Martin Heimlich Martin Held Biarc Approximation, Simplification and Smoothing of Polygonal Curves by Means of Voronoi-Based Tolerance Bands. 221-250 2008 18 Int. J. Comput. Geometry Appl. 3 http://dx.doi.org/10.1142/S0218195908002593 db/journals/ijcga/ijcga18.html#HeimlichH08