J. Brian Burns Richard S. Weiss Edward M. Riseman View Variation of Point-Set and Line-Segment Features. 51-68 1993 15 IEEE Trans. Pattern Anal. Mach. Intell. 1 http://www.computer.org/tpami/tp1993/i0051abs.htm db/journals/pami/pami15.html#BurnsWR93