[1] Univ British Columbia, Dept Elect & Comp Engn, Vancouver, BC V5Z 1M9, Canada
[2] ALI Technol, Med Imaging 3 D, Vancouver, BC, Canada
[3] Eidgenoss Tech Hsch ETH, Comp Vis Lab, Zurich, Switzerland
[4] Univ British Columbia, Dept Mech Engn, Vancouver, BC V5Z 1M9, Canada