this post was submitted on 19 Dec 2023
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I've done a little work on this professionally, and while I can't discuss our solution, here are some links that I turned up doing research that might be what you're looking for.
https://www.robots.ox.ac.uk/~vgg/publications/2016/Chung16a/chung16a.pdf
https://arxiv.org/abs/2008.10010
https://arxiv.org/pdf/1809.02108.pdf
http://ailab.kaist.ac.kr/papers/pdfs/ACCV2016Workshop.pdf