{HEAD ~ Pixels} of the input images 1 are analysed to extract {TAIL ~ 110 3D geometry} , intensity, colour, and surface normal information 2, on a pixel by pixel basis 
are analysed to extract
{ HEAD ~ Pixels } of the input images 1 are analysed to extract { TAIL ~ 110 3D geometry } , intensity , colour , and surface normal information 2 , on a pixel by pixel basis
HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH REL REL REL REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH