Affiliation: | aIRISA/INRIA, Campus de Beaulieu, 35042 Rennes, France;bIDIAP, Rue de Simplon 4, P.O. Box 592, 1920 Martigny, Switzerland;cComputational Vision and Active Perception Laboratory (CVAP), School of Computer Science and Communication KTH, S-100 44 Stockholm, Sweden |