Anupama Jagannathan Eric L. Miller Unstructured Point Cloud Matching within Graph-Theoretic and Thermodynamic Frameworks. 1008-1015 2005 conf/cvpr/2005 CVPR (2) http://dx.doi.org/10.1109/CVPR.2005.356 db/conf/cvpr/cvpr2005-2.html#JagannathanM05