Yasutaka Furukawa Brian Curless Steven M. Seitz Richard Szeliski 80-87 2009 ICCV https://doi.org/10.1109/ICCV.2009.5459145 https://doi.ieeecomputersociety.org/10.1109/ICCV.2009.5459145 conf/iccv/2009 db/conf/iccv/iccv2009.html#FurukawaCSS09