* Originally submitted to ECCV'2020 but rejected. This work was filed
with the United States Patent and Trademark Office (USPTO) on May 19, 2020
and assigned Serial No. 63/027,241 Access Paper or Ask Questions
* 24 pages, 13 figures, International Journal of Computer Vision (IJCV)
[under review]. arXiv admin note: substantial text overlap with
arXiv:1711.06232, arXiv:1709.04625 Access Paper or Ask Questions