Scale-Dependent/Invariant Local 3D Shape Descriptors for Fully Automatic Registration of Multiple Sets of Range Images.

John Novatnack Ko Nishino Scale-Dependent/Invariant Local 3D Shape Descriptors for Fully Automatic Registration of Multiple Sets of Range Images. 440-453 2008 ECCV (3) http://dx.doi.org/10.1007/978-3-540-88690-7_33 conf/eccv/2008-3 db/conf/eccv/eccv2008-3.html#NovatnackN08