Method
§2-stage regression (LS)  [Haralick-Lee 83, Ye-Haralick 98]
derivatives
Facet Model
OFC
image
data
optical flow &
covariance
Robust Facet
high confidence?
Y
N
LS Facet
Robust
OFC
Image
data
Derivatives
Optical flow
& Confidence
§2-stage-robust adaptive scheme [ Ye-Haralick 00]
§
§
§Previous: robust OFC only