1. ITI/LARSyS, IST, University of Lisbon & FCT, Portugal
2. ITI/LARSyS, IST University of Lisbon, Portugal
3. ITI/LARSyS, IST, University of Lisbon, Portugal
4. ITI / LARSyS, Instituto Superior Técnico - U. Lisbon, Portugal
5. Visual Geometry and Modelling (VGM) Lab & Pattern Analysis and Computer Vision (PAVIS), Istituto Italiano di Tecnologia, Italy