R.  Szeliski, Zabih, R., Scharstein, D., Veksler, O., Kolmogorov, V., Agarwala, A., Tappen, M., and Rother, C., ?A comparative study of energy minimization methods for Markov random fields with smoothness-based priors?, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 30, pp. 1068?1080, 2008.