Computer Vision Puzzle

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Across
  1. 1. technique that recovers 3d shape from brightness variations
  2. 5. mapping of 3d points onto a 2d image plane
  3. 6. vector perpendicular to a surface
  4. 9. polygon-based 3d surface representation
  5. 10. method to compute 3d position using geometry
Down
  1. 2. difference between corresponding points in stereo images
  2. 3. method that estimates depth using two viewpoints
  3. 4. smallest unit in volumetric representation
  4. 7. surface property independent of illumination
  5. 8. distance of an object from the camera