Haim Kaplan Natan Rubin Micha Sharir Line transversals of convex polyhedra in <i>R</i><sup>3</sup>. 170-179 2009 SODA http://doi.acm.org/10.1145/1496770.1496790 conf/soda/2009 db/conf/soda/soda2009.html#KaplanRS09