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Slabaugh, G. G., Culbertson, W. B., Malzbender, T., Stevens, M. R. and Schafer, R. W. (2004). Methods for Volumetric Reconstruction of Visual Scenes. International Journal of Computer Vision, 57, pp. 179-199. doi: 10.1023/B:VISI.0000013093.45070.3b