Intrinsic line features and contour metric for locating 3-D objects in sparse, segmented range images.

Peter Kohlhepp Daniel Fischer Ekkehard Hoffmann Intrinsic line features and contour metric for locating 3-D objects in sparse, segmented range images. 403-417 1999 17 Image Vision Comput. 5-6 http://dx.doi.org/10.1016/S0262-8856(98)00129-2 db/journals/ivc/ivc17.html#KohlheppFH99