1. LITIS, Université de Rouen, 76800 Saint-Etienne du Rouvray, France
2. Xerox Research Centre Europe – Grenoble Laboratory, 6 chemin de Maupertuis – 38240 Meylan, France
3. I3S (Université de Nice–Sophia Antipolis, CNRS), 06903 Sophia Antipolis Cedex, France
4. Department of Engineering Mathematics, University of Bristol, Queen's Building, University Walk, Clifton, Bristol, BS8 1TR, UK