Boris Aronov Bernard Chazelle Herbert Edelsbrunner Leonidas J. Guibas Micha Sharir Rephael Wenger Points and Triangles in the Plane and Halving Planes in Space. 112-115 1990 Symposium on Computational Geometry http://doi.acm.org/10.1145/98524.98548 db/conf/compgeom/compgeom90.html#AronovCEGSW90