Hailin Jin Paolo Favaro Stefano Soatto Real-Time Feature Tracking and Outlier Rejection with Changes in Illumination. 684-689 2001 conf/iccv/2001 ICCV db/conf/iccv/iccv2001-1.html#JinFS01 https://doi.ieeecomputersociety.org/10.1109/ICCV.2001.10073