Erik R. van Dop Paul P. L. Regtien Object Recognition from Range Images Using Superquadric Representations. 267-270 1996 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/1996/papers/1996267.pdf conf/mva/1996 db/conf/mva/mva1996.html#DopR96