References

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P.J. Besl. Surfaces in Early Range Image Understanding. PhD thesis, University of Michigan, 1986.

2

P.J. Besl and R.C. Jain. Invariant surface characteristics for 3-d object recognition in range images. Comput. Vision Graphics Image Proc., 33:33--80, 1986.

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J. Koenderink and A. van Doorn. Surface shape and curvature scales. Image and vision computing, 10(8):557--565, 1992.

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E. Trucco and R. Fisher. Experiments in curvature-based segmentation of range data. IEEE Trans. Pat. Anal. and Mach. Intel., 17(2):177--182, Feb 1995.