Robust object matching for persistent tracking with heterogeneous features. Quo, Y.; Hsu, S.; Sawhney, H.; Kumar, R.; and Shan, Y. IEEE Transactions on Pattern Analysis and Machine Intelligence, 29(5):824--839, IEEE, May, 2007.
bibtex   
@Article{Quo_2007_14530,
  author = {Quo, Y. and Hsu, S. and Sawhney, H.S. and Kumar, R. and Shan, Y.},
 journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
 month = {May},
 number = {5},
 pages = {824--839},
 publisher = {IEEE},
 title = {Robust object matching for persistent tracking with heterogeneous features},
 volume = {29},
 year = {2007},
 title_with_no_special_chars = {Robust object matching for persistent tracking with heterogeneous features}
}
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