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    Categories and Subject Descriptors (according to ACM CCS): I.2.10 [Vision and Scene Understanding]: Intensity, color, photometry, thresholding-I.3.7 [Three Dimensional Graphics and Realism]: Color, shading, shadowing and texture-I.4.8 [Scene Analysis]: Shading-I.4.1 [Digitization and Image Capture]: Imaging Geometry-I.4.3 [Enhancement]: Registration (1)