Ronen Basri Ehud Rivlin 226-230 1993 ICCV https://doi.org/10.1109/ICCV.1993.378215 https://doi.ieeecomputersociety.org/10.1109/ICCV.1993.378215 conf/iccv/1993 db/conf/iccv/iccv1993.html#BasriR93