Hartley, Multiple-View Geometry Under the {L_in f ty}-Norm. In : Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol.30, issue.9, pp.1603-1617, 2008.

K. , Z. , K. Mikolajczyk, and J. Matas, Tracking-learningdetection . In : Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol.34, issue.7, pp.1409-1422, 2012.

K. , K. , Y. Sugaya, and H. Niitsuma, Triangulation from two views revisited : Hartley-Sturm vs. optimal correction, In : In practice, vol.4, pp.5-44, 2008.

K. , S. , H. Lin, Z. Lu, S. Susstrunk et al., A new in-camera imaging model for color computer vision and its application, p.156, 2012.

K. , M. , C. Z. , A. Irschara, and D. Schmal-stieg, Generalized detection and merging of loop closures for video sequences, Proceedings of 3D Data Processing, Visualization, and Transmission, p.108, 2008.

K. , L. , D. Scaramuzza, and R. Siegwart, A novel parametrization of the perspective-three-point problem for a direct computation of absolute camera position and orientation, Computer Vision and Pattern Recognition (CVPR), 2011 IEEE Conference, pp.2969-2976, 2011.

K. , L. , R. Siegwart, and M. Pollefeys, « Finding the exact rotation between two images independently of the translation, Computer Vision? ECCV 2012, pp.696-709, 2012.

L. , G. Hee, F. Fraundorfer, and M. Pollefeys, Robust Pose- Graph Loop-Closures with Expectation-Maximization, Intelligent Robots and Systems (IROS) (cf, p.176, 2013.

L. , V. , F. Moreno-noguer, and P. Fua, Epnp : An accurate o (n) solution to the pnp problem, In : International Journal of Computer Vision, vol.81, issue.2, pp.155-166, 2009.

L. , H. , and R. Hartley, Five-point motion estimation made easy, 18th International Conference on. T. 1. IEEE, pp.630-633, 2006.

P. Lindstrom, Triangulation made easy, 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp.1554-1561, 2010.
DOI : 10.1109/CVPR.2010.5539785

L. , Z. , and R. Marlet, Virtual Line Descriptor and Semi-Local Graph Matching Method for Reliable Feature Correspondence, pp.1-11, 2012.

L. Higgins and H. C. , A Computer Algorithm for Reconstructing a Scene from Two Projections, Nature, vol.293, p.40, 1981.

L. , M. , and A. Argyros, The design and implementation of a generic sparse bundle adjustment software package based on the levenberg-marquardt algorithm . Rapp. tech, pp.46-108, 2004.

L. , B. D. Et, and T. Kanade, An Iterative Image Registration Technique with an Application to Stereo Vision, pp.674-679, 1981.

M. , D. , and T. Pajdla, Robust rotation and translation estimation in multiview reconstruction In : Computer Vision and Pattern Recognition, pp.1-8, 2007.

M. , K. , and C. Schmid, Indexing based on scale invariant interest points In : Computer Vision, Proceedings. Eighth IEEE International Conference on. T. 1. IEEE, pp.525-531, 2001.

L. Moisan, Modèles continus, numériques et statistiques pour l'analyse d'images, Université Paris, vol.11, p.70, 2003.

M. , L. , and B. Stival, A probabilistic criterion to detect rigid point matches between two images and estimate the fundamental matrix, In : International Journal of Computer Vision, vol.57, issue.71, pp.201-218, 2004.
URL : https://hal.archives-ouvertes.fr/hal-00171323

L. Moisan, P. Moulon, and P. Monasse, Automatic Homographic Registration of a Pair of Images, with A Contrario Elimination of Outliers, Image Processing On Line, vol.2, 2012.
DOI : 10.5201/ipol.2012.mmm-oh

URL : https://hal.archives-ouvertes.fr/hal-00711852

M. , P. , and P. Monasse, Unordered feature tracking made fast and easy, Conference on Visual Media Production (CVMP12) (cf, p.61, 2012.
URL : https://hal.archives-ouvertes.fr/hal-00769267

P. Moulon, P. Monasse, and R. Marlet, Adaptive Structure from Motion with a??Contrario Model Estimation, Computer Vision?ACCV 2012, pp.257-270, 2013.
DOI : 10.1007/978-3-642-37447-0_20

URL : https://hal.archives-ouvertes.fr/hal-00769266

P. Moulon, B. Duisit, and P. Monasse, Global Multiple-View Color Consistency, Conference on Visual Media Production (CVMP13) (cf, p.172, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00873517

P. Moulon, P. Monasse, and R. Marlet, La bibliothèque openMVG : open source Multiple View Geometry In : Orasis, Congrès des jeunes chercheurs en vision par ordinateur (cf, p.61, 2013.

M. , M. , and D. G. Lowe, Fast Approximate Nearest Neighbors with Automatic Algorithm Configuration, pp.331-340, 2009.

N. , K. , H. Jin, and F. Dellaert, GroupSAC : Efficient consensus in the presence of groupings, Computer Vision IEEE 12th International Conference on. IEEE, pp.2193-2200, 2009.

N. , K. , A. Torii, and M. Okutomi, « Stable two view reconstruction using the six-point algorithm, Computer Vision?ACCV 2012, pp.122-135, 2013.

O. , C. , and O. Enqvist, « Stable structure from motion for unordered image collections ». In : Image Analysis, pp.524-535, 2011.

P. , A. , and D. Stricker, Structure from Motion using full spherical panoramic cameras, Computer Vision Workshops (ICCV Workshops), 2011 IEEE International Conference on, pp.375-382, 2011.

P. and L. Nouveautés, Le pigeon voyageur photographe URL : \url{http://gallica.bnf.fr/ark, 1910.

P. , M. , R. Koch, M. Vergauwen, A. A. Deknuydt et al., Three-dimensional scene reconstruction from images, Electronic Imaging. International Society for Optics et Photonics, pp.215-226, 2000.

R. , J. , J. Delon, and Y. Gousseau, A contrario matching of siftlike descriptors, 19th International Conference on. IEEE, pp.1-4, 2008.

R. , R. , and J. Frahm, RECON : Scale-adaptive robust estimation via Residual Consensus, Computer Vision (ICCV), 2011 IEEE International Conference on. IEEE, pp.1299-1306, 2011.

R. , E. , M. Adhikhmin, B. Gooch, and P. Shirley, Color transfer between images, In : Computer Graphics and Applications, vol.21, issue.5, pp.34-41, 2001.

R. , A. L. , P. E. Lopez-de, A. Teruel, and . Ruiz, Reduced epipolar cost for accelerated incremental sfm, Computer Vision and Pattern Recognition (CVPR), 2011 IEEE Conference on. IEEE, pp.3097-3104, 2011.

S. , F. , and A. Zisserman, Multi-view Matching for Unordered Image Sets, or "How Do I Organize My Holiday Snaps, pp.414-431, 2002.

S. , Y. , and R. I. Hartley, A Fast Method to Minimize L ? Error Norm for Geometric Vision Problems, ICCV (cf, p.125, 2007.

G. C. Sharp, S. W. Lee, and D. K. Wehe, Toward multiview registration in frame space, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), pp.3542-3547, 2001.
DOI : 10.1109/ROBOT.2001.933166

S. , H. , M. Han, and R. Szeliski, Interactive construction of 3D models from panoramic mosaics, Proceedings. 1998 IEEE Computer Society Conference on, pp.427-433, 1998.

S. , K. , and R. Hartley, Recovering camera motion using linfty minimization In : Computer Vision and Pattern Recognition, IEEE Computer Society Conference on. T, vol.1, issue.119, pp.1230-1237, 2006.

S. , S. N. , D. Steedly, R. Szeliski, M. Agrawala et al., Interactive 3D architectural modeling from unordered photo collections, In : ACM Transactions on Graphics, pp.159-182, 2008.

S. , C. C. , C. Theurer, and S. W. Henriksen, Manual of photogrammetry American Society of photogrammetry (cf, p.15, 1980.

N. Snavely, S. M. Seitz, and R. Szeliski, Photo tourism : Exploring photo collections in 3D, SIGGRAPH Conference Proceedings, pp.835-846, 2006.
DOI : 10.1145/1179352.1141964

N. Snavely, S. M. Seitz, and R. Szeliski, Skeletal graphs for efficient structure from motion, 2008 IEEE Conference on Computer Vision and Pattern Recognition, pp.2-108, 2008.
DOI : 10.1109/CVPR.2008.4587678

C. Strecha, W. V. Hansen, L. Van-gool, P. Fua, and U. Thoennessen, On benchmarking camera calibration and multiview stereo for high resolution imagery, Computer Vision and Pattern Recognition, pp.1-8, 2008.

C. Strecha, T. Pylvanainen, and P. Fua, Dynamic and scalable large scale image reconstruction, 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp.406-413, 2010.
DOI : 10.1109/CVPR.2010.5540184

C. Strecha, A. M. Bronstein, M. M. Bronstein, and P. Fua, LDAHash : Improved matching with smaller descriptors. In : Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol.34, issue.1, pp.66-78, 2012.

L. Svarm, Z. Simayijiang, O. Enqvist, and C. Olsson, Point track creation in unordered image collections using Gomory-Hu trees, Pattern Recognition (ICPR), 2012 21st International Conference on, pp.2116-2119, 2012.

T. and R. Endre, Efficiency of a good but not linear set union algorithm, In : Journal of the ACM (JACM), vol.22, issue.2, pp.215-225, 1975.

T. , E. , C. Strecha, and P. Fua, Efficient large-scale multiview stereo for ultra high-resolution image sets, Machine Vision and Applications, pp.903-920, 2012.

T. , R. , and A. Fusiello, « Robust multiple structures estimation with j-linkage, Computer Vision?ECCV 2008, pp.537-547, 2008.

T. , C. , and T. Kanade, Detection and Tracking of Point Features In : Order A Journal On The Theory Of Ordered Sets And Its Applications, pp.7597-165, 1991.

T. , A. , A. Imiya, and N. Ohnishi, Two-and three-view geometry for spherical cameras, Proceedings of the sixth workshop on omnidirectional vision, camera networks and non-classical cameras. Citeseer (cf, p.79, 2005.

T. , P. H. Et, and D. W. Murray, The development and comparison of robust methods for estimating the fundamental matrix, International Journal of Computer Vision, vol.24, pp.271-300, 1997.

T. , P. Hs, and A. Zisserman, MLESAC : A new robust estimator with application to estimating image geometry, In : Computer Vision and Image Understanding, vol.78, issue.1, pp.138-156, 2000.

B. Triggs, P. F. Mclauchlan, R. I. Hartley, and A. W. Fitz-gibbon, Bundle Adjustment ??? A Modern Synthesis, pp.298-372, 2000.
DOI : 10.1007/3-540-44480-7_21

URL : https://hal.archives-ouvertes.fr/inria-00548290

C. Wu, SiftGPU : A GPU implementation of scale invariant feature transform (SIFT) In : URL http, p.99, 2007.

L. Wu, A. Ganesh, B. Shi, Y. Matsushita, Y. Wang et al., Robust Photometric Stereo via Low-Rank Matrix Completion and Recovery, Computer Vision?ACCV 2010, pp.703-717, 2011.
DOI : 10.1145/965161.806819

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.174.8921

X. , W. , and J. Mulligan, Performance evaluation of color correction approaches for automatic multi-view image and video stitching, 2010 IEEE Conference, pp.263-270, 2010.

Z. , C. , and M. Pollefeys, « Practical methods for convex multiview reconstruction, Computer Vision?ECCV 2010, pp.354-367, 2010.

Z. , C. , M. Klopschitz, and M. Pollefeys, Disambiguating visual relations using loop constraints, 2010 IEEE Conference, pp.1426-1433, 2010.

Z. , Q. , and V. Koltun, Dense Scene Reconstruction with Points of Interest, Siggraph 2013, p.177, 2013.