* A comprehensive version that combines our cvpr 2018 and cvpr 2019
work (Still under development and refinement, Initial Version). 13 Figures, 1
Table. arXiv admin note: text overlap with arXiv:1902.01077 Access Paper or Ask Questions
* 12 pages, 18 Figures, 2 Tables. Accepted for publication in IEEE,
T-PAMI 2019 Journal. arXiv version is slightly different from the camera
ready submission. arXiv admin note: text overlap with arXiv:1708.04398 Access Paper or Ask Questions