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. Author manuscript; available in PMC: 2010 Apr 26.
Published in final edited form as: Proc Can Conf Comput Robot Vis. 2009 May 25;2009:61–67. doi: 10.1109/CRV.2009.31

Figure 3.

Figure 3

Factor graph used in Model 1 and 2. Variables are drawn as circles and factors (interactions among variables) as boxes. Factors enforcing geometric constraints are drawn in red and factors incorporating scanline edge information are drawn in green.