Support for work performed at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology is provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research contract N00014-80-C-0505 and by the Hughes Aircraft Corporation. We are grateful to C. Koch and M. Brady for useful suggestions and especially to V. Torre and M. Kass for many discussions with one of us (T. P.). We are especially grateful to D. Terzopoulos and to J. Marroquin for very useful comments on our proofs. Carol Bonomo did no more than type the equations.
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