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Ming Ye; Haralick, R.M.; Shapiro, L.G. (2003). "Estimating piecewise-smooth optical flow with global matching and graduated optimization". IEEE Transactions on Pattern Analysis and Machine Intelligence. 25 (12): 1625–30. CiteSeerX10.1.1.707.7843. doi:10.1109/TPAMI.2003.1251156.