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The authors would like to acknowledge the support of NSF grants FODAVA 808515 and CCF 1011228, ONR MURI N0001470710747, the Max Planck Center for Visual Computing and Communications, the KAUST Academic Excellence Alliance, and a Google Research Award. Prof. Shi-Min Hu was supported by the National Basic Research Project 2011CB30220, the Natural Science Foundation Project 61120106007 and the National High Technology Research and Development Program Project 2012AA011802.