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Brooks, M.J. and Horn, B.K.P. (1986) Shape and Source from Shading, IJCAI, pp. 932-936, 1985.

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Hoaglin, D.C., Mosteller, F. and Tukey, J.W. (eds.) (1983) Understanding robust and exploratory data analysis, Wiley, New York.

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Ferrie, F.P. and Lagarde, J. (1990)Curvature Consistency Improves Local Shading Analysis, Proc. IEEE International Conference on Pattern Recognition, Vol. I, pp. 70-76.

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Horn, B.K.P. (1986) Robot Vision , MIT Press, Cambridge, MA.

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Horn, B.K.P. and Brooks, M.J. (1986) The Variational Approach to Shape from Shading, CVGIP, Vol. 33, No. 2, pp. 174-208.

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Horn, B.K.P. and Brooks, M.J. (eds.), Shape from Shading, MIT Press, Cambridge, MA, 1989.

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Huber, P. (1981) Robust Statistics, Wiley, Chichester.

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Ikeuchi, K. and Horn, B.K.P. (1981) Numerical Shape from Shading and Occluding Boundaries, Artificial Intelligence, Vol. 17, No. 3, pp. 141-184.

10

Kimmel, R. and Bruckstein, A.M. (1995) Tracking Level Sets by Level Sets: A Method for Solving the Shape from Shading Problem, CVIU, Vol. 62, No. 1, pp. 47-58.

11

Li, S.Z. (1995) Discontinuous MRF Prior and Robust Statistics: a Comparative Study, Image and Vision Computing, Vol. 13, No. 3, pp. 227-233.

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Oliensis, J. and Dupuis, P. (1993) A Global Algorithm for Shape from Shading, Proc. IEEE International Conference on Computer Vision, pp. 692-701.

13

Oren, M. and Nayar, S.K. (1995) A Theory of Specular Surface Geometry, Proc. IEEE International Conference on Computer Vision.