Frank J. Pipitone Rapid Recognition of Elementary Surface Shapes in Cluttered Range Images Using Tripod Operators. 21-25 1994 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/1994/papers/1994021.pdf conf/mva/1994 db/conf/mva/mva1994.html#Pipitone94