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