Bernd Rieger Frederik J. Timmermans Lucas J. van Vliet Piet W. Verbeek Curvature Estimation of Surfaces in 3D Grey-Value Images. 684-687 2002 ICPR (1) http://doi.ieeecomputersociety.org/10.1109/ICPR.2002.1044847 db/conf/icpr/icpr2002-1.html#RiegerTVV02