Erratum to: J Math Imaging Vis DOI 10.1007/s10851-012-0394-3

There are two National Natural Science Foundation of China grants that should have been acknowledged on the title page of this article in addition to the one already acknowledged.

The additional National Natural Science Foundation of China grants numbers are 61302127 and 11326198. In addition, this work is also supported by the Tian** City High School Science and Technology Fund Planning Project (20120805).