Farzin Mokhtarian Nasser Khalili Peter Yuen Estimation of Error in Curvature Computation on Multi-Scale Free-Form Surfaces. 131-149 2002 48 International Journal of Computer Vision 2 db/journals/ijcv/ijcv48.html#MokhtarianKY02 http://dx.doi.org/10.1023/A:1016098907682