@article{Black:IJCV:1996, title = {On the unification of line processes, outlier rejection, and robust statistics with applications in early vision}, author = {Black, M. and Rangarajan, A.}, journal = {International Journal of Computer Vision }, volume = {19}, number = {1}, pages = {57-92}, month = jul, year = {1996}, doi = {10.1007/BF00131148}, month_numeric = {7} }