* v3: added ref to conference. This paper is a successor of and
overlaps with arXiv:1604.08610, International Journal of Computer Vision
(IJCV), 2018 Access Paper or Ask Questions
* German Conference on Pattern Recognition (GCPR), LNCS 9796, pp.
26-36 (2016) * final version appeared in GCPR-2016; minor changes to improve the
clarity Access Paper or Ask Questions
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