Eric Wahl Ulrich Hillenbrand Gerd Hirzinger Surflet-Pair-Relation Histograms: A Statistical 3D-Shape Representation for Rapid Classification. 474-482 2003 conf/3dim/2003 3DIM http://doi.ieeecomputersociety.org/10.1109/IM.2003.1240284 db/conf/3dim/3dim2003.html#WahlHH03