“…The above affine photometric model can only handle small photometric changes, therefore it has been extended to a non-linear model in [289], which also [113], [115], [116], [122], [128], [133], [138], [147], [149], [170], [174], [177], [181], [186], [187], [188], [189], [199], [204], [209], [215], [216], [217], [218], [223], [224], [226], [227], [228], [230], [231], [235], [242], [246], [248], [249], [250], [251], [252], [258], [260], [270], [272], [276], [277], [279], [280], …”