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Submitted in Partial Fulfillment
of the Requirements for the Degree Doctor of Philosophy
Department of Computer Science The College Arts and Sciences
University of xxx, New York

Dedication
To my father.
One of the gentlest men I’ve known. He taught me to always keep looking.

iv
Curriculum Vitae
The author was born in Forest Hills, New York on 26 June 1954. He attended
the Cooper Union for the Advancement of Arts and Science from 1971 to 1975, and
graduated with a Bachelor of Engineering degree in Mechanical Engineering in 1975.
He then attended the University of Wisconsin - Madison from 1975 to 1976, and
received a Master of Science degree in Electrical Engineering in 1976. From 1976
until 1993 he held several positions in industry at AT&T Bell Laboratories, Audio
Visual Labs and Siemens Corporate Research. He came to the University of
Rochester in the Fall of 1993 and began graduate studies in Computer Science. He
pursued his research in augmented reality under the direction of Professor Christopher
Brown and received the Master of Science degree in Computer Science in 1995.

v
Acknowledgments
I must start by acknowledging the person who has been my closest companion
through this doctoral experience, Charlene Varnis. Without her emotional and
financial support I question whether I would have undertaken this journey. She picked
up my slack when I had no time, said the right things to keep me going when I was
down, and made sure that someone was taking care of me when I wasn't doing it
myself.
And to my friends Marty and Sue. Even though I see them rarely now that
miles separate us, they were on this journey too. They don't know how many times
my sanity was saved by viewing the "Wall of Shame" or letting my mind wander back
to the Grand Canyon, Switzerland, the Adirondaks or any of the other numerous
places we have hiked, biked, skied, laughed and generally enjoyed each other's good
company.
This thesis is the achievement of a long time goal of mine. I would like to
thank my travelling companions Maureen, Art and Bill who were with me through the
Summer of 1996 when I achieved another long time goal—bicycling across the U.S.
Accomplishing that goal launched me into the final leg of this one.
My parents are responsible for laying the foundation upon which this work is
built. I can not thank them enough for that. Even though my father is no longer here
to witness this, I am sure that he is looking down with a smile and carefully checking
my work to make sure I didn't leave any "holidays".
Your advisor is the person who leads you through the Ph.D. gauntlet. I could
not ask for a better leader than my advisor, Chris Brown. Our discussions kept me
headed in the right direction and gave me the motivation to continue when I wanted to
fold up my tent. His confidence and loyalty were unwavering.
It is only occasionally that you come in contact with a truly creative person
who is a wellspring of interesting, and challenging ideas. Fortunately for me, Kyros
Kutulakos is such a person and one of his ideas was the spark for this thesis work. His
assistance could not have been replaced especially during the early part of my work
when I was clueless about affine geometry.
I would like to thank the other members of my committee, Dana Ballard,
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