Eyal Hameiri Ilan Shimshoni Using Principal Curvatures and Darboux Frame to Recover 3D Geometric Primitives from Range Images. 656-663 2002 conf/3dpvt/2002 3DPVT http://csdl.computer.org/comp/proceedings/3dpvt/2002/1521/00/15210656abs.htm db/conf/3dpvt/3dpvt2002.html#HameiriS02a