Douglas R. Heisterkamp Prabir Bhattacharya Matching of 3D Polygonal Arcs. 68-73 1997 19 IEEE Trans. Pattern Anal. Mach. Intell. 1 http://www.computer.org/tpami/tp1997/i0068abs.htm db/journals/pami/pami19.html#HeisterkampB97